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Add emergency stop function

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This commit is contained in:
Aadi Desai 2021-06-13 17:26:50 +01:00
parent 39603efd3c
commit 0483397ae6
2 changed files with 12 additions and 4 deletions
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4
Control/ref/drive.cpp
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@ -18,8 +18,8 @@ void loop()
DynamicJsonDocument rdoc(1024); // receive doc, not sure how big this needs to be DynamicJsonDocument rdoc(1024); // receive doc, not sure how big this needs to be
deserializeJson(rdoc, Serial1); // Take JSON input from UART1 deserializeJson(rdoc, Serial1); // Take JSON input from UART1
int requiredHeading = rdoc["rH"]; // if -1: command in progress, returning requested heading, dist/sp to be ignored int requiredHeading = rdoc["rH"]; // if -1: command in progress, returning requested heading, dist/sp to be ignored
int distance = rdoc["dist"]; int distance = rdoc["dist"]; // -1 for emergency stop
float speed = rdoc["sp"]; float speed = rdoc["sp"]; // -1 for emergency stop
int currentHeading = rdoc["cH"]; int currentHeading = rdoc["cH"];
bool resetDistanceTravelled = rdoc["rstD"]; bool resetDistanceTravelled = rdoc["rstD"];

12
Control/src/main.cpp
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@ -357,12 +357,20 @@ void recvFromVision() // TO DO
{ {
} }
void emergencyStop() // TO DO void emergencyStop()
{ {
// Send stop signals to drive, energy DynamicJsonDocument tdoc(1024);
tdoc["rH"] = heading;
tdoc["dist"] = -1;
tdoc["sp"] = -1;
tdoc["cH"] = heading;
tdoc["ch"] = 0;
serializeJson(tdoc, Serial1); // Send stop signals to Drive
serializeJson(tdoc, Serial2); // Send stop signals to Energy
while (InstrQueue.size()) while (InstrQueue.size())
{ {
InstrQueue.pop(); // Clear Instruction Queue InstrQueue.pop(); // Clear Instruction Queue
} }
Status = CS_IDLE; // Reset rover to idle state
Serial.println("Instruction Queue cleared"); Serial.println("Instruction Queue cleared");
} }