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Servo control

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This commit is contained in:
Johnathon Slightham
2025-07-15 10:59:48 -04:00
parent cf5be03188
commit d3e42e8dff
20 changed files with 309 additions and 531 deletions
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7
components/rpc/MessagingInterface.cpp
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@@ -4,6 +4,7 @@
#include "MessagingInterface.h"
#include <AngleControlMessageBuilder.h>
#include <ConfigManager.h>
#include <freertos/queue.h>
#include <freertos/semphr.h>
@@ -53,7 +54,11 @@ void MessagingInterface::handleRecv(const char* recv_buffer, int recv_size) {
checkOrInsertTag(mpi_message->tag());
xQueueSendToBack(m_tag_to_queue.at(mpi_message->tag()), mpi_message->payload(), 0);
const auto temp = Flatbuffers::AngleControlMessageBuilder::parse_angle_control_message(reinterpret_cast<const uint8_t *>(mpi_message->payload()))->angle();
std::cout << "angle from before queue " << temp << std::endl;
xQueueSendToBack(m_tag_to_queue.at(mpi_message->tag()), mpi_message->payload()->data(), 0);
}
void MessagingInterface::checkOrInsertTag(const uint8_t tag) {