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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 /car/elegoo
parent22bec7ba538aa7619bd4f742684c2007d1fe9e7c (diff)
Add trim
Diffstat (limited to 'car/elegoo')
-rw-r--r--car/elegoo/elegoo.pb.go48
-rw-r--r--car/elegoo/elegoo.proto5
-rw-r--r--car/elegoo/main.go8
3 files changed, 32 insertions, 29 deletions
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)