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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
parentbee2c5b3a703080f4552946bb2f1ab737e1f53fe (diff)
...
Diffstat (limited to 'elegoo')
-rw-r--r--elegoo/elegoo.ino21
-rw-r--r--elegoo/elegoo.pb.c19
-rw-r--r--elegoo/elegoo.pb.h42
3 files changed, 35 insertions, 47 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);
diff --git a/elegoo/elegoo.pb.c b/elegoo/elegoo.pb.c
index d25b96a..5d9bceb 100644
--- a/elegoo/elegoo.pb.c
+++ b/elegoo/elegoo.pb.c
@@ -1,5 +1,5 @@
/* Automatically generated nanopb constant definitions */
-/* Generated by nanopb-0.3.9 at Mon Dec 11 22:33:35 2017. */
+/* Generated by nanopb-0.3.9 at Mon Dec 11 23:03:25 2017. */
#include "elegoo.pb.h"
@@ -10,17 +10,16 @@
-const pb_field_t elegoo_Speed_fields[3] = {
+const pb_field_t elegoo_Speed_fields[4] = {
PB_FIELD( 1, SINT32 , SINGULAR, STATIC , FIRST, elegoo_Speed, L, L, 0),
PB_FIELD( 2, SINT32 , SINGULAR, STATIC , OTHER, elegoo_Speed, R, L, 0),
+ PB_FIELD( 3, UINT32 , SINGULAR, STATIC , OTHER, elegoo_Speed, StopAfter, R, 0),
PB_LAST_FIELD
};
-const pb_field_t elegoo_Command_fields[5] = {
+const pb_field_t elegoo_Command_fields[3] = {
PB_FIELD( 1, MESSAGE , SINGULAR, STATIC , FIRST, elegoo_Command, Speed, Speed, &elegoo_Speed_fields),
- PB_FIELD( 3, BOOL , SINGULAR, STATIC , OTHER, elegoo_Command, Stop, Speed, 0),
- PB_FIELD( 4, UINT32 , SINGULAR, STATIC , OTHER, elegoo_Command, Look, Stop, 0),
- PB_FIELD( 5, UINT32 , SINGULAR, STATIC , OTHER, elegoo_Command, StopAfter, Look, 0),
+ PB_FIELD( 2, SINT32 , SINGULAR, STATIC , OTHER, elegoo_Command, Look, Speed, 0),
PB_LAST_FIELD
};
@@ -43,10 +42,10 @@ const pb_field_t elegoo_RemoteControl_fields[2] = {
};
const pb_field_t elegoo_Event_fields[5] = {
- PB_FIELD( 1, MESSAGE , SINGULAR, STATIC , FIRST, elegoo_Event, Head, Head, &elegoo_UltraSonic_fields),
- PB_FIELD( 2, MESSAGE , SINGULAR, STATIC , OTHER, elegoo_Event, Sensor, Head, &elegoo_InfraRed_fields),
- PB_FIELD( 3, MESSAGE , SINGULAR, STATIC , OTHER, elegoo_Event, Remote, Sensor, &elegoo_RemoteControl_fields),
- PB_FIELD( 4, UINT32 , SINGULAR, STATIC , OTHER, elegoo_Event, TimeStamp, Remote, 0),
+ PB_FIELD( 1, UINT32 , SINGULAR, STATIC , FIRST, elegoo_Event, TimeStamp, TimeStamp, 0),
+ PB_FIELD( 2, MESSAGE , SINGULAR, STATIC , OTHER, elegoo_Event, Head, TimeStamp, &elegoo_UltraSonic_fields),
+ PB_FIELD( 3, MESSAGE , SINGULAR, STATIC , OTHER, elegoo_Event, Sensor, Head, &elegoo_InfraRed_fields),
+ PB_FIELD( 4, MESSAGE , SINGULAR, STATIC , OTHER, elegoo_Event, Remote, Sensor, &elegoo_RemoteControl_fields),
PB_LAST_FIELD
};
diff --git a/elegoo/elegoo.pb.h b/elegoo/elegoo.pb.h
index 7581dcd..baff818 100644
--- a/elegoo/elegoo.pb.h
+++ b/elegoo/elegoo.pb.h
@@ -1,5 +1,5 @@
/* Automatically generated nanopb header */
-/* Generated by nanopb-0.3.9 at Mon Dec 11 22:33:35 2017. */
+/* Generated by nanopb-0.3.9 at Mon Dec 11 23:03:25 2017. */
#ifndef PB_ELEGOO_ELEGOO_PB_H_INCLUDED
#define PB_ELEGOO_ELEGOO_PB_H_INCLUDED
@@ -30,6 +30,7 @@ typedef struct _elegoo_RemoteControl {
typedef struct _elegoo_Speed {
int32_t L;
int32_t R;
+ uint32_t StopAfter;
/* @@protoc_insertion_point(struct:elegoo_Speed) */
} elegoo_Speed;
@@ -41,35 +42,33 @@ typedef struct _elegoo_UltraSonic {
typedef struct _elegoo_Command {
elegoo_Speed Speed;
- bool Stop;
- uint32_t Look;
- uint32_t StopAfter;
+ int32_t Look;
/* @@protoc_insertion_point(struct:elegoo_Command) */
} elegoo_Command;
typedef struct _elegoo_Event {
+ uint32_t TimeStamp;
elegoo_UltraSonic Head;
elegoo_InfraRed Sensor;
elegoo_RemoteControl Remote;
- uint32_t TimeStamp;
/* @@protoc_insertion_point(struct:elegoo_Event) */
} elegoo_Event;
/* Default values for struct fields */
/* Initializer values for message structs */
-#define elegoo_Speed_init_default {0, 0}
-#define elegoo_Command_init_default {elegoo_Speed_init_default, 0, 0, 0}
+#define elegoo_Speed_init_default {0, 0, 0}
+#define elegoo_Command_init_default {elegoo_Speed_init_default, 0}
#define elegoo_UltraSonic_init_default {0, 0}
#define elegoo_InfraRed_init_default {0, 0, 0}
#define elegoo_RemoteControl_init_default {0}
-#define elegoo_Event_init_default {elegoo_UltraSonic_init_default, elegoo_InfraRed_init_default, elegoo_RemoteControl_init_default, 0}
-#define elegoo_Speed_init_zero {0, 0}
-#define elegoo_Command_init_zero {elegoo_Speed_init_zero, 0, 0, 0}
+#define elegoo_Event_init_default {0, elegoo_UltraSonic_init_default, elegoo_InfraRed_init_default, elegoo_RemoteControl_init_default}
+#define elegoo_Speed_init_zero {0, 0, 0}
+#define elegoo_Command_init_zero {elegoo_Speed_init_zero, 0}
#define elegoo_UltraSonic_init_zero {0, 0}
#define elegoo_InfraRed_init_zero {0, 0, 0}
#define elegoo_RemoteControl_init_zero {0}
-#define elegoo_Event_init_zero {elegoo_UltraSonic_init_zero, elegoo_InfraRed_init_zero, elegoo_RemoteControl_init_zero, 0}
+#define elegoo_Event_init_zero {0, elegoo_UltraSonic_init_zero, elegoo_InfraRed_init_zero, elegoo_RemoteControl_init_zero}
/* Field tags (for use in manual encoding/decoding) */
#define elegoo_InfraRed_R_tag 1
@@ -78,28 +77,27 @@ typedef struct _elegoo_Event {
#define elegoo_RemoteControl_Key_tag 1
#define elegoo_Speed_L_tag 1
#define elegoo_Speed_R_tag 2
+#define elegoo_Speed_StopAfter_tag 3
#define elegoo_UltraSonic_Distance_tag 1
#define elegoo_UltraSonic_Direction_tag 2
#define elegoo_Command_Speed_tag 1
-#define elegoo_Command_Stop_tag 3
-#define elegoo_Command_Look_tag 4
-#define elegoo_Command_StopAfter_tag 5
-#define elegoo_Event_Head_tag 1
-#define elegoo_Event_Sensor_tag 2
-#define elegoo_Event_Remote_tag 3
-#define elegoo_Event_TimeStamp_tag 4
+#define elegoo_Command_Look_tag 2
+#define elegoo_Event_TimeStamp_tag 1
+#define elegoo_Event_Head_tag 2
+#define elegoo_Event_Sensor_tag 3
+#define elegoo_Event_Remote_tag 4
/* Struct field encoding specification for nanopb */
-extern const pb_field_t elegoo_Speed_fields[3];
-extern const pb_field_t elegoo_Command_fields[5];
+extern const pb_field_t elegoo_Speed_fields[4];
+extern const pb_field_t elegoo_Command_fields[3];
extern const pb_field_t elegoo_UltraSonic_fields[3];
extern const pb_field_t elegoo_InfraRed_fields[4];
extern const pb_field_t elegoo_RemoteControl_fields[2];
extern const pb_field_t elegoo_Event_fields[5];
/* Maximum encoded size of messages (where known) */
-#define elegoo_Speed_size 12
-#define elegoo_Command_size 28
+#define elegoo_Speed_size 18
+#define elegoo_Command_size 26
#define elegoo_UltraSonic_size 12
#define elegoo_InfraRed_size 6
#define elegoo_RemoteControl_size 6