aboutsummaryrefslogtreecommitdiff
path: root/elegoo/elegoo.ino
diff options
context:
space:
mode:
authorDimitri Sokolyuk <demon@dim13.org>2017-12-11 23:04:52 +0100
committerDimitri Sokolyuk <demon@dim13.org>2017-12-11 23:04:52 +0100
commit34c4c1a7145c8c224392ca36f70225bf00b418fd (patch)
tree2f4abe67417579a9f8ae4f6766dfff341cd4e311 /elegoo/elegoo.ino
parentbee2c5b3a703080f4552946bb2f1ab737e1f53fe (diff)
...
Diffstat (limited to 'elegoo/elegoo.ino')
-rw-r--r--elegoo/elegoo.ino21
1 files changed, 6 insertions, 15 deletions
diff --git a/elegoo/elegoo.ino b/elegoo/elegoo.ino
index 7b866e2..6d72cd7 100644
--- a/elegoo/elegoo.ino
+++ b/elegoo/elegoo.ino
@@ -56,21 +56,12 @@ void onPacket(const uint8_t* buf, size_t size) {
pb_istream_t istream = pb_istream_from_buffer(buf, size);
pb_decode_delimited(&istream, elegoo_Command_fields, &cmd);
- if (cmd.Speed.R > 0) {
- motorR(cmd.Speed.R);
- }
- if (cmd.Speed.L > 0) {
- motorL(cmd.Speed.L);
- }
- if (cmd.Stop) {
- stop();
- }
- if (cmd.Look > 0) {
- servo.write(cmd.Look);
- }
- if (cmd.StopAfter > 0) {
- timer.after(cmd.StopAfter, stop);
+ motorR(cmd.Speed.R);
+ motorL(cmd.Speed.L);
+ if (cmd.Speed.StopAfter > 0) {
+ timer.after(cmd.Speed.StopAfter, stop);
}
+ servo.write(cmd.Look + 90);
}
void events() {
@@ -79,7 +70,7 @@ void events() {
elegoo_Event evt = elegoo_Event_init_zero;
evt.Head.Distance = readDistance();
- evt.Head.Direction = servo.read();
+ evt.Head.Direction = servo.read() - 90;
evt.Sensor.R = digitalRead(SR);
evt.Sensor.C = digitalRead(SC);