From a6cc1eca8840ea519ebde282c94e291da87cdd57 Mon Sep 17 00:00:00 2001
From: PgSocks <pgsocks@pm.me>
Date: Wed, 4 Jan 2023 18:54:51 -0600
Subject: [PATCH] Control individual wheels

---
 src/modules/chassis.c |  2 +-
 src/sdl.c             | 18 +++++++-----------
 2 files changed, 8 insertions(+), 12 deletions(-)

diff --git a/src/modules/chassis.c b/src/modules/chassis.c
index 44b2faa..876a709 100644
--- a/src/modules/chassis.c
+++ b/src/modules/chassis.c
@@ -14,7 +14,7 @@ set_wheel_speed (
     req.wheel.wheel_speed[1] = w2;
     req.wheel.wheel_speed[2] = w3;
     req.wheel.wheel_speed[3] = w4;
-    req_finalize(session, 0x3F, SET_WHEEL_SPEED_CMDID, host2byte(CHASSIS_HOST, CHASSIS_INDEX), true, sizeof(struct SetWheelSpeedReq), &req);
+    req_finalize(session, 0x3F, SET_WHEEL_SPEED_CMDID, host2byte(CHASSIS_HOST, CHASSIS_INDEX), false, sizeof(struct SetWheelSpeedReq), &req);
     req_send(session->dev_conn, &req, sizeof(struct SetWheelSpeedReq));
 }
 
diff --git a/src/sdl.c b/src/sdl.c
index 714575f..42555f9 100644
--- a/src/sdl.c
+++ b/src/sdl.c
@@ -60,7 +60,7 @@ int main(int argc, char* argv[]) {
 
     bool quit = false;
     Uint32 time = SDL_GetTicks();
-        float x = 0, y = 0, z = 0;
+    float x = 0, y = 0;
     while(!quit) {
         SDL_Event event;
         while(SDL_PollEvent(&event)) {
@@ -70,19 +70,19 @@ int main(int argc, char* argv[]) {
                     switch(event.key.keysym.scancode) {
                         case SDL_SCANCODE_LEFT:
                         case SDL_SCANCODE_A:
-                            x = event.type == SDL_KEYUP ? 0 : -1;
+                            x = event.type == SDL_KEYUP ? 0 : 250;
                             break;
                         case SDL_SCANCODE_RIGHT:
                         case SDL_SCANCODE_D:
-                            x = event.type == SDL_KEYUP ? 0 : 1;
+                            x = event.type == SDL_KEYUP ? 0 : -250;
                             break;
                         case SDL_SCANCODE_UP:
                         case SDL_SCANCODE_W:
-                            y = event.type == SDL_KEYUP ? 0 : 1;
+                            y = event.type == SDL_KEYUP ? 0 : 250;
                             break;
                         case SDL_SCANCODE_DOWN:
                         case SDL_SCANCODE_S:
-                            y = event.type == SDL_KEYUP ? 0 : -1;
+                            y = event.type == SDL_KEYUP ? 0 : -250;
                             break;
                         default: break;
 		    }
@@ -98,12 +98,8 @@ int main(int argc, char* argv[]) {
 	{
             time = currtime;
             sdk_heartbeat(client);
-            //poll_message(client, &msg);
-            //if(msg.header.cmdid != SDK_HEARTBEAT_CMDID || msg.resp.heartbeat.retcode) {
-            //    fprintf(stderr, "Did not receive heartbeat\n");
-            //    return 1;
-            //}
-            chassis_speed_mode(client, x, y, z );
+            float w1 = y + x, w2 = y - x, w3 = y - x, w4 = y + x;
+            set_wheel_speed(client, w1, -w2, -w3, w4);
 	}
     }