jakob.kampichler/libcreate
jakob.kampichler/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, uint8_t cmd[5] = { OC_DRIVE,
vel_mm >> 8, static_cast<uint8_t>(vel_mm >> 8),
vel_mm & 0xff, static_cast<uint8_t>(vel_mm & 0xff),
radius_mm >> 8, static_cast<uint8_t>(radius_mm >> 8),
radius_mm & 0xff static_cast<uint8_t>(radius_mm & 0xff)
}; };
return serial->send(cmd, 5); return serial->send(cmd, 5);
@ -389,10 +389,10 @@ namespace create {
int16_t rightCmd = roundf(boundedRightVel * 1000); int16_t rightCmd = roundf(boundedRightVel * 1000);
uint8_t cmd[5] = { OC_DRIVE_DIRECT, uint8_t cmd[5] = { OC_DRIVE_DIRECT,
rightCmd >> 8, static_cast<uint8_t>(rightCmd >> 8),
rightCmd & 0xff, static_cast<uint8_t>(rightCmd & 0xff),
leftCmd >> 8, static_cast<uint8_t>(leftCmd >> 8),
leftCmd & 0xff static_cast<uint8_t>(leftCmd & 0xff)
}; };
return serial->send(cmd, 5); return serial->send(cmd, 5);
} else { } else {
@ -439,11 +439,11 @@ namespace create {
int16_t rightPwm = roundf(rightWheel * PWM_COUNTS); int16_t rightPwm = roundf(rightWheel * PWM_COUNTS);
uint8_t cmd[5] = { OC_DRIVE_PWM, uint8_t cmd[5] = { OC_DRIVE_PWM,
rightPwm >> 8, static_cast<uint8_t>(rightPwm >> 8),
rightPwm & 0xff, static_cast<uint8_t>(rightPwm & 0xff),
leftPwm >> 8, static_cast<uint8_t>(leftPwm >> 8),
leftPwm & 0xff static_cast<uint8_t>(leftPwm & 0xff)
}; };
return serial->send(cmd, 5); return serial->send(cmd, 5);
} }
@ -466,10 +466,10 @@ namespace create {
vacuumMotorPower = roundf(vacuum * 127); vacuumMotorPower = roundf(vacuum * 127);
uint8_t cmd[4] = { OC_MOTORS_PWM, uint8_t cmd[4] = { OC_MOTORS_PWM,
mainMotorPower, mainMotorPower,
sideMotorPower, sideMotorPower,
vacuumMotorPower vacuumMotorPower
}; };
return serial->send(cmd, 4); return serial->send(cmd, 4);
} }
@ -489,10 +489,10 @@ namespace create {
bool Create::updateLEDs() { bool Create::updateLEDs() {
uint8_t LEDByte = debrisLED + spotLED + dockLED + checkLED; uint8_t LEDByte = debrisLED + spotLED + dockLED + checkLED;
uint8_t cmd[4] = { OC_LEDS, uint8_t cmd[4] = { OC_LEDS,
LEDByte, LEDByte,
powerLED, powerLED,
powerLEDIntensity powerLEDIntensity
}; };
return serial->send(cmd, 4); return serial->send(cmd, 4);
} }