diff options
Diffstat (limited to 'robot/sercomm.c')
| -rw-r--r-- | robot/sercomm.c | 22 |
1 files changed, 5 insertions, 17 deletions
diff --git a/robot/sercomm.c b/robot/sercomm.c index c50dd15..efad449 100644 --- a/robot/sercomm.c +++ b/robot/sercomm.c @@ -99,7 +99,11 @@ void w2_cmd_ping_rx(w2_s_bin *data) { w2_sercomm_append_msg(data); } void w2_cmd_mode_rx(w2_s_bin *data) { W2_CAST_BIN(w2_s_cmd_mode_rx, data, req); - w2_modes_swap(req->mode); + if (req->mode == W2_M_SCAL) { + w2_modes_call(req->mode); + } else { + w2_modes_swap(req->mode); + } } void w2_cmd_sped_rx(w2_s_bin *data) { return; } @@ -135,22 +139,6 @@ void w2_cmd_sres_rx(w2_s_bin *data) { void w2_cmd_mcfg_rx(w2_s_bin *data) { return; } -void w2_cmd_sens_rx(w2_s_bin *data) { - W2_CREATE_MSG_BIN(w2_s_cmd_sens_tx, res_msg, res_bin); - res_msg->opcode = W2_CMD_SENS | W2_CMDDIR_TX; - memcpy((uint8_t *)&res_msg->io, (uint8_t *)&g_w2_io, sizeof(w2_s_io_all)); - - for (int i = 0; i < 5; i++) w2_bin_repl_hton16(&res_msg->io.qtr[i].range); - w2_bin_repl_hton16(&res_msg->io.front_distance.detection); - w2_bin_repl_hton16(&res_msg->io.side_distance.detection); - w2_bin_repl_hton16(&res_msg->io.battery.charge_level); - w2_bin_repl_hton16((uint16_t *)&res_msg->io.motor_left.speed); - w2_bin_repl_hton16((uint16_t *)&res_msg->io.motor_right.speed); - - w2_sercomm_append_msg(res_bin); - free(res_bin); -} - void w2_cmd_info_rx(w2_s_bin *data) { W2_CREATE_MSG_BIN(w2_s_cmd_info_tx, res_msg, res_bin); res_msg->opcode = W2_CMD_INFO | W2_CMDDIR_TX; |