1 files changed, 14 insertions, 6 deletions

diff --git a/serial.c b/serial.c
index 6251675..6b4eb72 100644
--- a/serial.c
+++ b/serial.c
@@ -10,6 +10,7 @@
 
 typedef unsigned char byte;
 #define MAX_BUFFER_SIZE 1024
+#define DEFAULT_SPEED 0x15
 
 int fd;                             // 轮子的串口文件描述符
 char portname[50] = "/dev/ttyUSB0"; // 串口设备名
@@ -19,18 +20,24 @@ struct termios tty;
 bool whellInit();
 bool wheelSend(byte a, byte a_v, byte b, byte b_v);
 void speedControl(byte status, byte speed);
-void parseCmd(const path_ctrl_t *msg, void *user);
+void parseCmd(const lcm_recv_buf_t *rbuf, const char *channel,
+              const path_ctrl_t *msg, void *userdata);
 
 int main() {
     if (!whellInit()) {
         goto err;
     }
-    lcm *path_lcm = lcm_create(NULL);
+    lcm_t *path_lcm = lcm_create(NULL);
     if (!path_lcm) {
         fprintf(stderr, "Failed to create LCM\n");
         goto err;
     }
-    path_ctrl_t_subscribe(path_lcm, "PATH_CTRL", parseCmd);
+    path_ctrl_t cmd;
+    path_ctrl_t_subscribe(path_lcm, "wheel_ctrl", parseCmd, &cmd);
+
+    while (true) {
+        lcm_handle(path_lcm);
+    }
 
 err:
     close(fd);
@@ -102,17 +109,18 @@ bool wheelSend(byte a, byte a_v, byte b, byte b_v) {
     return true;
 }
 
-void parseCmd(const path_ctrl_t *msg, void *user) {
+void parseCmd(const lcm_recv_buf_t *rbuf, const char *channel,
+              const path_ctrl_t *msg, void *userdata) {
     byte status = msg->cmd, speed = msg->speed;
     switch (status) {
     case 1:
         wheelSend(0x01, speed, 0x01, speed);
         break;
     case 2:
-        wheelSend(0x02, speed, 0x01, speed);
+        wheelSend(0x02, DEFAULT_SPEED, 0x01, DEFAULT_SPEED);
         break;
     case 3:
-        wheelSend(0x01, speed, 0x02, speed);
+        wheelSend(0x01, DEFAULT_SPEED, 0x02, DEFAULT_SPEED);
         break;
     case 0:
     default: