Klagarge/SummerSchool2-Controller
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fix for go to the kart

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This commit is contained in:
Rémi Heredero
2023-09-06 21:03:23 +02:00
parent 7750978f18
commit 84630eb6fd
10 changed files with 137 additions and 80 deletions
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16
306-controller_interface.X/app/can_message.c
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@@ -269,6 +269,11 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
}
if(idMsg == 0xE) { // DRIVE_BRAKE
// status - - -
eKart.brake = incomeData.separate.byte0;
}
if(idMsg == 0xF) { // STEERING_ALIVE
// statusH statusL - -
ALIVE_ISALIVE(&steering()->myChecker);
@@ -293,6 +298,17 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
* SUPPLY *
**********/
case 6:
if(idMsg == 0x4) {
DRIVE_startBehaviour(drive());
STEERING_startBehaviour(steering());
ALIVE_startBehaviourSender(ALcontroller());
ALIVE_startBehaviourChecker(ALjoy());
ALIVE_emitBorn(ALjoy(), 100, 0);
ALIVE_emitReady(ALjoy(), 200, 0);
}
if(idMsg == 0xF) { // BATTERY_ALIVE
// - - - -
// TODO battery say ALIVE