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[SSL] Update nRF24Communication to use current sensor information #26

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[SSL] Update nRF24Communication to use current sensor information #26

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c2d75ec
Update nRF24Communication.cpp
fnalmeidap Jun 28, 2025
596227c
Add current to packetOdometry
fnalmeidap Jun 28, 2025
ff70c88
Update nRF24Communication.cpp
fnalmeidap Jun 28, 2025
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26 changes: 15 additions & 11 deletions commConfig.h
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Original file line number Diff line number Diff line change
Expand Up @@ -276,18 +276,22 @@ typedef union packetVSSTelemetry {
typedef struct {
uint8_t typeMsg : 4;
uint8_t id : 4;
int16_t x : 16; // -32.767 - 32.767 m
int16_t y : 16; // -32.767 - 32.767 m
int16_t w : 16; // 0 - 6.5535 rad
int16_t dribbler : 15; // -1638.3 - 1638.3 rad/s
uint8_t kickLoad : 8; // 0 - 2.55
int16_t x : 16; // -32.767 - 32.767 m
int16_t y : 16; // -32.767 - 32.767 m
int16_t w : 16; // 0 - 6.5535 rad
int16_t dribbler : 15; // -1638.3 - 1638.3 rad/s
uint8_t kickLoad : 8; // 0 - 2.55
bool ball : 1;
uint8_t battery : 8; // 0 - 25.5 V
int16_t m1 : 16; // -327.67 - 327.67 m/s
int16_t m2 : 16; // -327.67 - 327.67 m/s
int16_t m3 : 16; // -327.67 - 327.67 m/s
int16_t m4 : 16; // -327.67 - 327.67 m/s
uint8_t pcktCount : 8;
uint8_t battery : 8; // 0 - 25.5 V
int16_t m1 : 16; // -327.67 - 327.67 m/s
int16_t m2 : 16; // -327.67 - 327.67 m/s
int16_t m3 : 16; // -327.67 - 327.67 m/s
int16_t m4 : 16; // -327.67 - 327.67 m/s
uint8_t pcktCount : 8; // 0 - 2.55
uint8_t current_m1 : 8; // 0 - 2.55
uint8_t current_m2 : 8; // 0 - 2.55
uint8_t current_m3 : 8; // 0 - 2.55
uint8_t current_m4 : 8; // 0 - 2.55

} packetTypeOdometry;

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6 changes: 5 additions & 1 deletion nRF24Communication.cpp
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Expand Up @@ -290,6 +290,10 @@ bool nRF24Communication::sendOdometryPacket(RobotInfo odometry) {
this->_mOdometry.decoded.m3 = static_cast<int16_t>(odometry.m.m3 * 100);
this->_mOdometry.decoded.m4 = static_cast<int16_t>(odometry.m.m4 * 100);
this->_mOdometry.decoded.pcktCount = static_cast<uint8_t>(odometry.count);
this->_mOdometry.decoded.current_m1 = static_cast<uint16_t>(odometry.current.m1 * 100);
this->_mOdometry.decoded.current_m2 = static_cast<uint16_t>(odometry.current.m2 * 100);
this->_mOdometry.decoded.current_m3 = static_cast<uint16_t>(odometry.current.m3 * 100);
this->_mOdometry.decoded.current_m4 = static_cast<uint16_t>(odometry.current.m4 * 100);
this->enable();
bool answer = this->_radio.write(this->_mOdometry.encoded, ODOMETRY_LENGTH);
this->disable();
Expand Down Expand Up @@ -401,4 +405,4 @@ bool nRF24Communication::robotMoveIsLocked() {

bool nRF24Communication::robotMoveCriticalTurbo() {
return _criticalMoveTurbo;
}
}