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authorDimitri Sokolyuk <demon@dim13.org>2017-08-21 23:20:18 +0200
committerDimitri Sokolyuk <demon@dim13.org>2017-08-21 23:20:18 +0200
commit2de5220071f515ac59261d1e40b076701f40923a (patch)
tree706f312c71dc0dd2426e7de8c02c0a1262f504cc
parent22bec7ba538aa7619bd4f742684c2007d1fe9e7c (diff)
Add trim
-rw-r--r--car/car.ino30
-rw-r--r--car/elegoo.pb.c9
-rw-r--r--car/elegoo.pb.h21
-rw-r--r--car/elegoo/elegoo.pb.go48
-rw-r--r--car/elegoo/elegoo.proto5
-rw-r--r--car/elegoo/main.go8
-rw-r--r--car/pb/pb_stream.cpp (renamed from car/pb_stream.cpp)0
-rw-r--r--car/pb/pb_stream.h (renamed from car/pb_stream.h)0
8 files changed, 60 insertions, 61 deletions
diff --git a/car/car.ino b/car/car.ino
index ee5c84f..474d543 100644
--- a/car/car.ino
+++ b/car/car.ino
@@ -14,6 +14,7 @@
PacketSerial serial;
Servo servo;
+int trim;
IRrecv irrecv(IR);
decode_results ir;
@@ -39,17 +40,6 @@ 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);
-}
-
-#define forward(v) do move( v, v); while (0)
-#define backward(v) do move(-v, -v); while (0)
-#define toleft(v) do move( v, -v); while (0)
-#define toright(v) do move(-v, v); while (0)
-#define stop() do move( 0, 0); while (0)
-
int distance() {
digitalWrite(Trig, LOW);
delayMicroseconds(2);
@@ -59,14 +49,12 @@ int distance() {
return pulseIn(Echo, HIGH, TimeOut) / ToCM;
}
+// + left
+// - right
void look(int deg) {
- servo.write(90 + deg);
+ servo.write(90 + deg + trim);
}
-#define lookahead() do look( 0); while (0)
-#define lookleft(deg) do look( deg); while (0)
-#define lookright(deg) do look(-deg); while (0)
-
void onPacket(const uint8_t* buf, size_t size) {
Command cmd = Command_init_zero;
@@ -79,16 +67,20 @@ void onPacket(const uint8_t* buf, size_t size) {
if (cmd.has_SpeedL) {
motorL(cmd.SpeedL);
}
- if (cmd.has_Stop && cmd.Stop) {
+ if (cmd.has_Stop) {
motorR(0);
motorL(0);
}
+ if (cmd.has_Trim) {
+ trim = cmd.Trim;
+ }
if (cmd.has_TurnHead) {
- servo.write(90 + cmd.TurnHead);
+ look(cmd.TurnHead);
}
if (cmd.has_Center) {
- servo.write(90);
+ look(0);
}
+
}
void env() {
diff --git a/car/elegoo.pb.c b/car/elegoo.pb.c
index 5af0f71..e9a762d 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 22:55:02 2017. */
+/* Generated by nanopb-0.3.6 at Mon Aug 21 23:14:33 2017. */
#include "elegoo.pb.h"
@@ -10,12 +10,13 @@
-const pb_field_t Command_fields[6] = {
+const pb_field_t Command_fields[7] = {
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_FIELD( 4, BOOL , OPTIONAL, STATIC , OTHER, Command, Center, Stop, 0),
+ PB_FIELD( 5, SINT32 , OPTIONAL, STATIC , OTHER, Command, TurnHead, Center, 0),
+ PB_FIELD( 6, SINT32 , OPTIONAL, STATIC , OTHER, Command, Trim, TurnHead, 0),
PB_LAST_FIELD
};
diff --git a/car/elegoo.pb.h b/car/elegoo.pb.h
index 4a0e918..0518f9f 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 22:55:02 2017. */
+/* Generated by nanopb-0.3.6 at Mon Aug 21 23:14:33 2017. */
#ifndef PB_ELEGOO_PB_H_INCLUDED
#define PB_ELEGOO_PB_H_INCLUDED
@@ -22,10 +22,12 @@ typedef struct _Command {
int32_t SpeedL;
bool has_Stop;
bool Stop;
- bool has_TurnHead;
- int32_t TurnHead;
bool has_Center;
bool Center;
+ bool has_TurnHead;
+ int32_t TurnHead;
+ bool has_Trim;
+ int32_t Trim;
/* @@protoc_insertion_point(struct:Command) */
} Command;
@@ -46,17 +48,18 @@ 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, false, 0}
+#define Command_init_default {false, 0, 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, false, 0}
+#define Command_init_zero {false, 0, 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_SpeedR_tag 1
#define Command_SpeedL_tag 2
#define Command_Stop_tag 3
-#define Command_TurnHead_tag 4
-#define Command_Center_tag 5
+#define Command_Center_tag 4
+#define Command_TurnHead_tag 5
+#define Command_Trim_tag 6
#define Event_Distance_tag 1
#define Event_SensorR_tag 2
#define Event_SensorC_tag 3
@@ -64,11 +67,11 @@ typedef struct _Event {
#define Event_KeyPress_tag 5
/* Struct field encoding specification for nanopb */
-extern const pb_field_t Command_fields[6];
+extern const pb_field_t Command_fields[7];
extern const pb_field_t Event_fields[6];
/* Maximum encoded size of messages (where known) */
-#define Command_size 22
+#define Command_size 28
#define Event_size 18
/* Message IDs (where set with "msgid" option) */
diff --git a/car/elegoo/elegoo.pb.go b/car/elegoo/elegoo.pb.go
index a0e9704..b20c09c 100644
--- a/car/elegoo/elegoo.pb.go
+++ b/car/elegoo/elegoo.pb.go
@@ -32,8 +32,9 @@ type Command struct {
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"`
+ Center bool `protobuf:"varint,4,opt,name=Center" json:"Center,omitempty"`
+ TurnHead int32 `protobuf:"zigzag32,5,opt,name=TurnHead" json:"TurnHead,omitempty"`
+ Trim int32 `protobuf:"zigzag32,6,opt,name=Trim" json:"Trim,omitempty"`
}
func (m *Command) Reset() { *m = Command{} }
@@ -62,6 +63,13 @@ func (m *Command) GetStop() bool {
return false
}
+func (m *Command) GetCenter() bool {
+ if m != nil {
+ return m.Center
+ }
+ return false
+}
+
func (m *Command) GetTurnHead() int32 {
if m != nil {
return m.TurnHead
@@ -69,11 +77,11 @@ func (m *Command) GetTurnHead() int32 {
return 0
}
-func (m *Command) GetCenter() bool {
+func (m *Command) GetTrim() int32 {
if m != nil {
- return m.Center
+ return m.Trim
}
- return false
+ return 0
}
type Event struct {
@@ -132,19 +140,19 @@ func init() {
func init() { proto.RegisterFile("elegoo.proto", fileDescriptor0) }
var fileDescriptor0 = []byte{
- // 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,
+ // 219 bytes of a gzipped FileDescriptorProto
+ 0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xff, 0x4c, 0x90, 0xb1, 0x4a, 0xc5, 0x30,
+ 0x14, 0x86, 0x89, 0xb6, 0x69, 0x09, 0x76, 0x30, 0x83, 0x04, 0xa7, 0xd2, 0xa9, 0x93, 0x8b, 0x6f,
+ 0x60, 0x15, 0x04, 0x3b, 0x48, 0xda, 0xc9, 0x2d, 0xda, 0x83, 0x14, 0x4c, 0x52, 0x92, 0x28, 0xf8,
+ 0x10, 0x8e, 0xbe, 0xef, 0x25, 0x87, 0x34, 0xbd, 0xdb, 0xf9, 0xfe, 0x93, 0xfc, 0xf9, 0x08, 0xbb,
+ 0x82, 0x2f, 0xf8, 0xb4, 0xf6, 0x6e, 0x73, 0x36, 0xd8, 0xee, 0x9f, 0xb0, 0x6a, 0xb0, 0x5a, 0x2b,
+ 0xb3, 0xf0, 0x1b, 0x46, 0xa7, 0x0d, 0x60, 0x91, 0x82, 0xb4, 0xa4, 0xbf, 0x96, 0x89, 0x72, 0x3e,
+ 0x8a, 0x8b, 0xb3, 0x7c, 0xe4, 0x9c, 0x15, 0x53, 0xb0, 0x9b, 0xb8, 0x6c, 0x49, 0x5f, 0x4b, 0x9c,
+ 0xe3, 0xd9, 0x01, 0x4c, 0x00, 0x27, 0x0a, 0x4c, 0x13, 0xf1, 0x5b, 0x56, 0xcf, 0xdf, 0xce, 0x3c,
+ 0x83, 0x5a, 0x44, 0x89, 0x2d, 0x99, 0x63, 0xcf, 0xec, 0x56, 0x2d, 0x28, 0xe6, 0x38, 0x77, 0x7f,
+ 0x84, 0x95, 0x4f, 0x3f, 0x60, 0x42, 0xbc, 0xf9, 0xb8, 0xfa, 0xa0, 0xcc, 0x07, 0xa0, 0x57, 0x23,
+ 0x33, 0x73, 0xc1, 0xaa, 0x09, 0x8c, 0xb7, 0x4e, 0xa2, 0x5a, 0x2d, 0x77, 0x3c, 0x36, 0x43, 0xd2,
+ 0xdb, 0xf1, 0xd8, 0x8c, 0x49, 0x71, 0xc7, 0xf8, 0xd2, 0x0b, 0xfc, 0xbe, 0x3a, 0xf0, 0x1e, 0x1d,
+ 0x1b, 0x99, 0xf9, 0x81, 0xbe, 0x15, 0x5a, 0xad, 0xe6, 0x9d, 0xe2, 0xb7, 0xdd, 0x9f, 0x02, 0x00,
+ 0x00, 0xff, 0xff, 0x67, 0x52, 0x91, 0x80, 0x46, 0x01, 0x00, 0x00,
}
diff --git a/car/elegoo/elegoo.proto b/car/elegoo/elegoo.proto
index f310b62..bdf1b95 100644
--- a/car/elegoo/elegoo.proto
+++ b/car/elegoo/elegoo.proto
@@ -6,8 +6,9 @@ message Command {
sint32 SpeedR = 1;
sint32 SpeedL = 2;
bool Stop = 3;
- sint32 TurnHead = 4; // ±90 deg
- bool Center = 5;
+ bool Center = 4;
+ sint32 TurnHead = 5; // ±90 deg
+ sint32 Trim = 6;
}
message Event {
diff --git a/car/elegoo/main.go b/car/elegoo/main.go
index 900b584..df5dabc 100644
--- a/car/elegoo/main.go
+++ b/car/elegoo/main.go
@@ -7,7 +7,6 @@ import (
"bufio"
"io"
"log"
- "time"
"github.com/dim13/cobs"
"github.com/golang/protobuf/proto"
@@ -51,12 +50,7 @@ func main() {
go func() {
cmd := &Command{}
- for i := -45; i < 45; i += 5 {
- cmd.TurnHead = int32(i)
- Write(s, cmd)
- time.Sleep(time.Second / 2)
- }
- cmd.TurnHead = 0
+ cmd.Trim = -10
cmd.Center = true
Write(s, cmd)
diff --git a/car/pb_stream.cpp b/car/pb/pb_stream.cpp
index 41100ed..41100ed 100644
--- a/car/pb_stream.cpp
+++ b/car/pb/pb_stream.cpp
diff --git a/car/pb_stream.h b/car/pb/pb_stream.h
index 00be77c..00be77c 100644
--- a/car/pb_stream.h
+++ b/car/pb/pb_stream.h