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Fix Instruction Queue and Emergency Stop

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This commit is contained in:
Aadi Desai 2021-06-15 01:33:52 +01:00
parent 5e95a8d860
commit 72021e7208
1 changed files with 2 additions and 4 deletions
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6
Control/src/main.cpp
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@ -195,6 +195,7 @@ void loop()
break; break;
} }
lastExecutedCommand = instr->id; // Update tracker of last processed command lastExecutedCommand = instr->id; // Update tracker of last processed command
InstrQueue.pop();
} }
} }
break; break;
@ -439,10 +440,7 @@ void recvFromCompass()
void emergencyStop() void emergencyStop()
{ {
DynamicJsonDocument tdoc(1024); DynamicJsonDocument tdoc(1024);
tdoc["rH"] = heading; tdoc["stp"] = 1;
tdoc["dist"] = -1;
tdoc["sp"] = -1;
tdoc["cH"] = heading;
serializeJson(tdoc, Serial1); // Send stop signals to Drive serializeJson(tdoc, Serial1); // Send stop signals to Drive
sendToEnergy(0); // Send stop signal to Energy sendToEnergy(0); // Send stop signal to Energy
while (InstrQueue.size()) while (InstrQueue.size())