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Add ability for Drive to request current heading from Control

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This commit is contained in:
Aadi Desai 2021-06-07 16:29:04 +01:00
parent 9463a14cdc
commit fd76a692e1
1 changed files with 2 additions and 2 deletions
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4
Control/ref/drive.cpp
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@ -17,7 +17,7 @@ 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"]; 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"];
float speed = rdoc["sp"]; float speed = rdoc["sp"];
int currentHeading = rdoc["cH"]; int currentHeading = rdoc["cH"];
@ -31,7 +31,7 @@ void loop()
// Do Drive stuff, set the 5 values above // Do Drive stuff, set the 5 values above
DynamicJsonDocument tdoc(1024); // transmit doc, not sure how big this needs to be DynamicJsonDocument tdoc(1024); // transmit doc, not sure how big this needs to be
tdoc["comp"] = commandComplete; tdoc["comp"] = commandComplete; // If 0: command in progress, current heading requested
tdoc["mW"] = powerUsage_mW; tdoc["mW"] = powerUsage_mW;
tdoc["mm"] = distTravelled_mm; tdoc["mm"] = distTravelled_mm;
tdoc["pos"][0] = current_x; tdoc["pos"][0] = current_x;