33 lines
531 B
C++
33 lines
531 B
C++
#include "modes.h"
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// local includes
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#include "globals.h"
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#include "motorpwmlimiter.h"
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#include "utils.h"
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void initDrivingMode()
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{
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}
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void updateDrivingMode()
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{
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if (lastMode != currentMode)
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{
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if (lastMode)
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lastMode->stop();
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lastMode = currentMode;
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if (currentMode)
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currentMode->start();
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}
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if (currentMode)
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currentMode->update();
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fixCommonParams();
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motor_pwm_limiter::update();
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// Last, send values to motor controllers
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sendCommands();
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}
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