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Fix the issue of abnormal modification of motion_downsample #438

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Fix the issue of abnormal modification of motion_downsample #438

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7 changes: 4 additions & 3 deletions src/communication/Commander.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,11 +43,11 @@ void Commander::run(Stream& serial, char eol){
run(received_chars);

// reset the command buffer
received_chars[0] = 0;
memset(received_chars, 0, MAX_COMMAND_LENGTH);
rec_cnt=0;
}
if (rec_cnt>=MAX_COMMAND_LENGTH) { // prevent buffer overrun if message is too long
received_chars[0] = 0;
memset(received_chars, 0, MAX_COMMAND_LENGTH);
rec_cnt=0;
}
}
Expand Down Expand Up @@ -363,7 +363,8 @@ void Commander::motor(FOCMotor* motor, char* user_command) {
void Commander::motion(FOCMotor* motor, char* user_cmd, char* separator){
char cmd = user_cmd[0];
char sub_cmd = user_cmd[1];
bool GET = isSentinel(user_cmd[1]);
int value_index = (sub_cmd == SCMD_DOWNSAMPLE) ? 2 : 1;
bool GET = isSentinel(user_cmd[value_index]);
float value = atof(&user_cmd[(sub_cmd >= 'A' && sub_cmd <= 'Z') ? 2 : 1]);

switch(cmd){
Expand Down