From df74595acc64ee569cfd9377f0f344c784be3323 Mon Sep 17 00:00:00 2001 From: CL16gtgh Date: Wed, 22 May 2024 16:23:20 -0400 Subject: [PATCH] Merge branch 'master' into CASE_testbranch --- Doxyfile | 2 +- platformio.ini | 15 +++++++-------- src/main.cpp | 11 +++++++++++ 3 files changed, 19 insertions(+), 9 deletions(-) diff --git a/Doxyfile b/Doxyfile index d21d7606f..94c359474 100644 --- a/Doxyfile +++ b/Doxyfile @@ -524,7 +524,7 @@ EXTRACT_ALL = YES # be included in the documentation. # The default value is: NO. -EXTRACT_PRIVATE = NO +EXTRACT_PRIVATE = YES # If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual # methods of a class will be included in the documentation. diff --git a/platformio.ini b/platformio.ini index c2c9edab3..a401d9517 100644 --- a/platformio.ini +++ b/platformio.ini @@ -11,9 +11,8 @@ lib_ignore = test_ignore= test_interfaces* lib_deps= - git+ssh://git@github.com/hytech-racing/CASE_lib.git#v45 - - https://github.com/hytech-racing/shared_firmware_systems.git + git+ssh://git@github.com/hytech-racing/CASE_lib.git#v45 + https://github.com/hytech-racing/shared_firmware_systems.git#af96a63 [env:teensy41] ; Testing variables @@ -52,9 +51,9 @@ lib_deps = https://github.com/vjmuzik/NativeEthernet.git https://github.com/hytech-racing/HT_params/releases/download/2024-05-07T06_59_33/ht_eth_pb_lib.tar.gz https://github.com/hytech-racing/shared_firmware_interfaces.git - https://github.com/hytech-racing/shared_firmware_systems.git - https://github.com/RCMast3r/spi_libs - https://github.com/tonton81/FlexCAN_T4 + https://github.com/hytech-racing/shared_firmware_systems.git#af96a63 + https://github.com/RCMast3r/spi_libs#2214fee + https://github.com/tonton81/FlexCAN_T4#b928bcb https://github.com/RCMast3r/hytech_can#testing_new_inv_ids https://github.com/hytech-racing/HT_CAN/releases/download/97/can_lib.tar.gz git+ssh://git@github.com/hytech-racing/CASE_lib.git#v49 @@ -84,8 +83,8 @@ board = teensy41 framework = arduino upload_protocol = teensy-cli lib_deps = - https://github.com/tonton81/FlexCAN_T4 - https://github.com/RCMast3r/hytech_can + https://github.com/tonton81/FlexCAN_T4#b928bcb + https://github.com/RCMast3r/hytech_can#4ffbba4 https://github.com/hytech-racing/HT_CAN/releases/latest/download/can_lib.tar.gz diff --git a/src/main.cpp b/src/main.cpp index e50e4d274..7d5e63a53 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -370,6 +370,17 @@ void loop() { Serial.print("Steering system reported angle (deg): "); Serial.println(steering_system.getSteeringSystemData().angle); + Serial.print("Steering system status: "); + Serial.println(static_cast(steering_system.getSteeringSystemData().status)) + Serial.print("Primary sensor angle: "); + Serial.println(steering1.convert().angle); + Serial.print("Secondary sensor angle: "); + Serial.print(a1.get().conversions[MCU15_STEERING_CHANNEL].conversion); + Serial.print(" raw: "); + Serial.println(a1.get().conversions[MCU15_STEERING_CHANNEL].raw); + Serial.print("Sensor divergence: "); + Serial.println(steering1.convert().angle - a1.get().conversions[MCU15_STEERING_CHANNEL].conversion); + Serial.println(); Serial.println(); }