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Added angleDelta field

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0xFEEDC0DE64
2020-05-24 13:03:43 +02:00
parent 39f76cb62b
commit b1f810e314
1 changed files with 3 additions and 2 deletions
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5
protocol.h
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@ -82,6 +82,7 @@ struct MotorFeedback {
uint8_t error = 0; uint8_t error = 0;
int16_t current = 0; int16_t current = 0;
uint32_t chops = 0; uint32_t chops = 0;
int32_t angleDelta = 0;
bool hallA = false, bool hallA = false,
hallB = false, hallB = false,
hallC = false; hallC = false;
@ -90,7 +91,7 @@ struct MotorFeedback {
uint16_t calculateChecksum(MotorFeedback feedback) { uint16_t calculateChecksum(MotorFeedback feedback) {
return feedback.angle ^ feedback.speed ^ return feedback.angle ^ feedback.speed ^
feedback.error ^ feedback.current ^ feedback.error ^ feedback.current ^
feedback.chops ^ feedback.chops ^ feedback.angleDelta ^
feedback.hallA ^ feedback.hallB ^ feedback.hallC; feedback.hallA ^ feedback.hallB ^ feedback.hallC;
} }
@ -102,7 +103,7 @@ struct Feedback {
MotorFeedback left, right; MotorFeedback left, right;
int16_t batVoltage = 0; uint16_t batVoltage = 0;
int16_t boardTemp = 0; int16_t boardTemp = 0;
int16_t timeoutCntSerial = 0; int16_t timeoutCntSerial = 0;