supleed2/ELEC50003-P1-CW
1
0
Fork 0
mirror of https://github.com/supleed2/ELEC50003-P1-CW.git synced 2024-12-22 21:45:49 +00:00
Code Issues Packages Projects Releases Wiki Activity

Fix Instruction Queue and Emergency Stop

Browse source
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
Show stats Download patch file Download diff file Expand all files Collapse all files

6
Control/src/main.cpp
View file

@ -195,6 +195,7 @@ void loop()
break;
}
lastExecutedCommand = instr->id; // Update tracker of last processed command
InstrQueue.pop();
}
}
break;
@ -439,10 +440,7 @@ void recvFromCompass()
void emergencyStop()
{
DynamicJsonDocument tdoc(1024);
tdoc["rH"] = heading;
tdoc["dist"] = -1;
tdoc["sp"] = -1;
tdoc["cH"] = heading;
tdoc["stp"] = 1;
serializeJson(tdoc, Serial1); // Send stop signals to Drive
sendToEnergy(0); // Send stop signal to Energy
while (InstrQueue.size())