Skip to content

Hideaki Tai / omni_main

Go to a project
Commit 37ebe67a by Hideaki Tai
Options

fix ID bug

parent a460f700
Inline Side-by-side
Showing with 3 additions and 4 deletions
include/global.h
......@@ -8,7 +8,6 @@
#define WHILL_SERIAL_R Serial3
#define XBEE_SERIAL Serial1
static constexpr uint8_t MY_ID = 0;
static constexpr uint32_t WHILL_SERIAL_BAUD = 38400;
static constexpr uint32_t XBEE_SERIAL_BAUD = 38400;
static constexpr uint16_t WHILL_INFO_INTERVAL_MS = 1000;
......
include/main.h
......@@ -236,7 +236,7 @@ void setVelocity()
unpacker.parse();
while (unpacker.available())
{
if (unpacker.id() == MY_ID)
if (unpacker.id() == HARDWARE_ID)
{
whill.move(unpacker.velocityX(), unpacker.velocityY(), unpacker.velocityW());
}
......@@ -263,7 +263,7 @@ void setVelocity()
while (unpacker.available())
{
if (unpacker.id() == MY_ID)
if (unpacker.id() == HARDWARE_ID)
{
vel[0] = unpacker.velocityX();
vel[1] = unpacker.velocityY();
......@@ -287,7 +287,7 @@ void sendStatus(WhillOmni::LR lr)
{
while (whill.available(lr))
{
packer.pack(MY_ID, (uint8_t)lr, whill.battery(lr), whill.errorCode(lr));
packer.pack(HARDWARE_ID, (uint8_t)lr, whill.battery(lr), whill.errorCode(lr));
XBEE_SERIAL.write(packer.data(), packer.size());
#ifdef DEBUG_INFO
......
  • Markdown is supported
    0% or
    You are about to add 0 people to the discussion. Proceed with caution.
    Finish editing this message first!
    Please register or sign in to comment