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Fix Process scan to build

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Piv
2020-07-06 21:20:21 +09:30
parent a8b9bf06e4
commit 3d8148c22c
1 changed files with 4 additions and 4 deletions
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8
Sources/SwiftRPLidar/SwiftRPLidar.swift
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@@ -45,14 +45,14 @@ func processScan(raw: Data) throws -> LidarScan {
if ((raw[1] & 0b1) != 1) { if ((raw[1] & 0b1) != 1) {
} }
let angle = (raw[1] >> 1) + (raw[2] << 7) / 64 let angle = Float(raw[1] >> 1) + Float(raw[2] << 7) / 64
let distance = raw[3] + (raw[4] << 8) / 4 let distance = Float(raw[3]) + Float(raw[4] << 8) / 4
return LidarScan(newScan: newScan, quality: quality, angle: angle, distance: distance) return LidarScan(newScan: newScan == 1, quality: quality, angle: angle, distance: distance)
} }
struct LidarScan{ struct LidarScan{
var newScan: Bool var newScan: Bool
var quality: Float var quality: UInt8
var angle: Float var angle: Float
var distance: Float var distance: Float
} }