修复set_static问题 (6d084531) · Commits · Wenxi XU / Mambo

drivers/wheel/steerwheel.c

+6 −3

Original line number	Diff line number	Diff line
		@@ -116,8 +116,6 @@ static inline void steerwheel_set_speed(const struct device *dev, float speed, f
		}
		}

		data->static_angle = NAN;

		motor_set_angle(cfg->steer_motor, data->target.angle);
		motor_set_speed(cfg->wheel_motor, data->set_rpm);
		}
		@@ -166,7 +164,7 @@ static inline int steerwheel_set_static(const struct device *dev, float angle)
		}
		}

		if (isnan(data->static_angle)) {
		if (isnanf(data->static_angle)) {
		data->static_angle = motor_get_angle(cfg->wheel_motor);
		}

		@@ -223,6 +221,7 @@ struct wheel_driver_api steerwheel_driver_api = {
		.target = {.speed = 0.0f, .angle = 0.0f, .restricted = true}, \
		.negative = false, \
		.set_rpm = 0.0f, \
		.static_angle = NAN, \
		}; \
		static const steerwheel_cfg_t steerwheel_cfg_##inst = { \
		.common = DT_WHEEL_CONFIG_GET(inst), \
		@@ -237,4 +236,8 @@ struct wheel_driver_api steerwheel_driver_api = {

		DT_INST_FOREACH_STATUS_OKAY(STEERWHEEL_DEVICE_DEFINE)

		#ifdef __cplusplus
		}
		#endif

		#endif // STEERWHEEL_C
		No newline at end of file