diff options
Diffstat (limited to 'robot/sercomm.c')
| -rw-r--r-- | robot/sercomm.c | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/robot/sercomm.c b/robot/sercomm.c index c9c6194..2786b85 100644 --- a/robot/sercomm.c +++ b/robot/sercomm.c @@ -4,6 +4,7 @@ #include "../shared/bin.h" #include "../shared/serial_parse.h" #include "hypervisor.h" +#include "mode_dirc.h" #include "modes.h" #include "orangutan_shim.h" #include "sercomm.h" @@ -76,7 +77,13 @@ void w2_cmd_mode_rx(w2_s_bin *data) { void w2_cmd_sped_rx(w2_s_bin *data) { return; } -void w2_cmd_dirc_rx(w2_s_bin *data) { return; } +void w2_cmd_dirc_rx(w2_s_bin *data) { + w2_s_cmd_dirc_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes)); + memcpy(message, data->data, data->bytes); + + g_w2_mode_dirc_motor_l = w2_bin_ntoh16(message->left); + g_w2_mode_dirc_motor_r = w2_bin_ntoh16(message->right); +} void w2_cmd_cord_rx(w2_s_bin *data) { return; } |