changeset 188:6f0418bfd0a4 main

Revise the messages related to wheel speed and steering.
author Bob Cook <bob@bobcookdev.com>
date Sat, 08 Jun 2013 12:31:10 -0700
parents b716d7cb9c78
children af5e626e4301
files main/packages/common/can/can_messages.h
diffstat 1 files changed, 7 insertions(+), 8 deletions(-) [+]
line wrap: on
line diff
--- a/main/packages/common/can/can_messages.h	Sat Jun 08 11:50:52 2013 -0700
+++ b/main/packages/common/can/can_messages.h	Sat Jun 08 12:31:10 2013 -0700
@@ -43,8 +43,7 @@
 //      General messages:       0x0010 to 0x001f
 //      IMU sensor:             0x0020 to 0x002f
 //      GPS sensor:             0x0100 to 0x010f
-//      Servo (front & rear):   0x0110 to 0x011f
-//      Motor (front & rear):   0x0120 to 0x012f
+//      Wheels (front & rear):  0x0110 to 0x011f
 //      Sonar (front):          0x0130 to 0x013f
 //
 // ----------------------------------------------------------------------------------------
@@ -133,18 +132,18 @@
 
 // ----------------------------------------------------------------------------------------
 
-const uint16_t can_dataid_servo_position = 0x0110;
+const uint16_t can_dataid_wheel_position = 0x0110;
 
 typedef struct
 {
-    int8_t servo_front;
-    int8_t servo_rear;
+    int8_t angle_front;
+    int8_t angle_rear;
 
-} can_data_servo_position;
+} can_data_wheel_position;
 
 // ----------------------------------------------------------------------------------------
 
-const uint16_t can_dataid_wheel_speed = 0x0120;
+const uint16_t can_dataid_wheel_speed = 0x0111;
 
 typedef struct
 {
@@ -155,7 +154,7 @@
 
 // ----------------------------------------------------------------------------------------
 
-const uint16_t can_dataid_wheel_status = 0x0121;
+const uint16_t can_dataid_wheel_status = 0x0112;
 
 typedef struct
 {