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authorDimitri Sokolyuk <demon@dim13.org>2017-08-26 12:16:49 +0200
committerDimitri Sokolyuk <demon@dim13.org>2017-08-26 12:16:49 +0200
commit846afdd48d11d5bae24013f0cea969f6b6f47d49 (patch)
tree987bf0acd032eb44d1356089ad99d7dd1ac0df7b
parent6d2028a36d6d88bbe02b10ff14329d8f723cdd39 (diff)
Add timer
-rw-r--r--car/car.ino29
-rw-r--r--car/elegoo.pb.c20
-rw-r--r--car/elegoo.pb.h42
-rw-r--r--car/elegoo/elegoo.pb.go83
-rw-r--r--car/elegoo/elegoo.proto6
-rw-r--r--car/elegoo/main.go58
6 files changed, 153 insertions, 85 deletions
diff --git a/car/car.ino b/car/car.ino
index 96f9c32..b33cd8d 100644
--- a/car/car.ino
+++ b/car/car.ino
@@ -3,6 +3,7 @@
#include <PacketSerial.h>
#include <Servo.h>
+#include <Timer.h>
#include <IRremote.h>
#include <pb_encode.h>
@@ -13,7 +14,7 @@
PacketSerial serial;
Servo servo;
-
+Timer timer;
IRrecv irrecv(IR);
decode_results ir;
@@ -46,6 +47,11 @@ int distance() {
return pulseIn(Echo, HIGH, TimeOut) / ToCM;
}
+void stop() {
+ motorR(0);
+ motorL(0);
+}
+
void onPacket(const uint8_t* buf, size_t size) {
Command cmd = Command_init_zero;
@@ -59,8 +65,7 @@ void onPacket(const uint8_t* buf, size_t size) {
motorL(cmd.SpeedL);
}
if (cmd.has_Stop) {
- motorR(0);
- motorL(0);
+ stop();
}
if (cmd.has_Direction) {
look(cmd.Direction);
@@ -68,12 +73,15 @@ void onPacket(const uint8_t* buf, size_t size) {
if (cmd.has_Center) {
look(0);
}
+ if (cmd.has_StopAfter) {
+ timer.after(cmd.StopAfter, stop);
+ }
}
void events() {
- uint8_t buf[256];
+ uint8_t buf[64];
- Event evt = Event_init_zero;
+ Events evt = Events_init_zero;
evt.Distance = distance();
evt.has_Distance = evt.Distance > 0;
@@ -96,16 +104,18 @@ void events() {
evt.Direction = looking();
evt.has_Direction = true;
+ evt.Time = millis();
+ evt.has_Time = true;
+
pb_ostream_t ostream = pb_ostream_from_buffer(buf, sizeof(buf));
- pb_encode_delimited(&ostream, Event_fields, &evt);
+ pb_encode_delimited(&ostream, Events_fields, &evt);
serial.send(buf, ostream.bytes_written);
}
void loop() {
- events();
+ timer.update();
serial.update();
- delay(100);
}
void setup() {
@@ -133,4 +143,7 @@ void setup() {
servo.attach(SRV);
servo.write(90);
+
+ timer.every(100, events);
+ timer.oscillate(LED, 500, LOW);
}
diff --git a/car/elegoo.pb.c b/car/elegoo.pb.c
index 12d123d..a4e7ad4 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 Tue Aug 22 00:23:16 2017. */
+/* Generated by nanopb-0.3.6 at Sat Aug 26 10:18:35 2017. */
#include "elegoo.pb.h"
@@ -10,22 +10,24 @@
-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, BOOL , OPTIONAL, STATIC , OTHER, Command, Center, Stop, 0),
PB_FIELD( 5, SINT32 , OPTIONAL, STATIC , OTHER, Command, Direction, Center, 0),
+ PB_FIELD( 6, UINT32 , OPTIONAL, STATIC , OTHER, Command, StopAfter, Direction, 0),
PB_LAST_FIELD
};
-const pb_field_t Event_fields[7] = {
- PB_FIELD( 1, UINT32 , OPTIONAL, STATIC , FIRST, Event, Distance, Distance, 0),
- PB_FIELD( 2, SINT32 , OPTIONAL, STATIC , OTHER, Event, Direction, Distance, 0),
- PB_FIELD( 3, BOOL , OPTIONAL, STATIC , OTHER, Event, SensorR, Direction, 0),
- PB_FIELD( 4, BOOL , OPTIONAL, STATIC , OTHER, Event, SensorC, SensorR, 0),
- PB_FIELD( 5, BOOL , OPTIONAL, STATIC , OTHER, Event, SensorL, SensorC, 0),
- PB_FIELD( 6, UINT32 , OPTIONAL, STATIC , OTHER, Event, KeyPress, SensorL, 0),
+const pb_field_t Events_fields[8] = {
+ PB_FIELD( 1, UINT32 , OPTIONAL, STATIC , FIRST, Events, Distance, Distance, 0),
+ PB_FIELD( 2, SINT32 , OPTIONAL, STATIC , OTHER, Events, Direction, Distance, 0),
+ PB_FIELD( 3, BOOL , OPTIONAL, STATIC , OTHER, Events, SensorR, Direction, 0),
+ PB_FIELD( 4, BOOL , OPTIONAL, STATIC , OTHER, Events, SensorC, SensorR, 0),
+ PB_FIELD( 5, BOOL , OPTIONAL, STATIC , OTHER, Events, SensorL, SensorC, 0),
+ PB_FIELD( 6, UINT32 , OPTIONAL, STATIC , OTHER, Events, KeyPress, SensorL, 0),
+ PB_FIELD( 7, UINT32 , OPTIONAL, STATIC , OTHER, Events, Time, KeyPress, 0),
PB_LAST_FIELD
};
diff --git a/car/elegoo.pb.h b/car/elegoo.pb.h
index 1490445..661bbbc 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 Tue Aug 22 00:23:16 2017. */
+/* Generated by nanopb-0.3.6 at Sat Aug 26 10:18:35 2017. */
#ifndef PB_ELEGOO_PB_H_INCLUDED
#define PB_ELEGOO_PB_H_INCLUDED
@@ -26,10 +26,12 @@ typedef struct _Command {
bool Center;
bool has_Direction;
int32_t Direction;
+ bool has_StopAfter;
+ uint32_t StopAfter;
/* @@protoc_insertion_point(struct:Command) */
} Command;
-typedef struct _Event {
+typedef struct _Events {
bool has_Distance;
uint32_t Distance;
bool has_Direction;
@@ -42,16 +44,18 @@ typedef struct _Event {
bool SensorL;
bool has_KeyPress;
uint32_t KeyPress;
-/* @@protoc_insertion_point(struct:Event) */
-} Event;
+ bool has_Time;
+ uint32_t Time;
+/* @@protoc_insertion_point(struct:Events) */
+} Events;
/* 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 Event_init_default {false, 0, 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 Event_init_zero {false, 0, 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 Events_init_default {false, 0, false, 0, 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 Events_init_zero {false, 0, false, 0, false, 0, false, 0, false, 0, false, 0, false, 0}
/* Field tags (for use in manual encoding/decoding) */
#define Command_SpeedR_tag 1
@@ -59,20 +63,22 @@ typedef struct _Event {
#define Command_Stop_tag 3
#define Command_Center_tag 4
#define Command_Direction_tag 5
-#define Event_Distance_tag 1
-#define Event_Direction_tag 2
-#define Event_SensorR_tag 3
-#define Event_SensorC_tag 4
-#define Event_SensorL_tag 5
-#define Event_KeyPress_tag 6
+#define Command_StopAfter_tag 6
+#define Events_Distance_tag 1
+#define Events_Direction_tag 2
+#define Events_SensorR_tag 3
+#define Events_SensorC_tag 4
+#define Events_SensorL_tag 5
+#define Events_KeyPress_tag 6
+#define Events_Time_tag 7
/* Struct field encoding specification for nanopb */
-extern const pb_field_t Command_fields[6];
-extern const pb_field_t Event_fields[7];
+extern const pb_field_t Command_fields[7];
+extern const pb_field_t Events_fields[8];
/* Maximum encoded size of messages (where known) */
-#define Command_size 22
-#define Event_size 24
+#define Command_size 28
+#define Events_size 30
/* 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 0d779ee..f453f44 100644
--- a/car/elegoo/elegoo.pb.go
+++ b/car/elegoo/elegoo.pb.go
@@ -9,7 +9,7 @@ It is generated from these files:
It has these top-level messages:
Command
- Event
+ Events
*/
package main
@@ -29,11 +29,12 @@ var _ = math.Inf
const _ = proto.ProtoPackageIsVersion2 // please upgrade the proto package
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"`
- Center bool `protobuf:"varint,4,opt,name=Center" json:"Center,omitempty"`
- Direction int32 `protobuf:"zigzag32,5,opt,name=Direction" json:"Direction,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"`
+ Center bool `protobuf:"varint,4,opt,name=Center" json:"Center,omitempty"`
+ Direction int32 `protobuf:"zigzag32,5,opt,name=Direction" json:"Direction,omitempty"`
+ StopAfter uint32 `protobuf:"varint,6,opt,name=StopAfter" json:"StopAfter,omitempty"`
}
func (m *Command) Reset() { *m = Command{} }
@@ -76,83 +77,99 @@ func (m *Command) GetDirection() int32 {
return 0
}
-type Event struct {
+func (m *Command) GetStopAfter() uint32 {
+ if m != nil {
+ return m.StopAfter
+ }
+ return 0
+}
+
+type Events struct {
Distance uint32 `protobuf:"varint,1,opt,name=Distance" json:"Distance,omitempty"`
Direction int32 `protobuf:"zigzag32,2,opt,name=Direction" json:"Direction,omitempty"`
SensorR bool `protobuf:"varint,3,opt,name=SensorR" json:"SensorR,omitempty"`
SensorC bool `protobuf:"varint,4,opt,name=SensorC" json:"SensorC,omitempty"`
SensorL bool `protobuf:"varint,5,opt,name=SensorL" json:"SensorL,omitempty"`
KeyPress uint32 `protobuf:"varint,6,opt,name=KeyPress" json:"KeyPress,omitempty"`
+ Time uint32 `protobuf:"varint,7,opt,name=Time" json:"Time,omitempty"`
}
-func (m *Event) Reset() { *m = Event{} }
-func (m *Event) String() string { return proto.CompactTextString(m) }
-func (*Event) ProtoMessage() {}
-func (*Event) Descriptor() ([]byte, []int) { return fileDescriptor0, []int{1} }
+func (m *Events) Reset() { *m = Events{} }
+func (m *Events) String() string { return proto.CompactTextString(m) }
+func (*Events) ProtoMessage() {}
+func (*Events) Descriptor() ([]byte, []int) { return fileDescriptor0, []int{1} }
-func (m *Event) GetDistance() uint32 {
+func (m *Events) GetDistance() uint32 {
if m != nil {
return m.Distance
}
return 0
}
-func (m *Event) GetDirection() int32 {
+func (m *Events) GetDirection() int32 {
if m != nil {
return m.Direction
}
return 0
}
-func (m *Event) GetSensorR() bool {
+func (m *Events) GetSensorR() bool {
if m != nil {
return m.SensorR
}
return false
}
-func (m *Event) GetSensorC() bool {
+func (m *Events) GetSensorC() bool {
if m != nil {
return m.SensorC
}
return false
}
-func (m *Event) GetSensorL() bool {
+func (m *Events) GetSensorL() bool {
if m != nil {
return m.SensorL
}
return false
}
-func (m *Event) GetKeyPress() uint32 {
+func (m *Events) GetKeyPress() uint32 {
if m != nil {
return m.KeyPress
}
return 0
}
+func (m *Events) GetTime() uint32 {
+ if m != nil {
+ return m.Time
+ }
+ return 0
+}
+
func init() {
proto.RegisterType((*Command)(nil), "Command")
- proto.RegisterType((*Event)(nil), "Event")
+ proto.RegisterType((*Events)(nil), "Events")
}
func init() { proto.RegisterFile("elegoo.proto", fileDescriptor0) }
var fileDescriptor0 = []byte{
- // 217 bytes of a gzipped FileDescriptorProto
- 0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xff, 0x5c, 0x90, 0xb1, 0x4a, 0xc5, 0x30,
- 0x14, 0x86, 0xc9, 0xb5, 0x37, 0xad, 0x07, 0x1d, 0xcc, 0x20, 0x41, 0x1c, 0x4a, 0xa7, 0x4e, 0x2e,
- 0xbe, 0x81, 0xad, 0x93, 0x19, 0x24, 0xdd, 0xdc, 0x6a, 0x7b, 0x90, 0x80, 0xcd, 0x29, 0x49, 0x10,
- 0x9c, 0x7d, 0x1c, 0x5f, 0x52, 0x1a, 0xd3, 0x56, 0xef, 0x96, 0xef, 0xff, 0xc3, 0xcf, 0xc7, 0x81,
- 0x0b, 0x7c, 0xc7, 0x37, 0xa2, 0xbb, 0xd9, 0x51, 0xa0, 0xea, 0x8b, 0x41, 0xde, 0xd0, 0x34, 0xf5,
- 0x76, 0x14, 0xd7, 0xc0, 0xbb, 0x19, 0x71, 0xd4, 0x92, 0x95, 0xac, 0xbe, 0xd2, 0x89, 0xb6, 0x5c,
- 0xc9, 0xc3, 0x9f, 0x5c, 0x09, 0x01, 0x59, 0x17, 0x68, 0x96, 0x67, 0x25, 0xab, 0x0b, 0x1d, 0xdf,
- 0xcb, 0xdf, 0x06, 0x6d, 0x40, 0x27, 0xb3, 0x98, 0x26, 0x12, 0xb7, 0x70, 0xde, 0x1a, 0x87, 0x43,
- 0x30, 0x64, 0xe5, 0x31, 0xce, 0xec, 0x41, 0xf5, 0xcd, 0xe0, 0xf8, 0xf8, 0x81, 0x36, 0x88, 0x1b,
- 0x28, 0x5a, 0xe3, 0x43, 0x6f, 0x07, 0x8c, 0x16, 0x97, 0x7a, 0xe3, 0xff, 0x1b, 0x87, 0x93, 0x0d,
- 0x21, 0x21, 0xef, 0xd0, 0x7a, 0x72, 0x3a, 0x09, 0xad, 0xb8, 0x37, 0x4d, 0x92, 0x5a, 0x71, 0x6f,
- 0x54, 0x74, 0xda, 0x1a, 0xb5, 0x78, 0x3c, 0xe1, 0xe7, 0xb3, 0x43, 0xef, 0x25, 0xff, 0xf5, 0x58,
- 0xf9, 0x81, 0xbf, 0x64, 0x53, 0x6f, 0xec, 0x2b, 0x8f, 0x27, 0xbc, 0xff, 0x09, 0x00, 0x00, 0xff,
- 0xff, 0x78, 0x67, 0x1b, 0x88, 0x52, 0x01, 0x00, 0x00,
+ // 240 bytes of a gzipped FileDescriptorProto
+ 0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xff, 0x5c, 0x90, 0xb1, 0x4e, 0xc3, 0x30,
+ 0x10, 0x86, 0xe5, 0x12, 0x9c, 0x72, 0xa2, 0x03, 0x1e, 0x90, 0x85, 0x18, 0xa2, 0x4e, 0x99, 0x58,
+ 0x78, 0x02, 0x48, 0x99, 0xc8, 0x80, 0x1c, 0x26, 0xb6, 0xd0, 0x1e, 0xc8, 0x12, 0xf1, 0x45, 0xb6,
+ 0x85, 0xc4, 0xe3, 0xf0, 0x26, 0x3c, 0x1a, 0xf2, 0xc9, 0x49, 0xa0, 0x9b, 0xff, 0xef, 0xcf, 0xe5,
+ 0x3e, 0x1d, 0x9c, 0xe3, 0x07, 0xbe, 0x13, 0xdd, 0x8c, 0x9e, 0x22, 0x6d, 0xbf, 0x05, 0x94, 0x0d,
+ 0x0d, 0x43, 0xef, 0x0e, 0xea, 0x12, 0x64, 0x37, 0x22, 0x1e, 0x8c, 0x16, 0x95, 0xa8, 0x2f, 0x4c,
+ 0x4e, 0x33, 0x6f, 0xf5, 0xea, 0x0f, 0x6f, 0x95, 0x82, 0xa2, 0x8b, 0x34, 0xea, 0x93, 0x4a, 0xd4,
+ 0x6b, 0xc3, 0xef, 0xf4, 0x6d, 0x83, 0x2e, 0xa2, 0xd7, 0x05, 0xd3, 0x9c, 0xd4, 0x35, 0x9c, 0xed,
+ 0xac, 0xc7, 0x7d, 0xb4, 0xe4, 0xf4, 0x29, 0xff, 0x66, 0x01, 0xa9, 0x4d, 0xd3, 0x77, 0x6f, 0x69,
+ 0x50, 0x56, 0xa2, 0xde, 0x98, 0x05, 0x6c, 0x7f, 0x04, 0xc8, 0x87, 0x4f, 0x74, 0x31, 0xa8, 0x2b,
+ 0x58, 0xef, 0x6c, 0x88, 0xbd, 0xdb, 0x23, 0x4b, 0x6e, 0xcc, 0x9c, 0xff, 0xaf, 0x58, 0x1d, 0xaf,
+ 0xd0, 0x50, 0x76, 0xe8, 0x02, 0x79, 0x93, 0x7d, 0xa7, 0xb8, 0x34, 0x4d, 0x76, 0x9e, 0xe2, 0xd2,
+ 0xb4, 0xac, 0x3c, 0x37, 0x6d, 0xf2, 0x78, 0xc4, 0xaf, 0x27, 0x8f, 0x21, 0x64, 0xdf, 0x39, 0xa7,
+ 0xb3, 0x3c, 0xdb, 0x01, 0x75, 0xc9, 0x9c, 0xdf, 0xf7, 0xf2, 0xa5, 0x18, 0x7a, 0xeb, 0x5e, 0x25,
+ 0x5f, 0xfd, 0xf6, 0x37, 0x00, 0x00, 0xff, 0xff, 0x0f, 0x34, 0x8b, 0xa3, 0x85, 0x01, 0x00, 0x00,
}
diff --git a/car/elegoo/elegoo.proto b/car/elegoo/elegoo.proto
index f9b13bf..a25f592 100644
--- a/car/elegoo/elegoo.proto
+++ b/car/elegoo/elegoo.proto
@@ -1,5 +1,7 @@
syntax = "proto3";
+
+
option go_package = "main";
message Command {
@@ -8,13 +10,15 @@ message Command {
bool Stop = 3;
bool Center = 4;
sint32 Direction = 5; // +90 left; -90 right
+ uint32 StopAfter = 6; // milliseconds
}
-message Event {
+message Events {
uint32 Distance = 1;
sint32 Direction = 2;
bool SensorR = 3;
bool SensorC = 4;
bool SensorL = 5;
uint32 KeyPress = 6;
+ uint32 Time = 7;
}
diff --git a/car/elegoo/main.go b/car/elegoo/main.go
index 40fffdb..46d3058 100644
--- a/car/elegoo/main.go
+++ b/car/elegoo/main.go
@@ -39,7 +39,9 @@ func Read(buf *bufio.Reader, pb proto.Message) error {
func main() {
c := &serial.Config{
- Name: "/dev/tty.usbmodem1421",
+ //Name: "/dev/tty.usbmodem1421",
+ //Name: "/dev/tty.usbmodem1411",
+ Name: "/dev/tty.Elegoo-DevB",
Baud: 57600,
}
s, err := serial.OpenPort(c)
@@ -47,18 +49,50 @@ func main() {
log.Fatal(err)
}
defer s.Close()
+ log.Println("connected")
go func() {
- time.Sleep(5 * time.Second)
+ log.Println("recv")
+ buf := bufio.NewReader(s)
+ for {
+ evt := &Events{}
+ if err := Read(buf, evt); err != nil {
+ log.Println("ERR", err)
+ }
+ log.Println(evt)
+ }
+ }()
- Write(s, &Command{Direction: -45})
- time.Sleep(time.Second)
+ log.Println("send -45")
+ time.Sleep(time.Second)
+ Write(s, &Command{Direction: -45})
- Write(s, &Command{Direction: 45})
- time.Sleep(time.Second)
+ log.Println("send +45")
+ time.Sleep(time.Second)
+ Write(s, &Command{Direction: 45})
- Write(s, &Command{Center: true})
- }()
+ log.Println("send center")
+ time.Sleep(time.Second)
+ Write(s, &Command{Center: true})
+
+ log.Println("send -5")
+ time.Sleep(time.Second)
+ Write(s, &Command{Direction: -5})
+
+ /* log.Println("send motor")
+ Write(s, &Command{SpeedL: 200, SpeedR: 200, StopAfter: 1000})
+ time.Sleep(time.Second)
+ */
+
+ log.Println("send motor turn")
+ time.Sleep(time.Second)
+ Write(s, &Command{SpeedL: -250, SpeedR: 250, StopAfter: 500})
+
+ log.Println("send motor turn")
+ time.Sleep(time.Second)
+ Write(s, &Command{SpeedL: 250, SpeedR: -250, StopAfter: 500})
+
+ time.Sleep(time.Minute)
/* MOTOR
cmd.SpeedL = 200
@@ -85,12 +119,4 @@ func main() {
Write(s, cmd)
*/
- buf := bufio.NewReader(s)
- for {
- evt := &Event{}
- if err := Read(buf, evt); err != nil {
- log.Println("ERR", err)
- }
- log.Println(evt)
- }
}