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Arduino library for Model CR series

Home Page: https://whill.inc/jp/model-cr2

License: MIT License

C++ 100.00%

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satoshirobatofujimoto saeking yangbinchen

whill-sdk-arduino's Issues

setSpeedProfile関数が使用できない。

https://github.com/WHILL/whill-sdk-arduino/blob/esp32/src/whill_commands.cpp

whill-sdk-arduino/src/whill_commands.cpp

Lines 76 to 90 in b1001c8

    
           void WHILL::setSpeedProfile(SpeedProfile* profile, unsigned char speed_mode) { 
        
               unsigned char payload[] = {0x04, 
        
                                          profile->forward_spped, 
        
                                          profile->forward_acceleration, 
        
                                          profile->forward_deceleration, 
        
                                          profile->reverse_speed, 
        
                                          profile->reverse_acceleration, 
        
                                          profile->reverse_deceleration, 
        
                                          profile->turn_speed, 
        
                                          profile->turn_acceleration, 
        
                                          profile->turn_deceleration}; 
        
               Packet packet(payload, sizeof(payload)); 
        
               packet.build(); 
        
               transferPacket(&packet); 
        
           }

上記についてですが、speed_modeが抜けています。

下記であれば動作しました。


void WHILL::setSpeedProfile(SpeedProfile* profile, unsigned char speed_mode) {
    unsigned char payload[] = {0x04,
                               speed_mode,  //add
                               profile->forward_spped,
                               profile->forward_acceleration,
                               profile->forward_deceleration,
                               profile->reverse_speed,
                               profile->reverse_acceleration,
                               profile->reverse_deceleration,
                               profile->turn_speed,
                               profile->turn_acceleration,
                               profile->turn_deceleration};
    Packet packet(payload, sizeof(payload));
    packet.build();
    transferPacket(&packet);
}

M5Atomからblink_powerのPowerONができない。

https://github.com/WHILL/whill-sdk-arduino/tree/esp32/examples/blink_power
上記を参考にさせていだたき、M5Atomから操作を行っています。

サンプルの中で、
callback
shake
は動作しています。

しかし、blink_powerの
whill.setPower(true); 部分が動作しません。
※whill.setPower(false);の部分は動作します。

サンプル以外でも下記サイトを参考にして実装しましたが、
whill.setPower(true);部分は動作しませんでした。
https://qiita.com/KatsuShun89/items/69222ce96ff3debcba11

なにか思い当たることはありますでしょうか？大変申し訳ございませんが、ご確認いただけないでしょうか？

Unit of accelerometer and gyro is wrong

The values are raw of WHILL packet. Must to implement the calculation to fit the collect unit.

whill-sdk-arduino/src/PacketParser.cpp

Lines 41 to 47 in db3daf7

    
           whill->accelerometer.x = (signed short)((packet->payload[1] << 8)+(packet->payload[2])); 
        
           whill->accelerometer.y = (signed short)((packet->payload[3] << 8)+(packet->payload[4])); 
        
           whill->accelerometer.z = (signed short)((packet->payload[5] << 8)+(packet->payload[6])); 
        
           whill->gyro.x = (signed short)((packet->payload[7] << 8)+(packet->payload[8])); 
        
           whill->gyro.y = (signed short)((packet->payload[9] << 8)+(packet->payload[10])); 
        
           whill->gyro.z = (signed short)((packet->payload[11] << 8)+(packet->payload[12]));

whill / whill-sdk-arduino Goto Github PK

whill-sdk-arduino's People

Contributors

Stargazers

Watchers

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whill-sdk-arduino's Issues

setSpeedProfile関数が使用できない。

M5Atomからblink_powerのPowerONができない。

Unit of accelerometer and gyro is wrong

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	void WHILL::setSpeedProfile(SpeedProfile* profile, unsigned char speed_mode) {
	unsigned char payload[] = {0x04,
	profile->forward_spped,
	profile->forward_acceleration,
	profile->forward_deceleration,
	profile->reverse_speed,
	profile->reverse_acceleration,
	profile->reverse_deceleration,
	profile->turn_speed,
	profile->turn_acceleration,
	profile->turn_deceleration};
	Packet packet(payload, sizeof(payload));
	packet.build();
	transferPacket(&packet);
	}

	whill->accelerometer.x = (signed short)((packet->payload[1] << 8)+(packet->payload[2]));
	whill->accelerometer.y = (signed short)((packet->payload[3] << 8)+(packet->payload[4]));
	whill->accelerometer.z = (signed short)((packet->payload[5] << 8)+(packet->payload[6]));

	whill->gyro.x = (signed short)((packet->payload[7] << 8)+(packet->payload[8]));
	whill->gyro.y = (signed short)((packet->payload[9] << 8)+(packet->payload[10]));
	whill->gyro.z = (signed short)((packet->payload[11] << 8)+(packet->payload[12]));