UPD: usart control now with steer and speed as control values. Btw this is not tested yet but I don't see why it shouldn't work ;)
This commit is contained in:
Niklas Fauth
parent
b3fe48a832
commit
2d2a9c4d11
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@ -21,7 +21,8 @@
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#define DEBUG_SERIAL_ASCII // human readable output. i.e. "345;1337;0;0\n\r"
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#define CONTROL_SERIAL_USART2
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#define CONTROL_BAUD 9600
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#define CONTROL_BAUD 9600 // control via usart from eg an Arduino or raspberry
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// for Arduino, use: while(1) {Serial.write((int16_t) steer); Serial.write((int16_t) speed); delay(10);} or so
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//#define DEBUG_I2C_LCD // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
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14
Src/main.c
14
Src/main.c
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@ -42,8 +42,8 @@ int cmd3;
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typedef struct{
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int16_t motorR;
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int16_t motorL;
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int16_t steer;
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int16_t speed;
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//uint32_t crc;
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} Serialcommand;
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@ -151,10 +151,10 @@ int main(void) {
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//TODO while(1);
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}
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LCD_ClearDisplay(&lcd);
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LCD_ClearDisplay(&lcd);
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HAL_Delay(5);
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LCD_SetLocation(&lcd, 0, 0);
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LCD_WriteString(&lcd, "Hover V2.0");
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LCD_WriteString(&lcd, "Hover V2.0");
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LCD_SetLocation(&lcd, 0, 1);
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LCD_WriteString(&lcd, "Initializing...");
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#endif
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@ -193,8 +193,10 @@ int main(void) {
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#endif
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#ifdef CONTROL_SERIAL_USART2
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cmd1 = CLAMP((int16_t)command.motorR, -1000, 1000);
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cmd2 = CLAMP((int16_t)command.motorL, -1000, 1000);
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cmd1 = CLAMP((int16_t)command.steer, -1000, 1000);
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cmd2 = CLAMP((int16_t)command.speed, -1000, 1000);
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timeout = 0;
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#endif
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740
build/hover.hex
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build/hover.hex
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|
||||
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|
||||
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|
||||
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|
||||
:10491800002802DA04390B5818440438704700009C
|
||||
:10492800094A136863B118446946884202D810607E
|
||||
:1049380018467047054B0C221A604FF0FF3070473D
|
||||
:10494800034B1360EFE700BFDC00002010040020D9
|
||||
:1049580018040020F8B500BFF8BC08BC9E46704794
|
||||
:0C496800F8B500BFF8BC08BC9E467047C4
|
||||
:1049740002030405060708090A0B0C0D0E0F10109C
|
||||
:104984000102000000000000000000000102030416
|
||||
:1049940006070809000000000102030400000201E8
|
||||
:1049A4000405030025693B25693B25693B25690A04
|
||||
:1049B4000D0000004300232D302B2000686C4C00B8
|
||||
:1049C400656667454647003031323334353637380B
|
||||
:1049D4003941424344454600303132333435363769
|
||||
:0C49E40038396162636465660000000001
|
||||
:0449F0000D020008AC
|
||||
:0449F400E9010008CD
|
||||
:1049F80000A24A0464000000D0070000D0070000AD
|
||||
:104A0800D0070000D007000000002042D0070000B7
|
||||
:104A1800D0070000000000000000000000000000B7
|
||||
:104A2800000000000000000000000000000000007E
|
||||
:104A380000000000B8490008000000000000000065
|
||||
:104A4800000000000000000000000000000000005E
|
||||
:104A5800000000000000000000000000000000004E
|
||||
:104A6800000000000000000000000000000000003E
|
||||
:084A78000000000024000020F2
|
||||
:04000005080040713E
|
||||
:00000001FF
|
||||
|
|
|
|||
Loading…
Reference in New Issue