diff --git a/src/C++/Driver/src/KobukiParser.cpp b/src/C++/Driver/src/KobukiParser.cpp index 9d7e4eb..1b36454 100644 --- a/src/C++/Driver/src/KobukiParser.cpp +++ b/src/C++/Driver/src/KobukiParser.cpp @@ -1,7 +1,8 @@ #include "KobukiParser.h" int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) { - int rtrnvalue = checkChecksum(data); + //check if the checksum is correct + int rtrnvalue = CKobuki.checkChecksum(data); if (rtrnvalue != 0) return -2; @@ -62,7 +63,7 @@ int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) { } break; default: - checkedValue += length + 2; // Skip unknown data block + checkedValue += length + 2; // Skip data block if nothing matches break; } } diff --git a/src/C++/Driver/src/KobukiParser.h b/src/C++/Driver/src/KobukiParser.h index ed78466..37ddbf1 100644 --- a/src/C++/Driver/src/KobukiParser.h +++ b/src/C++/Driver/src/KobukiParser.h @@ -1,7 +1,8 @@ -#ifndef KOBUKIPARSER_H +#ifndef KOBUKIPARSER_H //so that class cant be loaded twice #define KOBUKIPARSER_H #include +#include "CKobuki.h" struct TRawGyroData { int x, y, z; @@ -26,8 +27,6 @@ struct TKobukiData { int wheelCurrentLeft, wheelCurrentRight; int digitalInput, analogInputCh0, analogInputCh1, analogInputCh2, analogInputCh3; int frameId; - std::vector gyroData; - TExtraInfo extraInfo; }; class KobukiParser { @@ -48,4 +47,4 @@ private: int parseUDIDData(TKobukiData &output, unsigned char *data, int &checkedValue); }; -#endif // KOBUKIPARSER_H \ No newline at end of file +#endif \ No newline at end of file