send cmd to robi via uart not rs485, mode tested, without speed, no battery for robi left :/

ADIS_ESP32_Eclipse/main/robo_wrapper.c

@@ -9,8 +9,8 @@
 #include "McuShell.h"
 #include "Shell.h"
 
-#define RS_CMD_DRIVE_PREFIX "rs sendcmd 0x01 drive "
-#define RS_CMD_TURN_PREFIX "rs sendcmd 0x01 turn "
+#define RS_CMD_DRIVE_PREFIX "drive "
+#define RS_CMD_TURN_PREFIX "turn "
 #define BUF_SIZE 50
 
 /* Sets the robot to automatic / manual mode */
@@ -19,12 +19,12 @@ bool Robo_Wrapper_SetMode(bool automatic){
 		/* tbd */
 	}else{
 		/* set speed to zero */
-		Robo_Wrapper_Nav_Move(0);
+		unsigned char response[128];
+		SHELL_SendToRobotAndGetResponse((const unsigned char*)"drive speed 0 0", response, sizeof(response));
 		/* set mode to speed */
 		unsigned char cmd[BUF_SIZE] = RS_CMD_DRIVE_PREFIX;
-		unsigned char response[128];
 		McuUtility_strcat(cmd, sizeof(cmd), (unsigned char*)"mode speed");
-		SHELL_SendToESPAndGetResponse(cmd, response, sizeof(response));
+		SHELL_SendToRobotAndGetResponse(cmd, response, sizeof(response));
 		McuShell_SendStr(response, McuShell_GetStdio()->stdOut);
 	}
 	return true;
@@ -37,7 +37,7 @@ bool Robo_Wrapper_Nav_Turn(int16_t angle){
 	unsigned char angleA[5] = "";
 	McuUtility_Num16sToStr(angleA, sizeof(angleA), angle);
 	McuUtility_strcat(cmd, sizeof(cmd), (unsigned char*)angleA);
-	SHELL_SendToESPAndGetResponse(cmd, response, sizeof(response));
+	SHELL_SendToRobotAndGetResponse(cmd, response, sizeof(response));
 	McuShell_SendStr(response, McuShell_GetStdio()->stdOut);
 	return true;
 }
@@ -52,7 +52,7 @@ bool Robo_Wrapper_Nav_Move(int16_t speed){
 	McuUtility_strcat(cmd, sizeof(cmd), (unsigned char*)speedA);
 	McuUtility_strcat(cmd, sizeof(cmd), (unsigned char*)" ");
 	McuUtility_strcat(cmd, sizeof(cmd), (unsigned char*)speedA);
-	SHELL_SendToESPAndGetResponse(cmd, response, sizeof(response));
+	SHELL_SendToRobotAndGetResponse(cmd, response, sizeof(response));
 	McuShell_SendStr(response, McuShell_GetStdio()->stdOut);
 	return true;
 }
@@ -62,7 +62,7 @@ bool Robo_Wrapper_Nav_Stop(void){
 	unsigned char cmd[BUF_SIZE] = RS_CMD_DRIVE_PREFIX;
 	unsigned char response[128];
 	McuUtility_strcat(cmd, sizeof(cmd), (unsigned char*)"mode stop");
-	SHELL_SendToESPAndGetResponse(cmd, response, sizeof(response));
+	SHELL_SendToRobotAndGetResponse(cmd, response, sizeof(response));
 	McuShell_SendStr(response, McuShell_GetStdio()->stdOut);
 	return true;
 }