Magnezijum-Robotics/magrob
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Added the ability to set postion

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This commit is contained in:
Pimpest
2025-05-08 02:25:34 +02:00
parent 07cc056853
commit da3d1d9d15
9 changed files with 131 additions and 4 deletions
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22
firmware/base/src/main.c
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@ -156,11 +156,20 @@ void core2_entry()
data = (data >> 8ll) | ((uint64_t)ch<<56ll);
readNum--;
if(!readNum) {
if(type == 'w')
if(type == 'w'){
wheel_separation = *((double*)&data);
else
} else if(type == 'X'){
base_x = *((double*)&data);
} else if(type == 'Y'){
base_y = *((double*)&data);
} else if(type == 'T'){
base_theta = *((double*)&data);
calib_enc.left_pulse = 0;
calib_enc.right_pulse = 0;
} else{
wheel_ratio_l = 1 + (*((double *)&data));
wheel_ratio_r = 1 - (*((double *)&data));
}
}
}
@ -173,6 +182,15 @@ void core2_entry()
} else if(cmd == (((uint16_t)'r' << 8) | ';')){
readNum = 8;
type = (cmd >> 8) & 0xFF;
} else if(cmd == (((uint16_t)'X' << 8) | ';')){
readNum = 8;
type = (cmd >> 8) & 0xFF;
} else if(cmd == (((uint16_t)'Y' << 8) | ';')){
readNum = 8;
type = (cmd >> 8) & 0xFF;
} else if(cmd == (((uint16_t)'T' << 8) | ';')){
readNum = 8;
type = (cmd >> 8) & 0xFF;
} else if(cmd == (((uint16_t)'z' << 8) | ';')) {
zero();
} else if(cmd == (((uint16_t)'c' << 8) | ';')) {