compAIR/libcreate
compAIR/libcreate
4
0
Fork 1
Code Issues Pull requests Projects Releases Packages 1 Wiki Activity Actions

Implement methods for getting overcurrent status. (#57)

Browse source
This commit is contained in:
Daniel Smith 2020-11-01 20:42:57 -05:00 • committed by GitHub
parent ccf6d0cdc0
commit 850b011a55
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
3 changed files with 43 additions and 13 deletions
Download patch file Download diff file Expand all files Collapse all files

30
src/create.cpp
View file

@ -1036,6 +1036,36 @@ namespace create {
}
}
bool Create::isSideBrushOvercurrent() const {
if (data->isValidPacketID(ID_OVERCURRENTS)) {
return (GET_DATA(ID_OVERCURRENTS) & 0x01) != 0;
}
else {
CERR("[create::Create] ", "Overcurrent sensor not supported!");
return false;
}
}
bool Create::isMainBrushOvercurrent() const {
if (data->isValidPacketID(ID_OVERCURRENTS)) {
return (GET_DATA(ID_OVERCURRENTS) & 0x04) != 0;
}
else {
CERR("[create::Create] ", "Overcurrent sensor not supported!");
return false;
}
}
bool Create::isWheelOvercurrent() const {
if (data->isValidPacketID(ID_OVERCURRENTS)) {
return (GET_DATA(ID_OVERCURRENTS) & 0x18) != 0;
}
else {
CERR("[create::Create] ", "Overcurrent sensor not supported!");
return false;
}
}
float Create::getLeftWheelDistance() const {
return totalLeftDist;
}

2
src/data.cpp
View file

@ -17,7 +17,7 @@ namespace create {
ADD_PACKET(ID_CLIFF_FRONT_RIGHT, 1, "cliff_front_right", V_ALL);
ADD_PACKET(ID_CLIFF_RIGHT, 1, "cliff_right", V_ALL);
ADD_PACKET(ID_VIRTUAL_WALL, 1, "virtual_wall", V_ALL);
ADD_PACKET(ID_OVERCURRENTS, 1, "overcurrents", V_1);
ADD_PACKET(ID_OVERCURRENTS, 1, "overcurrents", V_ALL);
ADD_PACKET(ID_DIRT_DETECT_LEFT, 1, "dirt_detect_left", V_ALL);
ADD_PACKET(ID_DIRT_DETECT_RIGHT, 1, "dirt_detect_right", V_1);
ADD_PACKET(ID_IR_OMNI, 1, "ir_opcode", V_ALL);