forked from logzhan/RobotHardware-UESTC
40 lines
1.3 KiB
C++
40 lines
1.3 KiB
C++
#include "data_holder.h"
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#include "board.h"
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#include <stdio.h>
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Data_holder::Data_holder()
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{
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strncpy((char*)&firmware_info.version, FW_VERSION, strlen(FW_VERSION)>sizeof(firmware_info.version)?sizeof(firmware_info.version):strlen(FW_VERSION));
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sprintf(firmware_info.time, "%s", "20220301");
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memset(¶meter, 0, sizeof(struct Robot_parameter));
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memset(&velocity, 0, sizeof(struct Robot_velocity));
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memset(&odom, 0, sizeof(struct Robot_odom));
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memset(&pid_data, 0, sizeof(struct Robot_pid_data));
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memset(imu_data, 0, sizeof(imu_data));
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}
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void Data_holder::load_parameter()
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{
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Board::get()->get_config((unsigned char*)¶meter, sizeof(parameter));
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if (parameter.params.ko == 0)
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parameter.params.ko = 1;
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if (parameter.params.do_pid_interval == 0)
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parameter.params.do_pid_interval = 10;
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if (parameter.params.motor_ratio == (unsigned short)-1 || parameter.params.motor_ratio == 0) {
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parameter.params.motor_ratio = 1;
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}
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parameter.params.model_type = MODEL_TYPE_2WD_DIFF; // in stm32f1 fix 2wd
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}
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void Data_holder::save_parameter()
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{
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Board::get()->set_config((unsigned char*)¶meter, sizeof(parameter));
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parameter.params.model_type = MODEL_TYPE_2WD_DIFF; // in stm32f1 fix 2wd
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}
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