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authorDimitri Sokolyuk <demon@dim13.org>2016-12-30 13:22:26 +0100
committerDimitri Sokolyuk <demon@dim13.org>2016-12-30 13:22:26 +0100
commit03fae13a609c0d9f653406a134032fc1f0c9db46 (patch)
tree855a8f8e83c0e563cf3d7727ac011309f81c9c43 /protocol2.go
parent7e62f728fe33fd81ccadf11eca43d424a9260d09 (diff)
Split prettyprinting
Diffstat (limited to 'protocol2.go')
-rw-r--r--protocol2.go29
1 files changed, 9 insertions, 20 deletions
diff --git a/protocol2.go b/protocol2.go
index e578c9c..6e71b0c 100644
--- a/protocol2.go
+++ b/protocol2.go
@@ -1,10 +1,5 @@
package anki
-import (
- "fmt"
- "time"
-)
-
const (
VehicleMsgV2CSpeedUpdate ID = 0x36
VehicleMsgV2CStatusUpdate ID = 0x3f
@@ -20,9 +15,9 @@ const (
type VehicleMsgSpeedUpdate struct {
Size uint8
MsgID ID
- DesiredSpeed Speed // mm/sec
- Accel Accel // mm/sec² -- missing on older firmware
- CurrentSpeed Speed // mm/sec -- missing on older firmware
+ DesiredSpeed MMperSec // mm/sec
+ Accel MMperSecSQ // mm/sec² -- missing on older firmware
+ CurrentSpeed MMperSec // mm/sec -- missing on older firmware
}
// 05 3F 01 00 01 00
@@ -41,8 +36,8 @@ type VehicleMsgLaneChangeUpdate struct {
MsgID ID
CurrentOffsetFromRoadCenter float32
TargetOffsetFromRoadCenter float32
- HorizontalSpeed Speed
- VerticalSpeed Speed
+ HorizontalSpeed MMperSec
+ VerticalSpeed MMperSec
LaneChangeID uint8
}
@@ -50,14 +45,8 @@ type VehicleMsgLaneChangeUpdate struct {
type VehicleMsgCollisionDetected struct {
Size uint8
MsgID ID
- WasSideOnCollision uint8
- WasFrontBackCollision uint8
-}
-
-type UT uint32
-
-func (u UT) String() string {
- return fmt.Sprintf("%v", time.Duration(u)*time.Microsecond)
+ WasSideOnCollision Bool
+ WasFrontBackCollision Bool
}
// 0B 86 11 00 26 08 00 00 13 10 00 00 cchii
@@ -65,8 +54,8 @@ type VehicleMsgCycleOvertime struct {
Size uint8
MsgID ID
NumOvertimeCycles uint16
- AverageCycleTime UT // µsec
- MaxCycleTime UT // µsec
+ AverageCycleTime MicroSec // µsec
+ MaxCycleTime MicroSec // µsec
}
// ID(201) | 04 15 03 00 00