EFeru/hoverboard-firmware-hack-SIN
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UPD: usart control now with steer and speed as control values. Btw this is not tested yet but I don't see why it shouldn't work ;)

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Niklas Fauth
2018-06-11 14:48:58 +02:00
parent b3fe48a832
commit 2d2a9c4d11
3 changed files with 380 additions and 377 deletions
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14
Src/main.c
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@@ -42,8 +42,8 @@ int cmd3;
typedef struct{
int16_t motorR;
int16_t motorL;
int16_t steer;
int16_t speed;
//uint32_t crc;
} Serialcommand;
@@ -151,10 +151,10 @@ int main(void) {
//TODO while(1);
}
LCD_ClearDisplay(&lcd);
LCD_ClearDisplay(&lcd);
HAL_Delay(5);
LCD_SetLocation(&lcd, 0, 0);
LCD_WriteString(&lcd, "Hover V2.0");
LCD_WriteString(&lcd, "Hover V2.0");
LCD_SetLocation(&lcd, 0, 1);
LCD_WriteString(&lcd, "Initializing...");
#endif
@@ -193,8 +193,10 @@ int main(void) {
#endif
#ifdef CONTROL_SERIAL_USART2
cmd1 = CLAMP((int16_t)command.motorR, -1000, 1000);
cmd2 = CLAMP((int16_t)command.motorL, -1000, 1000);
cmd1 = CLAMP((int16_t)command.steer, -1000, 1000);
cmd2 = CLAMP((int16_t)command.speed, -1000, 1000);
timeout = 0;
#endif