Control individual wheels

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));
 }
 

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);
+            float w1 = y + x, w2 = y - x, w3 = y - x, w4 = y + x;
-            //if(msg.header.cmdid != SDK_HEARTBEAT_CMDID || msg.resp.heartbeat.retcode) {
+            set_wheel_speed(client, w1, -w2, -w3, w4);
-            //    fprintf(stderr, "Did not receive heartbeat\n");
-            //    return 1;
-            //}
-            chassis_speed_mode(client, x, y, z );
 	}
     }