/* Extract angle from the Message */
void can_proc_move_to_angle_msg ( sCAN* mMsg )
{
// Angle is a 4 byte signed integer. It is degrees * 100
float tmp_angle = extract_float_msg( mMsg->data );
Destination.position = convert_to_value( convert_to_fixedpoint(tmp_angle) );
Destination.speed = extract_long_int( &(mMsg->data[4]) ); // [0..100%]
motor_set_duty( Destination.speed );
}
// Find a conversion from e to t. If no such
// conversion exists, return nullptr. Diagnostics
// a better handled in the calling context.
Expr*
convert(Expr* e, Type const* t)
{
// If e has type t, no conversions are needed.
if (e->type() == t)
return e;
// Try lvalue to rvalue conversion.
Expr* c1 = convert_to_value(e);
if (c1->type() == t)
return c1;
return nullptr;
}
/*---------------------------------------------------------------------------*/
static int
value(int type)
{
uint8_t index;
uint16_t sensor_value;
index = is_sensor_in_list(type);
if(!index) {
PRINTF("ADC sensors: sensor not registered\n");
return ADC_WRAPPER_SUCCESS;
}
/* Restore index value after the check */
index -= 1;
sensor_value = convert_to_value(index);
return sensor_value;
}
