uint8_t odometry_move_straight(int16_t distance, uint8_t speed, uint8_t (*callback)(uint32_t start_time))
{
uint8_t buffer[8];
odometry_set_speed(speed);
buffer[0] = 'D';
buffer[1] = distance >> 8;
buffer[2] = distance & 0xFF;
while(CAN_Write(buffer, DRIVER_TX_IDENTIFICATOR))
_delay_ms(50);
return odometry_wait_until_done(callback);
}
uint8_t odometry_set_angle(int16_t angle, uint8_t speed, uint8_t (*callback)(uint32_t start_time))
{
uint8_t buffer[8];
odometry_set_speed(speed);
angle *= -1;
buffer[0] = 'A';
buffer[1] = angle >> 8;
buffer[2] = angle & 0xFF;
while(CAN_Write(buffer, DRIVER_TX_IDENTIFICATOR))
_delay_ms(50);
return odometry_wait_until_done(callback);
}
uint8_t odometry_move_to_position(struct odometry_position* position, uint8_t speed, uint8_t direction, uint8_t (*callback)(uint32_t start_time))
{
uint8_t buffer[8];
odometry_set_speed(speed);
buffer[0] = 'G';
buffer[1] = position->x >> 8;
buffer[2] = position->x & 0xFF;
buffer[3] = position->y >> 8;
buffer[4] = position->y & 0xFF;
buffer[5] = 0;//Mozda ne treba 0
buffer[6] = direction;
while(CAN_Write(buffer, DRIVER_TX_IDENTIFICATOR))
_delay_ms(50);
return odometry_wait_until_done(callback);
}
