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This commit is contained in:
0xFEEDC0DE64
2021-05-16 22:47:35 +02:00
parent 97c68b8779
commit 60a2f2bcaa
2 changed files with 54 additions and 14 deletions
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28
platformio.ini
View File

@ -130,20 +130,20 @@ build_flags =
${webserver_common.build_flags}
; -DFEATURE_ARDUINOOTA
; -DFEATURE_WEBOTA
-DFEATURE_DPAD_5WIRESW
-DPINS_DPAD_5WIRESW_OUT=32
-DPINS_DPAD_5WIRESW_IN1=25
-DPINS_DPAD_5WIRESW_IN2=26
-DPINS_DPAD_5WIRESW_IN3=27
-DPINS_DPAD_5WIRESW_IN4=21
-DDPAD_5WIRESW_UP=4
-DDPAD_5WIRESW_DOWN=3
-DDPAD_5WIRESW_CONFIRM=7
-DDPAD_5WIRESW_BACK=0
-DDPAD_5WIRESW_PROFILE0=1
-DDPAD_5WIRESW_PROFILE1=5
-DDPAD_5WIRESW_PROFILE2=2
-DDPAD_5WIRESW_PROFILE3=6
; -DFEATURE_DPAD_5WIRESW
; -DPINS_DPAD_5WIRESW_OUT=32
; -DPINS_DPAD_5WIRESW_IN1=25
; -DPINS_DPAD_5WIRESW_IN2=26
; -DPINS_DPAD_5WIRESW_IN3=27
; -DPINS_DPAD_5WIRESW_IN4=21
; -DDPAD_5WIRESW_UP=4
; -DDPAD_5WIRESW_DOWN=3
; -DDPAD_5WIRESW_CONFIRM=7
; -DDPAD_5WIRESW_BACK=0
; -DDPAD_5WIRESW_PROFILE0=1
; -DDPAD_5WIRESW_PROFILE1=5
; -DDPAD_5WIRESW_PROFILE2=2
; -DDPAD_5WIRESW_PROFILE3=6
; -DDPAD_5WIRESW_DEBUG
-DDEFAULT_GASMIN=750
-DDEFAULT_GASMAX=3700

40
src/can.h
View File

@ -170,6 +170,46 @@ void parseCanInput()
controllers.front.feedbackValid = true;
controllers.front.feedback.right.current = *((int16_t*)message.data);
break;
case MotorControllerFrontLeftSpeed:
m_lastCanFeedback = millis();
controllers.front.feedbackValid = true;
controllers.front.feedback.left.speed = *((int16_t*)message.data);
break;
case MotorControllerFrontRightSpeed:
m_lastCanFeedback = millis();
controllers.front.feedbackValid = true;
controllers.front.feedback.right.speed = *((int16_t*)message.data);
break;
case MotorControllerFrontLeftError:
m_lastCanFeedback = millis();
controllers.front.feedbackValid = true;
controllers.front.feedback.left.error = *((int8_t*)message.data);
break;
case MotorControllerFrontRightError:
m_lastCanFeedback = millis();
controllers.front.feedbackValid = true;
controllers.front.feedback.right.error = *((int8_t*)message.data);
break;
case MotorControllerFrontLeftAngle:
m_lastCanFeedback = millis();
controllers.front.feedbackValid = true;
controllers.front.feedback.left.angle = *((int16_t*)message.data);
break;
case MotorControllerFrontRightAngle:
m_lastCanFeedback = millis();
controllers.front.feedbackValid = true;
controllers.front.feedback.right.angle = *((int16_t*)message.data);
break;
case MotorControllerFrontLeftChops:
m_lastCanFeedback = millis();
controllers.front.feedbackValid = true;
controllers.front.feedback.left.chops = *((uint16_t*)message.data);
break;
case MotorControllerFrontRightChops:
m_lastCanFeedback = millis();
controllers.front.feedbackValid = true;
controllers.front.feedback.right.chops = *((uint16_t*)message.data);
break;
case MotorControllerFrontLeftVoltage:
m_lastCanFeedback = millis();
controllers.front.feedbackValid = true;