Add more information to rtp packets for motion control upgrades #3
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JNeiger
reviewed
Apr 30, 2019
| int8_t dribbler; | ||
| uint8_t kickStrength; | ||
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| unsigned motionMode : 2; // 0 = position control, 1 = velocity control |
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Is this supposed to be 2 bits?
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Yeah. I can think of a few more modes we might want in the future, so it seems like it makes sense to leave a bit of extra room considering there's space left in the last byte of RTP packet anyway.
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With new motion control, we're going to be sending a lot more data down to the robots. This adds in vision data and goal pos/vel/accel to the control structs.