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AlexBailey11
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AlexBailey11
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see comments for changes
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| /* ----- SELF CALIBRATION STATUS 2 ----- */ | ||
| // self-calibration status request again after, expect counter to change | ||
| _serial->write(OrbisCommands::SELF_CALIB_STATUS); delay(1); |
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rather than an if with a hard time limit of 1ms (which is not a lot), we can do while(serial.available < n and custome_timeout_counter < time_out)
This is lowk something you can implement for every single "I need to wait for sensor to respond", including already existing "while(!_serial.available())"
| // After writing POSITION_OFFSET, the next four bytes are what you subtract from your initial position. We want to start at 0, so we first | ||
| // get our initial position, and then send that position as the four bytes. Inital position - inital position = 0. | ||
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| while (_serial->available()) { |
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If these are here just to clear the Serial buffer, please note that somewhere
Make it a one liner lowkenuinely
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| while (_serial->available() < 4); | ||
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| if (_serial->available() < 4) // check if received all 4 bytes |
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technically we don't need this if anymore. You can move this into the while loop as suggested earlier to handle timeout
| _lastConversion.status = anyError ? SteeringEncoderStatus_e::STEERING_ENCODER_ERROR : SteeringEncoderStatus_e::STEERING_ENCODER_NOMINAL; | ||
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| // Extract 14-bit position data | ||
| uint16_t raw_position_data = (((uint16_t) general1) << OrbisConstants::POSITION_DATA_MASK_1) | (uint16_t) general2; |
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move this into one line
| // Convert Position Data to Angle | ||
| _lastConversion.raw = _position_data; | ||
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| float angle = ((float)_position_data / OrbisConstants::ENCODER_RESOLUTION ) * OrbisConstants::DEGREES_PER_REVOLUTION; |
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note: we do conversion in steeringSystem
| void _decodeErrors(uint8_t general, uint8_t detailed); | ||
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| HardwareSerial* _serial; | ||
| SteeringEncoderConversion_s _lastConversion; // initialize variable _lastConversion of type SteeringEncoderConversion_s. |
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name this better. This stores way more than just last conversion
| bool noData = false; // No data received | ||
| }; | ||
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| struct SteeringEncoderConversion_s // This is the final struct I would like to send across the car. What's seen in foxglove? |
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rename to be more fit
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| } | ||
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| SteeringEncoderConversion_s OrbisBR::convert() |
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this is not "convert". rename
| _decodeErrors(general_status, detailed); | ||
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| // Decode errors, detailed status bytes | ||
| bool anyError = |
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can we move all of these into your _decodeErrors method
| return; | ||
| } | ||
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| uint8_t echo = _serial->read(); |
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goof ahh spacing breh
5 participants
Changed the interface from Ben's version to speak with the sensor. Offset functionality has been fully tested. Save configuration function has not been saved. Rewrote command structure.