yasarba71520/Line-Following-Robot
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Adjust telegramm

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This commit is contained in:
Tim Zeuner 2023-02-03 20:38:52 +01:00
parent a929bbebed
commit 60e19a8968
1 changed files with 18 additions and 16 deletions
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34
lfr_state_machine.cpp
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@ -25,25 +25,27 @@ void LFR_StateMachine::sanitize (string& s) const
bool LFR_StateMachine::checkStringValidity (const std::vector<std::string>& s) const bool LFR_StateMachine::checkStringValidity (const std::vector<std::string>& s) const
{ {
if(s.size() != 5)
{
return false;
}
try try
{ {
for(int i = 0; i < 4; i ++) int i = stoi(s[0]);
if(i == 0 && s.size() == 5)
{ {
if(stod(s[i]) > 1.0 || stod(s[i]) < -1.0) for(int i = 0; i < 4; i ++)
{ {
return false; if(stod(s[i]) > 1.0 || stod(s[i]) < -1.0)
{
return false;
}
} }
} }
int i = stoi(s[4]); else if(i == 1)
if(i != 0 && i != 1) {
return true;
}
else
{ {
return false; return false;
} }
} }
catch(const std::exception& e) {return false;} catch(const std::exception& e) {return false;}
return true; return true;
@ -59,12 +61,12 @@ void LFR_StateMachine::parseString(string s)
return; return;
} }
double wheels[4] = {0.0, 0.0, 0.0, 0.0}; double wheels[4] = {0.0, 0.0, 0.0, 0.0};
int mode = std::stoi(splitStr[4]); int mode = std::stoi(splitStr[0]);
for(int i = 0; i < 3; i++)
{
wheels[i] = std::stod(splitStr[i]);
}
if(mode == 0) { if(mode == 0) {
for(int i = 1; i < 4; i++)
{
wheels[i] = std::stod(splitStr[i]);
}
setState(State::Manual::getInstance()); setState(State::Manual::getInstance());
uartCommunicator.sendTelegram(wheels[0], wheels[1], wheels[2], wheels[3]); uartCommunicator.sendTelegram(wheels[0], wheels[1], wheels[2], wheels[3]);
} }