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[LOWCAR] fixes compilation error for lowcar #268

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merged 2 commits into from
Jul 19, 2023
Merged

[LOWCAR] fixes compilation error for lowcar #268

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a5e4e42
[LOWCAR] Update Device.cpp
ipleung Jul 10, 2023
4c9fca9
[LOWCAR] removes servo center error
ipleung Jul 16, 2023
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9 changes: 5 additions & 4 deletions lowcar/devices/Device/Device.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,10 +63,11 @@ void Device::loop() {
if (this->enabled && (this->timeout > 0) && (this->curr_time - this->last_received_ping_time >= this->timeout)) {
device_reset();
this->enabled = FALSE;
// Send RST message
this->curr_msg->message_id = MessageID::RST;
this->curr_msg->payload_length = 0;
memset(this->curr_msg->payload, 0, MAX_PAYLOAD_SIZE);

//Send RST message
this->curr_msg.message_id = MessageID::RST;
this->curr_msg.payload_length = 0;
memset(this->curr_msg.payload, 0, MAX_PAYLOAD_SIZE);
this->msngr->send_message(MessageID::RST, &(this->curr_msg));
}

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5 changes: 1 addition & 4 deletions lowcar/devices/ServoControl/ServoControl.cpp
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Expand Up @@ -42,14 +42,11 @@ size_t ServoControl::device_write(uint8_t param, uint8_t* data_buf) {
servos[param].attach(this->pins[param]);
}
this->positions[param] = value;
servos[param].writeMicroseconds(ServoControl::SERVO_CENTER + (this->positions[param] * ServoControl::SERVO_RANGE / 2.0));
servos[param].writeMicroseconds(ServoControl::SERVO_CENTER + (this->positions[param] * ServoControl::SERVO_RANGE));
return sizeof(float);
} else {
return 0;
}
this->positions[param] = value;
servos[param].writeMicroseconds(ServoControl::SERVO_CENTER + (this->positions[param] * ServoControl::SERVO_RANGE));
return sizeof(float);
}

void ServoControl::device_reset() {
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