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Let signals to stop always pass

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This commit is contained in:
Tim Zeuner 2023-02-23 20:39:28 +01:00
parent 60fbc8758d
commit 397e6fe331
2 changed files with 3 additions and 2 deletions
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4
Communication/uart_communication.cpp
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@ -16,7 +16,7 @@ void LFR_UART::openFile(const char *fileName) {
int LFR_UART::writeDataToFile(int8_t *buff, uint32_t bufferLength) {
//std::cout << "Sending uart: " << std::bitset<8>(buff[0]) << std::endl;
std::cout << "Sending uart: " << std::bitset<8>(buff[0]) << ", " << std::bitset<8>(buff[1]) << ", " << std::bitset<8>(buff[2]) << ", " << std::bitset<8>(buff[3]) << " csum: " << std::bitset<8>(buff[4]) << std::endl;
std::cout << "Sending Uart: " << std::bitset<8>(buff[0]) << ", " << std::bitset<8>(buff[1]) << ", " << std::bitset<8>(buff[2]) << ", " << std::bitset<8>(buff[3]) << " csum: " << std::bitset<8>(buff[4]) << std::endl;
return write(this->fileDescriptor, buff, bufferLength);
}
@ -66,7 +66,7 @@ double LFR_UART::byteToDouble(int8_t in){
void LFR_UART::sendTelegram(double wheel1, double wheel2, double wheel3, double wheel4){
std::chrono::milliseconds now = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());
unsigned int deltaMs = static_cast<unsigned int>((now-last).count());
if (deltaMs < 250)
if (deltaMs < 250 && (std::fabs(wheel1)+std::fabs(wheel2)+std::fabs(wheel3)+std::fabs(wheel4)) > 0.0005)
{
std::cout << "Too fast" << std::endl;
return;

1
Communication/uart_communication.h
View File

@ -12,6 +12,7 @@
#include <exception>
#include <iostream>
#include <chrono>
#include <cmath>
#include <bitset>