修改steerwheel的set_static逻辑 (96308139) · Commits · Wenxi XU / Mambo

drivers/wheel/steerwheel.c

+2 −8

Original line number	Diff line number	Diff line
		@@ -37,7 +37,6 @@ typedef struct {
		wheel_status_t status;
		wheel_status_t target;
		float set_rpm;
		float static_angle;

		bool negative;
		} steerwheel_data_t;
		@@ -63,8 +62,6 @@ static inline void steerwheel_set_speed(const struct device *dev, float speed, f
		speed = -speed;
		}

		data->static_angle = NAN;

		data->target.speed = speed;
		float target_angle = fmodf(angle + cfg->common.angle_offset, 360.0f);

		@@ -164,12 +161,10 @@ static inline int steerwheel_set_static(const struct device *dev, float angle)
		}
		}

		if (isnanf(data->static_angle)) {
		data->static_angle = motor_get_angle(cfg->wheel_motor);
		}
		motor_control(cfg->wheel_motor, SET_ZERO);

		motor_set_angle(cfg->steer_motor, data->target.angle);
		return motor_set_angle(cfg->wheel_motor, data->static_angle);
		return motor_set_angle(cfg->wheel_motor, 0);
		}

		static inline wheel_status_t steerwheel_get_speed(const struct device dev)
		@@ -221,7 +216,6 @@ 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), \