feedc0de/bobbycar-protocol
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merge into: feedc0de:master
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feedc0de:master feedc0de:more-currents-in-state feedc0de:vesc_control feedc0de:angleDelta
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pull from: feedc0de:angleDelta
Branches Tags
feedc0de:master feedc0de:more-currents-in-state feedc0de:vesc_control feedc0de:angleDelta

1 Commits

Author SHA1 Message Date
0xFEEDC0DE64
b1f810e314 Added angleDelta field 2020-05-24 13:03:43 +02:00
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;
int16_t current = 0;
uint32_t chops = 0;
int32_t angleDelta = 0;
bool hallA = false,
hallB = false,
hallC = false;
@ -90,7 +91,7 @@ struct MotorFeedback {
uint16_t calculateChecksum(MotorFeedback feedback) {
return feedback.angle ^ feedback.speed ^
feedback.error ^ feedback.current ^
feedback.chops ^
feedback.chops ^ feedback.angleDelta ^
feedback.hallA ^ feedback.hallB ^ feedback.hallC;
}
@ -102,7 +103,7 @@ struct Feedback {
MotorFeedback left, right;
int16_t batVoltage = 0;
uint16_t batVoltage = 0;
int16_t boardTemp = 0;
int16_t timeoutCntSerial = 0;