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authorDimitri Sokolyuk <demon@dim13.org>2017-12-11 00:25:12 +0100
committerDimitri Sokolyuk <demon@dim13.org>2017-12-11 00:25:12 +0100
commit3340214e6409a8b8ba156b0760eed766bffb7b71 (patch)
treebcdb35367d82ec2f41fa21ebd1e5d6a045737abd /elegoo/elegoo.ino
parentec5197a8071c7db355de30b1f77b66c64beabae7 (diff)
proto3
Diffstat (limited to 'elegoo/elegoo.ino')
-rw-r--r--elegoo/elegoo.ino21
1 files changed, 5 insertions, 16 deletions
diff --git a/elegoo/elegoo.ino b/elegoo/elegoo.ino
index 62d7d62..e354262 100644
--- a/elegoo/elegoo.ino
+++ b/elegoo/elegoo.ino
@@ -56,19 +56,19 @@ void onPacket(const uint8_t* buf, size_t size) {
pb_istream_t istream = pb_istream_from_buffer(buf, size);
pb_decode_delimited(&istream, Command_fields, &cmd);
- if (cmd.has_SpeedR) {
+ if (cmd.SpeedR > 0) {
motorR(cmd.SpeedR);
}
- if (cmd.has_SpeedL) {
+ if (cmd.SpeedL > 0) {
motorL(cmd.SpeedL);
}
- if (cmd.has_Stop) {
+ if (cmd.Stop) {
stop();
}
- if (cmd.has_Direction) {
+ if (cmd.Direction > 0) {
servo.write(cmd.Direction);
}
- if (cmd.has_StopAfter) {
+ if (cmd.StopAfter > 0) {
timer.after(cmd.StopAfter, stop);
}
}
@@ -79,28 +79,17 @@ void events() {
Events evt = Events_init_zero;
evt.Distance = readDistance();
- evt.has_Distance = evt.Distance > 0;
-
evt.SensorR = digitalRead(SR);
- evt.has_SensorR = true;
-
evt.SensorC = digitalRead(SC);
- evt.has_SensorC = true;
-
evt.SensorL = digitalRead(SL);
- evt.has_SensorL = true;
if (irrecv.decode(&ir)) {
evt.KeyPress = ir.value;
- evt.has_KeyPress = ir.bits > 0;
irrecv.resume();
}
evt.Direction = servo.read();
- 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, Events_fields, &evt);