fix ID bug

include/global.h

@@ -8,7 +8,6 @@
 #define WHILL_SERIAL_R Serial3
 #define WHILL_SERIAL_R Serial3
 #define XBEE_SERIAL Serial1
 #define XBEE_SERIAL Serial1
 
 
-static constexpr uint8_t MY_ID = 0;
 static constexpr uint32_t WHILL_SERIAL_BAUD = 38400;
 static constexpr uint32_t WHILL_SERIAL_BAUD = 38400;
 static constexpr uint32_t XBEE_SERIAL_BAUD = 38400;
 static constexpr uint32_t XBEE_SERIAL_BAUD = 38400;
 static constexpr uint16_t WHILL_INFO_INTERVAL_MS = 1000;
 static constexpr uint16_t WHILL_INFO_INTERVAL_MS = 1000;

include/main.h

@@ -236,7 +236,7 @@ void setVelocity()
     unpacker.parse();
     unpacker.parse();
     while (unpacker.available())
     while (unpacker.available())
     {
     {
-        if (unpacker.id() == MY_ID)
+        if (unpacker.id() == HARDWARE_ID)
         {
         {
             whill.move(unpacker.velocityX(), unpacker.velocityY(), unpacker.velocityW());
             whill.move(unpacker.velocityX(), unpacker.velocityY(), unpacker.velocityW());
         }
         }
@@ -263,7 +263,7 @@ void setVelocity()
 
 
     while (unpacker.available())
     while (unpacker.available())
     {
     {
-        if (unpacker.id() == MY_ID)
+        if (unpacker.id() == HARDWARE_ID)
         {
         {
             vel[0] = unpacker.velocityX();
             vel[0] = unpacker.velocityX();
             vel[1] = unpacker.velocityY();
             vel[1] = unpacker.velocityY();
@@ -287,7 +287,7 @@ void sendStatus(WhillOmni::LR lr)
 {
 {
     while (whill.available(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());
         XBEE_SERIAL.write(packer.data(), packer.size());
 
 
 #ifdef DEBUG_INFO
 #ifdef DEBUG_INFO