From 2d2a9c4d11b850d5d6eda85854b2c2175170ffe8 Mon Sep 17 00:00:00 2001 From: Niklas Fauth Date: Mon, 11 Jun 2018 14:48:58 +0200 Subject: [PATCH] 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 ;) --- Inc/config.h | 3 +- Src/main.c | 14 +- build/hover.hex | 740 ++++++++++++++++++++++++------------------------ 3 files changed, 380 insertions(+), 377 deletions(-) diff --git a/Inc/config.h b/Inc/config.h index 4436ab1..3ea77ad 100644 --- a/Inc/config.h +++ b/Inc/config.h @@ -21,7 +21,8 @@ #define DEBUG_SERIAL_ASCII // human readable output. i.e. "345;1337;0;0\n\r" #define CONTROL_SERIAL_USART2 -#define CONTROL_BAUD 9600 +#define CONTROL_BAUD 9600 // control via usart from eg an Arduino or raspberry + // for Arduino, use: while(1) {Serial.write((int16_t) steer); Serial.write((int16_t) speed); delay(10);} or so //#define DEBUG_I2C_LCD // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable diff --git a/Src/main.c b/Src/main.c index a98429d..35dbfad 100644 --- a/Src/main.c +++ b/Src/main.c @@ -42,8 +42,8 @@ int cmd3; typedef struct{ - int16_t motorR; - int16_t motorL; + int16_t steer; + int16_t speed; //uint32_t crc; } Serialcommand; @@ -151,10 +151,10 @@ int main(void) { //TODO while(1); } - LCD_ClearDisplay(&lcd); + LCD_ClearDisplay(&lcd); HAL_Delay(5); LCD_SetLocation(&lcd, 0, 0); - LCD_WriteString(&lcd, "Hover V2.0"); + LCD_WriteString(&lcd, "Hover V2.0"); LCD_SetLocation(&lcd, 0, 1); LCD_WriteString(&lcd, "Initializing..."); #endif @@ -193,8 +193,10 @@ int main(void) { #endif #ifdef CONTROL_SERIAL_USART2 - cmd1 = CLAMP((int16_t)command.motorR, -1000, 1000); - cmd2 = CLAMP((int16_t)command.motorL, -1000, 1000); + cmd1 = CLAMP((int16_t)command.steer, -1000, 1000); + cmd2 = CLAMP((int16_t)command.speed, -1000, 1000); + + timeout = 0; #endif diff --git a/build/hover.hex b/build/hover.hex index cdf06eb..83955ad 100644 --- a/build/hover.hex +++ b/build/hover.hex @@ -1,23 +1,23 @@ :020000040800F2 -:1000000000C00020694000081D4000082140000891 -:1000100025400008294000082D400008000000008D -:100020000000000000000000000000003140000857 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