Merge branch 'develop' of github.com:ROBOTIS-GIT/OpenCR into develop

ROBOTIS-GIT · Jan 28, 2022 · f5a21f9 · f5a21f9
2 parents d4064e4 + 9b189ef
commit f5a21f9
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Showing 3 changed files with 10 additions and 4 deletions.
diff --git a/...ino/opencr_arduino/opencr/libraries/turtlebot3/include/turtlebot3/turtlebot3_controller.h b/...ino/opencr_arduino/opencr/libraries/turtlebot3/include/turtlebot3/turtlebot3_controller.h
@@ -30,6 +30,10 @@
 
 #define DEBUG_SERIAL SerialBT2
 
+namespace Internal {
+  static uint16_t dummy_raw_data_;
+}
+
 class Turtlebot3Controller
 {
  public:
@@ -38,7 +42,7 @@ class Turtlebot3Controller
 
   bool init(float max_lin_vel, float max_ang_vel, uint8_t scale_lin_vel = 1, uint8_t scale_ang_vel = 1);
 
-  bool getRCdata(float *get_cmd_vel);
+  bool getRCdata(float *get_cmd_vel, uint16_t &raw_data = Internal::dummy_raw_data_);
 
  private:
   geometry_msgs::Twist cmd_vel_;

diff --git a/arduino/opencr_arduino/opencr/libraries/turtlebot3/src/turtlebot3/turtlebot3_controller.cpp b/arduino/opencr_arduino/opencr/libraries/turtlebot3/src/turtlebot3/turtlebot3_controller.cpp
@@ -45,7 +45,7 @@ bool Turtlebot3Controller::init(float max_lin_vel, float max_ang_vel, uint8_t sc
   return true;
 }
 
-bool Turtlebot3Controller::getRCdata(float *get_cmd_vel)
+bool Turtlebot3Controller::getRCdata(float *get_cmd_vel, uint16_t &raw_data)
 {
   uint16_t received_data = 0;
   bool clicked_state = false;
@@ -55,6 +55,8 @@ bool Turtlebot3Controller::getRCdata(float *get_cmd_vel)
   if (rc100_.available())
   {
     received_data = rc100_.readData();
+    if (&raw_data != &Internal::dummy_raw_data_)
+      raw_data = received_data;
 
     if (received_data & RC100_BTN_U)
     {
@@ -102,4 +104,4 @@ bool Turtlebot3Controller::getRCdata(float *get_cmd_vel)
   }
 
   return clicked_state;
-}
+}
diff --git a/arduino/opencr_arduino/opencr/platform.txt b/arduino/opencr_arduino/opencr/platform.txt
@@ -81,7 +81,7 @@ recipe.s.o.pattern="{compiler.path}{compiler.c.cmd}" {compiler.S.flags} -mcpu={b
 
 ## Create archives
 recipe.ar.pattern="{compiler.path}{compiler.ar.cmd}" {compiler.ar.flags} {compiler.ar.extra_flags} "{archive_file_path}" "{object_file}"
-recipe.c.combine.pattern="{compiler.path}{compiler.c.elf.cmd}" {compiler.c.elf.flags} -mcpu={build.mcu} "-T{build.variant.path}/{build.ldscript}" "-Wl,-Map,{build.path}/{build.project_name}.map" {compiler.c.elf.extra_flags} -o "{build.path}/{build.project_name}.elf" "-L{build.path}" -lm -lgcc -mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-unresolved-symbols -Wl,--start-group {object_files} -Wl,--whole-archive {compiler.libraries.ldflags} "{build.path}/{archive_file}" -Wl,--no-whole-archive -Wl,--end-group
+recipe.c.combine.pattern="{compiler.path}{compiler.c.elf.cmd}" {compiler.c.elf.flags} -mcpu={build.mcu} "-T{build.variant.path}/{build.ldscript}" "-Wl,-Map,{build.path}/{build.project_name}.map" {compiler.c.elf.extra_flags} -o "{build.path}/{build.project_name}.elf" "-L{build.path}" -lm -lgcc -mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-unresolved-symbols -Wl,--start-group {object_files} -Wl,--whole-archive "{build.path}/{archive_file}" -Wl,--no-whole-archive {compiler.libraries.ldflags} -Wl,--end-group
 
 ## Create eeprom
 recipe.objcopy.eep.pattern=