diff --git a/Code/Control/Laptop_Code/Previous_low_level/ESP32_slave/Camera.cpp b/Code/Control/Laptop_Code/Previous_low_level/ESP32_slave/Camera.cpp index fb27cf808991a0b2083ca36f412ba1aa088527e6..56f42d65285a6f3129d8bf37368f094f86682d65 100644 --- a/Code/Control/Laptop_Code/Previous_low_level/ESP32_slave/Camera.cpp +++ b/Code/Control/Laptop_Code/Previous_low_level/ESP32_slave/Camera.cpp @@ -72,7 +72,7 @@ bool Camera::exe_color_detection_biggestblob(int8_t l_min, int8_t l_max, int8_t bool Camera::exe_goalfinder(int8_t goal1, int8_t goal2, int8_t goal3, int&id, int&tx, int&ty, int&tz, int&rx, int&ry, int&rz){ int8_t goalid[3] = {goal1, goal2, goal3}; - struct { uint16_t cid, ctx, cty, ctz, crx, cry, crz; } goalfinder_result; + struct { int16_t cid, ctx, cty, ctz, crx, cry, crz; } goalfinder_result; if(interface->call(F("goalfinder"), goalid, sizeof(goalid), &goalfinder_result, sizeof(goalfinder_result))){ } diff --git a/Code/Control/Laptop_Code/Previous_low_level/ESP32_slave/ESP32_slave.ino b/Code/Control/Laptop_Code/Previous_low_level/ESP32_slave/ESP32_slave.ino index 37e23c4c1bba7cbbfc667484fad80b35460551a4..d33826f62a57d0654d5b25f344e61415eab6e107 100644 --- a/Code/Control/Laptop_Code/Previous_low_level/ESP32_slave/ESP32_slave.ino +++ b/Code/Control/Laptop_Code/Previous_low_level/ESP32_slave/ESP32_slave.ino @@ -198,8 +198,8 @@ void loop() Sent_ry = ry; Sent_rz = rz; }else{ - Sent_tx = 0; - Sent_ty = 0; + Sent_tx = 100000; + Sent_ty = 100000; Sent_tz = 0; // cm Sent_rx = 0; Sent_ry = 0;