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return motor speed from poll function (dirty af)

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Joeri Exelmans 2025-06-04 17:38:09 +02:00
parent 10d3de62da
commit e8f246cfa5
3 changed files with 30 additions and 17 deletions
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robot_cdt/Statechart.ysc
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@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:sgraph="http://www.yakindu.org/sct/sgraph/2.0.0">
<sgraph:Statechart xmi:id="_jCYoMD-lEfCA8aDVRFe8Eg" specification="@EventDriven&#xA;@SuperSteps(no)&#xA;&#xA;import: &quot;./src/data_types.h&quot;&#xA;&#xA;interface:&#xA;&#x9;in event sensor: real&#xA;&#xA;&#x9;in event buttonPressed&#xA;&#x9;in event buttonReleased&#xA;&#x9;&#xA;&#x9;out event setMotorR: real&#xA;&#x9;out event setMotorL: real&#xA;&#xA;&#x9;operation pid(sensor: real, pid_vars: pid_vars_t): real&#xA;&#xA;internal:&#xA;&#x9;var speed: real&#xA;&#x9;var pid_vars: pid_vars_t" name="Statechart" domainID="com.yakindu.domain.c">
<sgraph:Statechart xmi:id="_jCYoMD-lEfCA8aDVRFe8Eg" specification="@EventDriven&#xA;@SuperSteps(no)&#xA;&#xA;import: &quot;./src/data_types.h&quot;&#xA;&#xA;interface:&#xA;&#x9;in event sensor: int32_t&#xA;&#xA;&#x9;in event buttonPressed&#xA;&#x9;in event buttonReleased&#xA;&#x9;&#xA;&#x9;out event setMotorR: int32_t&#xA;&#x9;out event setMotorL: int32_t&#xA;&#xA;&#x9;operation pid(sensor: int32_t, pid_vars: pid_vars_t): int32_t&#xA;&#xA;internal:&#xA;&#x9;var speed: real&#xA;&#x9;var pid_vars: pid_vars_t" name="Statechart" domainID="com.yakindu.domain.c">
<regions xmi:id="_jCcSkz-lEfCA8aDVRFe8Eg" name="main region">
<vertices xsi:type="sgraph:State" xmi:id="_IsdxcD-yEfCA8aDVRFe8Eg" name="on" incomingTransitions="_ff2psD-yEfCA8aDVRFe8Eg">
<regions xmi:id="_IseYgD-yEfCA8aDVRFe8Eg" name="r1">