supleed2/ELEC50003-P1-CW
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Minor fixes, outside of project

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Aadi Desai 2021-06-17 10:56:44 +01:00 committed by GitHub
parent 046f28a3c2
commit f11d869a4a
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GPG key ID: 4AEE18F83AFDEB23
1 changed files with 4 additions and 3 deletions
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7
Control/src/main.cpp
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@ -1,7 +1,6 @@
#pragma region Includes #pragma region Includes
#include <Arduino.h> #include <Arduino.h>
#include <string> #include <string>
#include <SoftwareSerial.h> // Software Serial not currently needed
#include <SoftwareSerial.h> #include <SoftwareSerial.h>
#include <AsyncTCP.h> #include <AsyncTCP.h>
#include <ESPAsyncWebServer.h> #include <ESPAsyncWebServer.h>
@ -173,7 +172,8 @@ void loop()
ypos = 0; ypos = 0;
DynamicJsonDocument tdoc(128); DynamicJsonDocument tdoc(128);
tdoc["rstD"] = 1; tdoc["rstD"] = 1;
serializeJson(tdoc, Serial1); // Send reset odometer signal to Drive serializeJson(tdoc, Serial1); // Send reset odometer signal to Drive
lastCompletedCommand = instr->id; // Set LCCid on telemetry reset as Rover state is not changed
} }
break; break;
case INSTR_STOP: // Emergency stop case INSTR_STOP: // Emergency stop
@ -504,6 +504,7 @@ void updateRSSI()
void emergencyStop() void emergencyStop()
{ {
lastCompletedCommand = 0;
DynamicJsonDocument tdoc(1024); DynamicJsonDocument tdoc(1024);
tdoc["stp"] = 1; tdoc["stp"] = 1;
serializeJson(tdoc, Serial1); // Send stop signals to Drive serializeJson(tdoc, Serial1); // Send stop signals to Drive
@ -514,4 +515,4 @@ void emergencyStop()
} }
Status = CS_IDLE; // Reset rover to idle state Status = CS_IDLE; // Reset rover to idle state
Serial.println("Instruction Queue cleared"); Serial.println("Instruction Queue cleared");
} }