Smikkelbakje/J2S1-Kobuki
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added to parser so we can read raw sensordata from cliffsensor (thanks anwar)

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Sam Hos
2024-10-08 15:05:41 +02:00
parent c9d128ecd1
commit c38491ce20
1 changed files with 8 additions and 7 deletions
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13
src/C++/Driver/src/KobukiParser.cpp
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@@ -2,6 +2,7 @@
#include <iostream> #include <iostream>
//checkedValue const maken //checkedValue const maken
//bitwise operators nachecken met website van kobuki serial website //bitwise operators nachecken met website van kobuki serial website
//cliffsensor kan rauwe getallen zijn
int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) { int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
int rtrnvalue = checkChecksum(data); int rtrnvalue = checkChecksum(data);
if (rtrnvalue != 0) { if (rtrnvalue != 0) {
@@ -153,12 +154,12 @@ void KobukiParser::parseGyroData(TKobukiData &output, unsigned char *data, int &
} }
void KobukiParser::parseCliffSensorData(TKobukiData &output, unsigned char *data, int &checkedValue) { void KobukiParser::parseCliffSensorData(TKobukiData &output, unsigned char *data, int &checkedValue) {
output.CliffSensorRight = data[checkedValue]; output.CliffSensorRight = (data[checkedValue] << 8) | data[checkedValue + 1];
checkedValue++; checkedValue += 2;
output.CliffSensorCenter = data[checkedValue]; output.CliffSensorCenter = (data[checkedValue] << 8) | data[checkedValue + 1];
checkedValue++; checkedValue += 2;
output.CliffSensorLeft = data[checkedValue]; output.CliffSensorLeft = (data[checkedValue] << 8) | data[checkedValue + 1];
checkedValue++; checkedValue += 2;
} }
void KobukiParser::parseWheelCurrentData(TKobukiData &output, unsigned char *data, int &checkedValue){ void KobukiParser::parseWheelCurrentData(TKobukiData &output, unsigned char *data, int &checkedValue){