diff options
Diffstat (limited to 'robot/sercomm.c')
| -rw-r--r-- | robot/sercomm.c | 16 |
1 files changed, 10 insertions, 6 deletions
diff --git a/robot/sercomm.c b/robot/sercomm.c index d12fcca..195c477 100644 --- a/robot/sercomm.c +++ b/robot/sercomm.c @@ -4,10 +4,10 @@ #include "../shared/bin.h" #include "../shared/errcatch.h" #include "../shared/serial_parse.h" -#include "mode_grid.h" #include "hypervisor.h" #include "io.h" #include "mode_dirc.h" +#include "mode_grid.h" #include "modes.h" #include "orangutan_shim.h" #include "sercomm.h" @@ -124,10 +124,9 @@ void w2_cmd_bomd_rx(w2_s_bin *data) { char buf[32]; clear(); - sprintf(buf, "%lu, %lu", req->position % W2_MAP_DEFAULT_WIDTH, req->position / W2_MAP_DEFAULT_WIDTH); - print(buf); - g_w2_order[g_w2_order_index].x = req->position % W2_MAP_DEFAULT_WIDTH; - g_w2_order[g_w2_order_index].y = req->position / W2_MAP_DEFAULT_WIDTH; + sprintf(buf, "%lu, %lu", req->position % W2_MAP_DEFAULT_WIDTH, req->position / + W2_MAP_DEFAULT_WIDTH); print(buf); g_w2_order[g_w2_order_index].x = req->position % + W2_MAP_DEFAULT_WIDTH; g_w2_order[g_w2_order_index].y = req->position / W2_MAP_DEFAULT_WIDTH; g_w2_order_index++; */ } @@ -161,7 +160,7 @@ void w2_cmd_info_rx(w2_s_bin *data) { res_msg->mode_ms = (uint8_t)g_w2_hypervisor_ema_mode_ms; res_msg->uptime_s = w2_bin_hton32((uint32_t)(g_w2_hypervisor_uptime_ms / 1e3)); res_msg->mode = g_w2_mode_history[g_w2_mode_history_index]; - res_msg->battery_mv = w2_bin_hton16(read_battery_millivolts()); + res_msg->battery_mv = w2_bin_hton16(read_battery_millivolts()); w2_sercomm_append_msg(res_bin); free(res_bin); @@ -173,6 +172,11 @@ void w2_cmd_play_rx(w2_s_bin *data) { return; } void w2_cmd_cled_rx(w2_s_bin *data) { return; } +void w2_cmd_tarq_rx(w2_s_bin *data) { + W2_CAST_BIN(w2_s_cmd_tarq_rx, data, req); + g_w2_target_area = req->target_area; +} + #pragma GCC diagnostic pop void w2_cmd_expt_tx(w2_s_bin *data) {} |