From 88f10fc50bfb29f1da09965b28f3cb675731dd12 Mon Sep 17 00:00:00 2001 From: Ulysse Cura Date: Tue, 27 May 2025 22:12:21 +0200 Subject: [PATCH] Correcting angle reconstitution in message handler --- main controller code/src/udp_payload.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/main controller code/src/udp_payload.c b/main controller code/src/udp_payload.c index b4e0ad8..28cdb33 100644 --- a/main controller code/src/udp_payload.c +++ b/main controller code/src/udp_payload.c @@ -7,7 +7,7 @@ void __not_in_flash_func(udp_client_message_handler)(uint8_t *payload, uint16_t { if(len != 16) return; - robot.motion_control_data.angle = ((payload[UDP_PAYLOAD_ANGLE_H_BYTE] << 8) | payload[UDP_PAYLOAD_ANGLE_L_BYTE]); + robot.motion_control_data.angle = ((payload[UDP_PAYLOAD_ANGLE_H_BYTE] >> 8) | payload[UDP_PAYLOAD_ANGLE_L_BYTE]); robot.motion_control_data.x_axis_speed = payload[UDP_PAYLOAD_X_AXIS_SPEED_BYTE]; robot.motion_control_data.y_axis_speed = payload[UDP_PAYLOAD_Y_AXIS_SPEED_BYTE];