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Commit f1dff934 by Hideaki Tai
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add error emergency switch

parent ebd8c8ee
Inline Side-by-side
Showing with 5 additions and 1 deletions
include/main.h
...@@ -277,7 +277,11 @@ void sendStatus() ...@@ -277,7 +277,11 @@ void sendStatus()
{ {
if (b_streaming) if (b_streaming)
{ {
packer.pack(HARDWARE_ID, whill.battery(WhillOmni::LR::L), whill.battery(WhillOmni::LR::R), whill.errorCode(WhillOmni::LR::L), whill.errorCode(WhillOmni::LR::R)); if (b_motor_active)
packer.pack(HARDWARE_ID, whill.battery(WhillOmni::LR::L), whill.battery(WhillOmni::LR::R), whill.errorCode(WhillOmni::LR::L), whill.errorCode(WhillOmni::LR::R));
else
packer.pack(HARDWARE_ID, whill.battery(WhillOmni::LR::L), whill.battery(WhillOmni::LR::R), 252, 252);
XBEE_SERIAL.write(packer.data(), packer.size()); XBEE_SERIAL.write(packer.data(), packer.size());
} }
} }
......
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