Add blaster fire message

src/robo.c

@@ -5,6 +5,8 @@
 #include <string.h>
 #include <stdlib.h>
 
+#include <stdio.h>
+
 struct RobotImp {
 
     struct Client* client;
@@ -19,6 +21,8 @@ struct RobotImp {
     int16_t gimbal[2];
     bool dirty_gimbal;
 
+    bool dirty_blaster;
+
     bool sdk_mode;
 
     enum {
@@ -37,6 +41,12 @@ struct RobotImp {
 
 };
 
+int
+robot_blast(Robot robot) {
+    robot->dirty_blaster = true;
+    return 1;
+}
+
 int
 robot_drive(Robot robot, float x, float y, float r) {
     // TODO: move individual wheel speed calculation to work function
@@ -185,6 +195,15 @@ robot_work(Robot robot) {
                 req_send(robot->client->dev_conn, &req);
                 robot->dirty_colors = false;
             }
+            if(robot->dirty_blaster) {
+                blaster_fire (
+                    &req, robot->seq++, false,
+                    FIRETYPE_INFRARED,
+                    ONE
+                );
+                req_send(robot->client->dev_conn, &req);
+                robot->dirty_blaster = false;
+            }
             break;
         }