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authorDimitri Sokolyuk <demon@dim13.org>2017-08-21 23:06:34 +0200
committerDimitri Sokolyuk <demon@dim13.org>2017-08-21 23:06:34 +0200
commit22bec7ba538aa7619bd4f742684c2007d1fe9e7c (patch)
treefa32b4ff3fc03ddcc4d4108a9a14c727959d2314
parent3adc147fc0a70f18888949ac90441f24b9369b15 (diff)
motor commands
-rw-r--r--car/car.ino43
-rw-r--r--car/elegoo.pb.c15
-rw-r--r--car/elegoo.pb.h33
-rw-r--r--car/elegoo/elegoo.pb.go58
-rw-r--r--car/elegoo/elegoo.proto11
-rw-r--r--car/elegoo/main.go30
6 files changed, 121 insertions, 69 deletions
diff --git a/car/car.ino b/car/car.ino
index b048db1..ee5c84f 100644
--- a/car/car.ino
+++ b/car/car.ino
@@ -14,7 +14,9 @@
PacketSerial serial;
Servo servo;
+
IRrecv irrecv(IR);
+decode_results ir;
void motor(int e, int a, int b, int v) {
if (v > 0) {
@@ -29,6 +31,14 @@ void motor(int e, int a, int b, int v) {
analogWrite(e, v);
}
+void motorR(int v) {
+ motor(ENA, IN1, IN2, v);
+}
+
+void motorL(int v) {
+ motor(ENB, IN3, IN4, v);
+}
+
void move(int l, int r) {
motor(ENA, IN1, IN2, l);
motor(ENB, IN3, IN4, r);
@@ -57,20 +67,22 @@ void look(int deg) {
#define lookleft(deg) do look( deg); while (0)
#define lookright(deg) do look(-deg); while (0)
-int ir() {
- decode_results results = {};
- if (irrecv.decode(&results)) {
- irrecv.resume();
- }
- return results.value;
-}
-
void onPacket(const uint8_t* buf, size_t size) {
Command cmd = Command_init_zero;
pb_istream_t istream = pb_istream_from_buffer(buf, size);
pb_decode_delimited(&istream, Command_fields, &cmd);
+ if (cmd.has_SpeedR) {
+ motorR(cmd.SpeedR);
+ }
+ if (cmd.has_SpeedL) {
+ motorL(cmd.SpeedL);
+ }
+ if (cmd.has_Stop && cmd.Stop) {
+ motorR(0);
+ motorL(0);
+ }
if (cmd.has_TurnHead) {
servo.write(90 + cmd.TurnHead);
}
@@ -87,17 +99,20 @@ void env() {
evt.Distance = distance();
evt.has_Distance = evt.Distance > 0;
- evt.SensorR = !digitalRead(SR);
+ evt.SensorR = digitalRead(SR);
evt.has_SensorR = true;
- evt.SensorC = !digitalRead(SC);
+ evt.SensorC = digitalRead(SC);
evt.has_SensorC = true;
- evt.SensorL = !digitalRead(SL);
+ evt.SensorL = digitalRead(SL);
evt.has_SensorL = true;
- evt.KeyPress = ir();
- evt.has_KeyPress = evt.KeyPress != 0;
+ if (irrecv.decode(&ir)) {
+ evt.KeyPress = ir.value;
+ evt.has_KeyPress = ir.bits > 0;
+ irrecv.resume();
+ }
pb_ostream_t ostream = pb_ostream_from_buffer(buf, sizeof(buf));
pb_encode_delimited(&ostream, Event_fields, &evt);
@@ -114,8 +129,6 @@ void loop() {
void setup() {
serial.begin(57600);
serial.setPacketHandler(&onPacket);
- //pb_istream_from_stream(Serial, istream);
- //pb_ostream_from_stream(Serial, ostream);
pinMode(Echo, INPUT);
pinMode(Trig, OUTPUT);
diff --git a/car/elegoo.pb.c b/car/elegoo.pb.c
index 570d496..5af0f71 100644
--- a/car/elegoo.pb.c
+++ b/car/elegoo.pb.c
@@ -1,5 +1,5 @@
/* Automatically generated nanopb constant definitions */
-/* Generated by nanopb-0.3.6 at Mon Aug 21 21:08:59 2017. */
+/* Generated by nanopb-0.3.6 at Mon Aug 21 22:55:02 2017. */
#include "elegoo.pb.h"
@@ -10,16 +10,17 @@
-const pb_field_t Command_fields[5] = {
- PB_FIELD( 1, INT32 , OPTIONAL, STATIC , FIRST, Command, LeftSpeed, LeftSpeed, 0),
- PB_FIELD( 2, INT32 , OPTIONAL, STATIC , OTHER, Command, RightSpeed, LeftSpeed, 0),
- PB_FIELD( 3, SINT32 , OPTIONAL, STATIC , OTHER, Command, TurnHead, RightSpeed, 0),
- PB_FIELD( 4, BOOL , OPTIONAL, STATIC , OTHER, Command, Center, TurnHead, 0),
+const pb_field_t Command_fields[6] = {
+ PB_FIELD( 1, SINT32 , OPTIONAL, STATIC , FIRST, Command, SpeedR, SpeedR, 0),
+ PB_FIELD( 2, SINT32 , OPTIONAL, STATIC , OTHER, Command, SpeedL, SpeedR, 0),
+ PB_FIELD( 3, BOOL , OPTIONAL, STATIC , OTHER, Command, Stop, SpeedL, 0),
+ PB_FIELD( 4, SINT32 , OPTIONAL, STATIC , OTHER, Command, TurnHead, Stop, 0),
+ PB_FIELD( 5, BOOL , OPTIONAL, STATIC , OTHER, Command, Center, TurnHead, 0),
PB_LAST_FIELD
};
const pb_field_t Event_fields[6] = {
- PB_FIELD( 1, INT32 , OPTIONAL, STATIC , FIRST, Event, Distance, Distance, 0),
+ PB_FIELD( 1, UINT32 , OPTIONAL, STATIC , FIRST, Event, Distance, Distance, 0),
PB_FIELD( 2, BOOL , OPTIONAL, STATIC , OTHER, Event, SensorR, Distance, 0),
PB_FIELD( 3, BOOL , OPTIONAL, STATIC , OTHER, Event, SensorC, SensorR, 0),
PB_FIELD( 4, BOOL , OPTIONAL, STATIC , OTHER, Event, SensorL, SensorC, 0),
diff --git a/car/elegoo.pb.h b/car/elegoo.pb.h
index 29865ad..4a0e918 100644
--- a/car/elegoo.pb.h
+++ b/car/elegoo.pb.h
@@ -1,5 +1,5 @@
/* Automatically generated nanopb header */
-/* Generated by nanopb-0.3.6 at Mon Aug 21 21:08:59 2017. */
+/* Generated by nanopb-0.3.6 at Mon Aug 21 22:55:02 2017. */
#ifndef PB_ELEGOO_PB_H_INCLUDED
#define PB_ELEGOO_PB_H_INCLUDED
@@ -16,10 +16,12 @@ extern "C" {
/* Struct definitions */
typedef struct _Command {
- bool has_LeftSpeed;
- int32_t LeftSpeed;
- bool has_RightSpeed;
- int32_t RightSpeed;
+ bool has_SpeedR;
+ int32_t SpeedR;
+ bool has_SpeedL;
+ int32_t SpeedL;
+ bool has_Stop;
+ bool Stop;
bool has_TurnHead;
int32_t TurnHead;
bool has_Center;
@@ -29,7 +31,7 @@ typedef struct _Command {
typedef struct _Event {
bool has_Distance;
- int32_t Distance;
+ uint32_t Distance;
bool has_SensorR;
bool SensorR;
bool has_SensorC;
@@ -44,16 +46,17 @@ typedef struct _Event {
/* Default values for struct fields */
/* Initializer values for message structs */
-#define Command_init_default {false, 0, false, 0, false, 0, false, 0}
+#define Command_init_default {false, 0, false, 0, false, 0, false, 0, false, 0}
#define Event_init_default {false, 0, false, 0, false, 0, false, 0, false, 0}
-#define Command_init_zero {false, 0, false, 0, false, 0, false, 0}
+#define Command_init_zero {false, 0, false, 0, false, 0, false, 0, false, 0}
#define Event_init_zero {false, 0, false, 0, false, 0, false, 0, false, 0}
/* Field tags (for use in manual encoding/decoding) */
-#define Command_LeftSpeed_tag 1
-#define Command_RightSpeed_tag 2
-#define Command_TurnHead_tag 3
-#define Command_Center_tag 4
+#define Command_SpeedR_tag 1
+#define Command_SpeedL_tag 2
+#define Command_Stop_tag 3
+#define Command_TurnHead_tag 4
+#define Command_Center_tag 5
#define Event_Distance_tag 1
#define Event_SensorR_tag 2
#define Event_SensorC_tag 3
@@ -61,12 +64,12 @@ typedef struct _Event {
#define Event_KeyPress_tag 5
/* Struct field encoding specification for nanopb */
-extern const pb_field_t Command_fields[5];
+extern const pb_field_t Command_fields[6];
extern const pb_field_t Event_fields[6];
/* Maximum encoded size of messages (where known) */
-#define Command_size 30
-#define Event_size 23
+#define Command_size 22
+#define Event_size 18
/* Message IDs (where set with "msgid" option) */
#ifdef PB_MSGID
diff --git a/car/elegoo/elegoo.pb.go b/car/elegoo/elegoo.pb.go
index b29cb8f..a0e9704 100644
--- a/car/elegoo/elegoo.pb.go
+++ b/car/elegoo/elegoo.pb.go
@@ -29,10 +29,11 @@ var _ = math.Inf
const _ = proto.ProtoPackageIsVersion2 // please upgrade the proto package
type Command struct {
- LeftSpeed int32 `protobuf:"varint,1,opt,name=LeftSpeed" json:"LeftSpeed,omitempty"`
- RightSpeed int32 `protobuf:"varint,2,opt,name=RightSpeed" json:"RightSpeed,omitempty"`
- TurnHead int32 `protobuf:"zigzag32,3,opt,name=TurnHead" json:"TurnHead,omitempty"`
- Center bool `protobuf:"varint,4,opt,name=Center" json:"Center,omitempty"`
+ SpeedR int32 `protobuf:"zigzag32,1,opt,name=SpeedR" json:"SpeedR,omitempty"`
+ SpeedL int32 `protobuf:"zigzag32,2,opt,name=SpeedL" json:"SpeedL,omitempty"`
+ Stop bool `protobuf:"varint,3,opt,name=Stop" json:"Stop,omitempty"`
+ TurnHead int32 `protobuf:"zigzag32,4,opt,name=TurnHead" json:"TurnHead,omitempty"`
+ Center bool `protobuf:"varint,5,opt,name=Center" json:"Center,omitempty"`
}
func (m *Command) Reset() { *m = Command{} }
@@ -40,20 +41,27 @@ func (m *Command) String() string { return proto.CompactTextString(m)
func (*Command) ProtoMessage() {}
func (*Command) Descriptor() ([]byte, []int) { return fileDescriptor0, []int{0} }
-func (m *Command) GetLeftSpeed() int32 {
+func (m *Command) GetSpeedR() int32 {
if m != nil {
- return m.LeftSpeed
+ return m.SpeedR
}
return 0
}
-func (m *Command) GetRightSpeed() int32 {
+func (m *Command) GetSpeedL() int32 {
if m != nil {
- return m.RightSpeed
+ return m.SpeedL
}
return 0
}
+func (m *Command) GetStop() bool {
+ if m != nil {
+ return m.Stop
+ }
+ return false
+}
+
func (m *Command) GetTurnHead() int32 {
if m != nil {
return m.TurnHead
@@ -69,7 +77,7 @@ func (m *Command) GetCenter() bool {
}
type Event struct {
- Distance int32 `protobuf:"varint,1,opt,name=Distance" json:"Distance,omitempty"`
+ Distance uint32 `protobuf:"varint,1,opt,name=Distance" json:"Distance,omitempty"`
SensorR bool `protobuf:"varint,2,opt,name=SensorR" json:"SensorR,omitempty"`
SensorC bool `protobuf:"varint,3,opt,name=SensorC" json:"SensorC,omitempty"`
SensorL bool `protobuf:"varint,4,opt,name=SensorL" json:"SensorL,omitempty"`
@@ -81,7 +89,7 @@ func (m *Event) String() string { return proto.CompactTextString(m) }
func (*Event) ProtoMessage() {}
func (*Event) Descriptor() ([]byte, []int) { return fileDescriptor0, []int{1} }
-func (m *Event) GetDistance() int32 {
+func (m *Event) GetDistance() uint32 {
if m != nil {
return m.Distance
}
@@ -124,19 +132,19 @@ func init() {
func init() { proto.RegisterFile("elegoo.proto", fileDescriptor0) }
var fileDescriptor0 = []byte{
- // 209 bytes of a gzipped FileDescriptorProto
- 0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xff, 0x4c, 0x90, 0xbd, 0x4a, 0xc0, 0x30,
- 0x14, 0x46, 0x89, 0xf6, 0xcf, 0x8b, 0x0e, 0x66, 0x90, 0x20, 0x22, 0xa1, 0x53, 0x26, 0x17, 0xdf,
- 0xc0, 0x28, 0x08, 0x76, 0x90, 0xd4, 0xc9, 0x2d, 0xda, 0x6b, 0x2d, 0xd8, 0xa4, 0x24, 0x51, 0x10,
- 0x9f, 0xc1, 0x77, 0x96, 0x86, 0x34, 0x75, 0x3c, 0xdf, 0xe1, 0x72, 0xe0, 0xc2, 0x31, 0x7e, 0xe0,
- 0x68, 0xed, 0xd5, 0xe2, 0x6c, 0xb0, 0xed, 0x0f, 0xd4, 0xd2, 0xce, 0xb3, 0x36, 0x03, 0xbd, 0x80,
- 0xa3, 0x0e, 0xdf, 0x42, 0xbf, 0x20, 0x0e, 0x8c, 0x70, 0x22, 0x4a, 0xb5, 0x0f, 0xf4, 0x12, 0x40,
- 0x4d, 0xe3, 0x7b, 0xd2, 0x07, 0x51, 0xff, 0x5b, 0xe8, 0x39, 0x34, 0x4f, 0x9f, 0xce, 0xdc, 0xa3,
- 0x1e, 0xd8, 0x21, 0x27, 0xe2, 0x54, 0x65, 0xa6, 0x67, 0x50, 0x49, 0x34, 0x01, 0x1d, 0x2b, 0x38,
- 0x11, 0x8d, 0x4a, 0xd4, 0xfe, 0x12, 0x28, 0xef, 0xbe, 0xd0, 0x84, 0xf5, 0xfa, 0x76, 0xf2, 0x41,
- 0x9b, 0x57, 0x4c, 0xe9, 0xcc, 0x94, 0x41, 0xdd, 0xa3, 0xf1, 0xd6, 0xa9, 0x98, 0x6d, 0xd4, 0x86,
- 0xbb, 0x91, 0x31, 0x99, 0x8d, 0xdc, 0x4d, 0x97, 0x92, 0x1b, 0xae, 0xa5, 0x07, 0xfc, 0x7e, 0x74,
- 0xe8, 0x3d, 0x2b, 0x39, 0x11, 0x27, 0x2a, 0xf3, 0x4d, 0xf5, 0x5c, 0xcc, 0x7a, 0x32, 0x2f, 0x55,
- 0xfc, 0xcd, 0xf5, 0x5f, 0x00, 0x00, 0x00, 0xff, 0xff, 0x81, 0x6c, 0x06, 0xb3, 0x2b, 0x01, 0x00,
- 0x00,
+ // 212 bytes of a gzipped FileDescriptorProto
+ 0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xff, 0xe2, 0xe2, 0x49, 0xcd, 0x49, 0x4d,
+ 0xcf, 0xcf, 0xd7, 0x2b, 0x28, 0xca, 0x2f, 0xc9, 0x57, 0x6a, 0x64, 0xe4, 0x62, 0x77, 0xce, 0xcf,
+ 0xcd, 0x4d, 0xcc, 0x4b, 0x11, 0x12, 0xe3, 0x62, 0x0b, 0x2e, 0x48, 0x4d, 0x4d, 0x09, 0x92, 0x60,
+ 0x54, 0x60, 0xd4, 0x10, 0x0c, 0x82, 0xf2, 0xe0, 0xe2, 0x3e, 0x12, 0x4c, 0x48, 0xe2, 0x3e, 0x42,
+ 0x42, 0x5c, 0x2c, 0xc1, 0x25, 0xf9, 0x05, 0x12, 0xcc, 0x0a, 0x8c, 0x1a, 0x1c, 0x41, 0x60, 0xb6,
+ 0x90, 0x14, 0x17, 0x47, 0x48, 0x69, 0x51, 0x9e, 0x47, 0x6a, 0x62, 0x8a, 0x04, 0x0b, 0x58, 0x35,
+ 0x9c, 0x0f, 0x32, 0xc7, 0x39, 0x35, 0xaf, 0x24, 0xb5, 0x48, 0x82, 0x15, 0xac, 0x03, 0xca, 0x53,
+ 0xea, 0x65, 0xe4, 0x62, 0x75, 0x2d, 0x4b, 0xcd, 0x2b, 0x01, 0xe9, 0x76, 0xc9, 0x2c, 0x2e, 0x49,
+ 0xcc, 0x4b, 0x4e, 0x05, 0xbb, 0x81, 0x37, 0x08, 0xce, 0x17, 0x92, 0xe0, 0x62, 0x0f, 0x4e, 0xcd,
+ 0x2b, 0xce, 0x2f, 0x0a, 0x02, 0x3b, 0x83, 0x23, 0x08, 0xc6, 0x45, 0xc8, 0x38, 0x43, 0x9d, 0x02,
+ 0xe3, 0x22, 0x64, 0x7c, 0xc0, 0x8e, 0x81, 0xcb, 0xf8, 0x80, 0x6c, 0xf2, 0x4e, 0xad, 0x0c, 0x28,
+ 0x4a, 0x2d, 0x2e, 0x06, 0xbb, 0x86, 0x37, 0x08, 0xce, 0x77, 0x62, 0x8b, 0x62, 0xc9, 0x4d, 0xcc,
+ 0xcc, 0x4b, 0x62, 0x03, 0x07, 0x91, 0x31, 0x20, 0x00, 0x00, 0xff, 0xff, 0x8f, 0x9d, 0x88, 0x7d,
+ 0x32, 0x01, 0x00, 0x00,
}
diff --git a/car/elegoo/elegoo.proto b/car/elegoo/elegoo.proto
index bb72aac..f310b62 100644
--- a/car/elegoo/elegoo.proto
+++ b/car/elegoo/elegoo.proto
@@ -3,14 +3,15 @@ syntax = "proto3";
option go_package = "main";
message Command {
- int32 LeftSpeed = 1;
- int32 RightSpeed = 2;
- sint32 TurnHead = 3; // ±90 deg
- bool Center = 4;
+ sint32 SpeedR = 1;
+ sint32 SpeedL = 2;
+ bool Stop = 3;
+ sint32 TurnHead = 4; // ±90 deg
+ bool Center = 5;
}
message Event {
- int32 Distance = 1;
+ uint32 Distance = 1;
bool SensorR = 2;
bool SensorC = 3;
bool SensorL = 4;
diff --git a/car/elegoo/main.go b/car/elegoo/main.go
index e73b731..900b584 100644
--- a/car/elegoo/main.go
+++ b/car/elegoo/main.go
@@ -20,7 +20,6 @@ func Write(w io.Writer, pb proto.Message) error {
if err != nil {
return err
}
- log.Printf("write: % x", buf.Bytes()) // DEBUG
block := cobs.Encode(buf.Bytes())
_, err = w.Write(block)
return err
@@ -37,10 +36,11 @@ func Read(buf *bufio.Reader, pb proto.Message) error {
// /dev/cu.Elegoo-DevB
// /dev/cu.usbmodem1421
+// /dev/cu.usbmodem1411
func main() {
c := &serial.Config{
- Name: "/dev/tty.usbmodem1411",
+ Name: "/dev/tty.usbmodem1421",
Baud: 57600,
}
s, err := serial.OpenPort(c)
@@ -59,6 +59,32 @@ func main() {
cmd.TurnHead = 0
cmd.Center = true
Write(s, cmd)
+
+ /* MOTOR
+ cmd.SpeedL = 200
+ cmd.SpeedR = 0
+ cmd.Stop = false
+ Write(s, cmd)
+ time.Sleep(3 * time.Second)
+
+ cmd.SpeedL = 0
+ cmd.SpeedR = 0
+ cmd.Stop = true
+ Write(s, cmd)
+ time.Sleep(3 * time.Second)
+
+ cmd.SpeedL = 0
+ cmd.SpeedR = 200
+ cmd.Stop = false
+ Write(s, cmd)
+ time.Sleep(3 * time.Second)
+
+ cmd.SpeedL = 0
+ cmd.SpeedR = 0
+ cmd.Stop = true
+ Write(s, cmd)
+ */
+
}()
buf := bufio.NewReader(s)