compAIR/libcreate
compAIR/libcreate
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Add static cast to fix compiler warnings

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Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
This commit is contained in:
Jacob Perron 2019-03-26 22:03:10 -07:00
parent 4d9f0e891a
commit 4e8d497024
1 changed files with 21 additions and 21 deletions
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42
src/create.cpp
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@ -370,10 +370,10 @@ namespace create {
}
uint8_t cmd[5] = { OC_DRIVE,
vel_mm >> 8,
vel_mm & 0xff,
radius_mm >> 8,
radius_mm & 0xff
static_cast<uint8_t>(vel_mm >> 8),
static_cast<uint8_t>(vel_mm & 0xff),
static_cast<uint8_t>(radius_mm >> 8),
static_cast<uint8_t>(radius_mm & 0xff)
};
return serial->send(cmd, 5);
@ -389,10 +389,10 @@ namespace create {
int16_t rightCmd = roundf(boundedRightVel * 1000);
uint8_t cmd[5] = { OC_DRIVE_DIRECT,
rightCmd >> 8,
rightCmd & 0xff,
leftCmd >> 8,
leftCmd & 0xff
static_cast<uint8_t>(rightCmd >> 8),
static_cast<uint8_t>(rightCmd & 0xff),
static_cast<uint8_t>(leftCmd >> 8),
static_cast<uint8_t>(leftCmd & 0xff)
};
return serial->send(cmd, 5);
} else {
@ -439,11 +439,11 @@ namespace create {
int16_t rightPwm = roundf(rightWheel * PWM_COUNTS);
uint8_t cmd[5] = { OC_DRIVE_PWM,
rightPwm >> 8,
rightPwm & 0xff,
leftPwm >> 8,
leftPwm & 0xff
};
static_cast<uint8_t>(rightPwm >> 8),
static_cast<uint8_t>(rightPwm & 0xff),
static_cast<uint8_t>(leftPwm >> 8),
static_cast<uint8_t>(leftPwm & 0xff)
};
return serial->send(cmd, 5);
}
@ -466,10 +466,10 @@ namespace create {
vacuumMotorPower = roundf(vacuum * 127);
uint8_t cmd[4] = { OC_MOTORS_PWM,
mainMotorPower,
sideMotorPower,
vacuumMotorPower
};
mainMotorPower,
sideMotorPower,
vacuumMotorPower
};
return serial->send(cmd, 4);
}
@ -489,10 +489,10 @@ namespace create {
bool Create::updateLEDs() {
uint8_t LEDByte = debrisLED + spotLED + dockLED + checkLED;
uint8_t cmd[4] = { OC_LEDS,
LEDByte,
powerLED,
powerLEDIntensity
};
LEDByte,
powerLED,
powerLEDIntensity
};
return serial->send(cmd, 4);
}