added to parser so we can read raw sensordata from cliffsensor (thanks anwar)

This commit is contained in:
2024-10-08 15:05:41 +02:00
parent c9d128ecd1
commit c38491ce20

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@@ -2,6 +2,7 @@
#include <iostream>
//checkedValue const maken
//bitwise operators nachecken met website van kobuki serial website
//cliffsensor kan rauwe getallen zijn
int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
int rtrnvalue = checkChecksum(data);
if (rtrnvalue != 0) {
@@ -152,13 +153,13 @@ void KobukiParser::parseGyroData(TKobukiData &output, unsigned char *data, int &
checkedValue += 5; // 3 unused
}
void KobukiParser::parseCliffSensorData(TKobukiData &output, unsigned char *data, int &checkedValue){
output.CliffSensorRight = data[checkedValue];
checkedValue++;
output.CliffSensorCenter = data[checkedValue];
checkedValue++;
output.CliffSensorLeft = data[checkedValue];
checkedValue++;
void KobukiParser::parseCliffSensorData(TKobukiData &output, unsigned char *data, int &checkedValue) {
output.CliffSensorRight = (data[checkedValue] << 8) | data[checkedValue + 1];
checkedValue += 2;
output.CliffSensorCenter = (data[checkedValue] << 8) | data[checkedValue + 1];
checkedValue += 2;
output.CliffSensorLeft = (data[checkedValue] << 8) | data[checkedValue + 1];
checkedValue += 2;
}
void KobukiParser::parseWheelCurrentData(TKobukiData &output, unsigned char *data, int &checkedValue){