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37 lines
1.0 KiB
C
37 lines
1.0 KiB
C
#include "robomaster.h"
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#include "client.h"
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#include "message.h"
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#include "connection.h"
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#include <stdlib.h>
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#include <string.h>
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Client client_new() {
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struct Client* client = malloc(sizeof(struct Client));
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memset(client, 0, sizeof(struct Client));
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// TODO: Make this configurable
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client->hostbyte = host2byte(CLIENT_HOST, CLIENT_INDEX);
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return client;
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}
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void client_connect(Client client) {
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client->sdk_conn = connection_new(0, 0, 30030, "192.168.2.1");
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// TODO: This should probably use the source IP in the response body
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client->dev_conn = connection_new(10010, "192.168.2.24", 20020, "192.168.2.1");
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set_sdk_connection(client, CONNECTION_WIFI_AP, 0, 10010);
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}
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void poll_message(Client client, union Message* resp) {
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struct Connection* conn = connection_poll_ready(client);
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connection_read(conn, resp);
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}
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void drive(Client client, float x, float y, float r) {
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float w1 = y + x + r, w2 = y - x -r, w3 = y + x -r, w4 = y - x + r;
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set_wheel_speed(client, w1 * 1000, -w2 * 1000, -w3 * 1000, w4 * 1000);
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}
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