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This commit is contained in:
玖叁 2025-01-01 18:58:55 +08:00
parent 91c4500d82
commit b81c903292
2 changed files with 5 additions and 4 deletions
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8
src/handlers.cpp
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@ -124,17 +124,17 @@ void Handlers::motorSteerControl(BLECharacteristic &characteristic, uint8_t *pac
void Handlers::motorRotateControl(BLECharacteristic &characteristic, uint8_t *packet) void Handlers::motorRotateControl(BLECharacteristic &characteristic, uint8_t *packet)
{ {
uint8_t direction = packet[3]; uint8_t direction = packet[3];
uint8_t time = packet[4]; uint8_t speed = packet[4];
Serial.println("CMD_MOTOR_ROTATE_CONTROL, direction: " + String(direction) + ", time: " + String(time)); Serial.println("CMD_MOTOR_ROTATE_CONTROL, direction: " + String(direction) + ", speed: " + String(speed));
// 顺时针 // 顺时针
if (direction == 0x00) if (direction == 0x00)
{ {
MotorController::rotate(ROTATE_CLOCKWISE, 255); MotorController::rotate(ROTATE_CLOCKWISE, speed);
} }
// 逆时针 // 逆时针
else if (direction == 0x01) else if (direction == 0x01)
{ {
MotorController::rotate(ROTATE_ANTICLOCKWISE, 255); MotorController::rotate(ROTATE_ANTICLOCKWISE, speed);
} }
} }

1
src/mode.cpp
View File

@ -1,6 +1,7 @@
#include "mode.h" #include "mode.h"
ModeType Mode::mode = ModeType::MODE_MANUAL_CONTROL; ModeType Mode::mode = ModeType::MODE_MANUAL_CONTROL;
ModeType Mode::lastMode = ModeType::MODE_MANUAL_CONTROL;
void Mode::processDeviceMode() void Mode::processDeviceMode()
{ {