ulysse
/
main_robot_2025-2026
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Correction de la tempo qui n'était pas une tempo + suppresion code commenté

This commit is contained in:
Samuel 2026-02-25 22:03:50 +01:00
parent 66181452c4
commit 5a45830183
1 changed files with 1 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
program/main_controller/src/motion_control.c
View File

@ -73,17 +73,12 @@ void motion_control_update(void)
if(elapsed_time_ms >= MSG_DELAY_MS)
{
elapsed_time_ms = 0;
// Send motors speed via I2C
uint8_t data[5];
data[0] = 0x00; /// registre
//data.motor1_speed = (uint8_t)abs((int)motor1_speed);
//data.motor2_speed = (uint8_t)abs((int)motor2_speed);
//data.motor1_speed = (uint8_t)abs((int)robot.udp_client.data.hard.inputs.joystick_x);
//data.motor2_speed = (uint8_t)abs((int)robot.udp_client.data.hard.inputs.joystick_x);
data[1] = (uint8_t)abs((int)motor1_speed);
data[2] = (uint8_t)abs((int)motor2_speed);
@ -94,15 +89,5 @@ void motion_control_update(void)
{
puts("Motion controller not reachable");
}
/*
if(i2c_write_blocking(I2C_MASTER_INSTANCE, I2C_MOTION_CONTROLLER_ADDRESS, &reg, 1, true) == PICO_ERROR_GENERIC)
{
puts("Motion controller not reachable");
}
if(i2c_write_blocking(I2C_MASTER_INSTANCE, I2C_MOTION_CONTROLLER_ADDRESS, data.raw, MSG_LEN, false) == PICO_ERROR_GENERIC)
{
puts("Motion controller not reachable");
}*/
}
}