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63 lines
979 B
C
63 lines
979 B
C
#pragma once
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#include "message.h"
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#include <stdbool.h>
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#include <stdint.h>
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static const uint8_t SET_WHEEL_SPEED_CMDID = 0x20;
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void
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set_wheel_speed (
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Client session,
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int16_t w1,
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int16_t w2,
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int16_t w3,
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int16_t w4 );
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static const uint8_t SET_CHASSIS_WHEEL_SPEED_CMDID = 0x26;
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void
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set_chassis_wheel_speed (
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Client session,
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int8_t w1,
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int8_t w2,
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int8_t w3,
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int8_t w4 );
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static const uint8_t CHASSIS_SPEED_MODE_CMDID = 0x21;
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void
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chassis_speed_mode (
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Client session,
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float x,
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float y,
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float z );
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static const uint8_t SET_ROBOT_MODE_CMDID = 0x46;
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enum MOVEMENTMODE {
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MOVEMENTMODE_FREE,
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MOVEMENTMODE_GIMBAL_LEAD,
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MOVEMENTMODE_CHASSIS_LEAD
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};
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void
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set_robot_mode (
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Client session,
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enum MOVEMENTMODE mode );
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// cmdset 0x48
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static const uint8_t SUBNODE_RESET_CMDID = 0x02;
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void
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subnode_reset (
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Client session );
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// cmdset 0x48
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static const uint8_t SUBSCRIBE_ADD_NODE_CMDID = 0x01;
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void
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subscribe_add_node (
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Client session );
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