You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
34 lines
698 B
C
34 lines
698 B
C
#include "message.h"
|
|
#include "connection.h"
|
|
#include "robomaster.h"
|
|
|
|
void
|
|
set_wheel_speed (
|
|
union Request* req,
|
|
uint16_t seq,
|
|
bool ack,
|
|
int16_t w1,
|
|
int16_t w2,
|
|
int16_t w3,
|
|
int16_t w4 ) {
|
|
req->wheel.wheel_speed[0] = w1;
|
|
req->wheel.wheel_speed[1] = w2;
|
|
req->wheel.wheel_speed[2] = w3;
|
|
req->wheel.wheel_speed[3] = w4;
|
|
req_finalize(seq, SET_WHEEL_SPEED_CMD, false, req);
|
|
}
|
|
|
|
void
|
|
chassis_speed_mode (
|
|
union Request* req,
|
|
uint16_t seq,
|
|
bool ack,
|
|
float x,
|
|
float y,
|
|
float z ) {
|
|
req->chsspeed.speed[0] = x;
|
|
req->chsspeed.speed[1] = y;
|
|
req->chsspeed.speed[2] = z;
|
|
req_finalize(seq, CHASSIS_SPEED_MODE_CMD, false, req);
|
|
}
|