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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8
src/Things/DifferentialDrive.cs
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@ -14,7 +14,7 @@ namespace RoboidControl {
/// <param name="parent">The parent thing</param> /// <param name="parent">The parent thing</param>
public DifferentialDrive(Thing parent = default) : base(parent) { public DifferentialDrive(Thing parent = default) : base(parent) {
this.type = Type.DifferentialDrive; this.type = Type.DifferentialDrive;
} }
/// @brief Configures the dimensions of the drive /// @brief Configures the dimensions of the drive
/// @param wheelDiameter The diameter of the wheels in meters /// @param wheelDiameter The diameter of the wheels in meters
@ -49,7 +49,7 @@ namespace RoboidControl {
// this.leftWheel.position = new Spherical(distance, Direction.left); // this.leftWheel.position = new Spherical(distance, Direction.left);
this.rightWheel = rightWheel; this.rightWheel = rightWheel;
this.rightWheel.parent= this; this.rightWheel.parent = this;
// if (this.rightWheel != null) // if (this.rightWheel != null)
// this.rightWheel.position = new Spherical(distance, Direction.right); // this.rightWheel.position = new Spherical(distance, Direction.right);
@ -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));