RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
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Create placeholder motors when they are not found

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This commit is contained in:
Pascal Serrarens 2025-06-06 09:13:38 +02:00
parent 87241a0279
commit 5759412f70
1 changed files with 6 additions and 2 deletions
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4
src/Things/DifferentialDrive.cs
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@ -139,8 +139,12 @@ namespace RoboidControl {
byte ix = 0; byte ix = 0;
byte leftWheelId = data[ix++]; byte leftWheelId = data[ix++];
this.leftWheel = this.owner.Get(leftWheelId) as Motor; this.leftWheel = this.owner.Get(leftWheelId) as Motor;
this.leftWheel ??= new Motor(this) { id = leftWheelId };
byte rightWheelId = data[ix++]; byte rightWheelId = data[ix++];
this.rightWheel = this.owner.Get(rightWheelId) as Motor; this.rightWheel = this.owner.Get(rightWheelId) as Motor;
this.rightWheel ??= new Motor(this) { id = rightWheelId };
this._wheelRadius = LowLevelMessages.ReceiveFloat16(data, ref ix); this._wheelRadius = LowLevelMessages.ReceiveFloat16(data, ref ix);
//this._wheelSeparation = LowLevelMessages.ReceiveFloat16(data, ref ix); //this._wheelSeparation = LowLevelMessages.ReceiveFloat16(data, ref ix);
this.updateQueue.Enqueue(new CoreEvent(BinaryMsg.Id)); this.updateQueue.Enqueue(new CoreEvent(BinaryMsg.Id));