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 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_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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//#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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typedef struct{
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int16_t motorR;
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int16_t steer;
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int16_t motorL;
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int16_t speed;
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//uint32_t crc;
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//uint32_t crc;
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} Serialcommand;
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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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//TODO while(1);
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}
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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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HAL_Delay(5);
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LCD_SetLocation(&lcd, 0, 0);
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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_SetLocation(&lcd, 0, 1);
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LCD_WriteString(&lcd, "Initializing...");
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LCD_WriteString(&lcd, "Initializing...");
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#endif
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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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#endif
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#ifdef CONTROL_SERIAL_USART2
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#ifdef CONTROL_SERIAL_USART2
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cmd1 = CLAMP((int16_t)command.motorR, -1000, 1000);
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cmd1 = CLAMP((int16_t)command.steer, -1000, 1000);
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cmd2 = CLAMP((int16_t)command.motorL, -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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#endif
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740
build/hover.hex
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build/hover.hex
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||||||
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:040000050800406946
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:04000005080040713E
|
||||||
:00000001FF
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:00000001FF
|
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Loading…
Reference in New Issue