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-rw-r--r--elegoo.pb.go99
-rw-r--r--elegoo.proto13
-rw-r--r--elegoo/elegoo.ino21
-rw-r--r--elegoo/elegoo.pb.c19
-rw-r--r--elegoo/elegoo.pb.h42
-rw-r--r--fsm.go4
6 files changed, 88 insertions, 110 deletions
diff --git a/elegoo.pb.go b/elegoo.pb.go
index 9450be6..847e356 100644
--- a/elegoo.pb.go
+++ b/elegoo.pb.go
@@ -33,8 +33,9 @@ var _ = math.Inf
const _ = proto.ProtoPackageIsVersion2 // please upgrade the proto package
type Speed struct {
- L int32 `protobuf:"zigzag32,1,opt,name=L" json:"L,omitempty"`
- R int32 `protobuf:"zigzag32,2,opt,name=R" json:"R,omitempty"`
+ L int32 `protobuf:"zigzag32,1,opt,name=L" json:"L,omitempty"`
+ R int32 `protobuf:"zigzag32,2,opt,name=R" json:"R,omitempty"`
+ StopAfter uint32 `protobuf:"varint,3,opt,name=StopAfter" json:"StopAfter,omitempty"`
}
func (m *Speed) Reset() { *m = Speed{} }
@@ -56,11 +57,16 @@ func (m *Speed) GetR() int32 {
return 0
}
+func (m *Speed) GetStopAfter() uint32 {
+ if m != nil {
+ return m.StopAfter
+ }
+ return 0
+}
+
type Command struct {
- Speed *Speed `protobuf:"bytes,1,opt,name=Speed" json:"Speed,omitempty"`
- Stop bool `protobuf:"varint,3,opt,name=Stop" json:"Stop,omitempty"`
- Look uint32 `protobuf:"varint,4,opt,name=Look" json:"Look,omitempty"`
- StopAfter uint32 `protobuf:"varint,5,opt,name=StopAfter" json:"StopAfter,omitempty"`
+ Speed *Speed `protobuf:"bytes,1,opt,name=Speed" json:"Speed,omitempty"`
+ Look int32 `protobuf:"zigzag32,2,opt,name=Look" json:"Look,omitempty"`
}
func (m *Command) Reset() { *m = Command{} }
@@ -75,27 +81,13 @@ func (m *Command) GetSpeed() *Speed {
return nil
}
-func (m *Command) GetStop() bool {
- if m != nil {
- return m.Stop
- }
- return false
-}
-
-func (m *Command) GetLook() uint32 {
+func (m *Command) GetLook() int32 {
if m != nil {
return m.Look
}
return 0
}
-func (m *Command) GetStopAfter() uint32 {
- if m != nil {
- return m.StopAfter
- }
- return 0
-}
-
type UltraSonic struct {
Distance uint32 `protobuf:"varint,1,opt,name=Distance" json:"Distance,omitempty"`
Direction int32 `protobuf:"zigzag32,2,opt,name=Direction" json:"Direction,omitempty"`
@@ -169,10 +161,10 @@ func (m *RemoteControl) GetKey() uint32 {
}
type Event struct {
- Head *UltraSonic `protobuf:"bytes,1,opt,name=Head" json:"Head,omitempty"`
- Sensor *InfraRed `protobuf:"bytes,2,opt,name=Sensor" json:"Sensor,omitempty"`
- Remote *RemoteControl `protobuf:"bytes,3,opt,name=Remote" json:"Remote,omitempty"`
- TimeStamp uint32 `protobuf:"varint,4,opt,name=TimeStamp" json:"TimeStamp,omitempty"`
+ TimeStamp uint32 `protobuf:"varint,1,opt,name=TimeStamp" json:"TimeStamp,omitempty"`
+ Head *UltraSonic `protobuf:"bytes,2,opt,name=Head" json:"Head,omitempty"`
+ Sensor *InfraRed `protobuf:"bytes,3,opt,name=Sensor" json:"Sensor,omitempty"`
+ Remote *RemoteControl `protobuf:"bytes,4,opt,name=Remote" json:"Remote,omitempty"`
}
func (m *Event) Reset() { *m = Event{} }
@@ -180,6 +172,13 @@ func (m *Event) String() string { return proto.CompactTextString(m) }
func (*Event) ProtoMessage() {}
func (*Event) Descriptor() ([]byte, []int) { return fileDescriptor0, []int{5} }
+func (m *Event) GetTimeStamp() uint32 {
+ if m != nil {
+ return m.TimeStamp
+ }
+ return 0
+}
+
func (m *Event) GetHead() *UltraSonic {
if m != nil {
return m.Head
@@ -201,13 +200,6 @@ func (m *Event) GetRemote() *RemoteControl {
return nil
}
-func (m *Event) GetTimeStamp() uint32 {
- if m != nil {
- return m.TimeStamp
- }
- return 0
-}
-
func init() {
proto.RegisterType((*Speed)(nil), "elegoo.Speed")
proto.RegisterType((*Command)(nil), "elegoo.Command")
@@ -220,26 +212,25 @@ func init() {
func init() { proto.RegisterFile("elegoo.proto", fileDescriptor0) }
var fileDescriptor0 = []byte{
- // 323 bytes of a gzipped FileDescriptorProto
- 0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xff, 0x54, 0x51, 0xc1, 0x4a, 0xc3, 0x40,
- 0x10, 0x65, 0x6d, 0x1a, 0xe3, 0xb4, 0x81, 0xba, 0x20, 0x04, 0xf1, 0x50, 0x23, 0x48, 0x2e, 0xf6,
- 0x50, 0xfd, 0x01, 0x4d, 0x15, 0xc5, 0x9c, 0x26, 0x7a, 0xf1, 0x16, 0xdb, 0xa9, 0x04, 0x9b, 0x9d,
- 0xb0, 0x5d, 0x04, 0x7f, 0xc8, 0xef, 0x94, 0xdd, 0x6c, 0x0c, 0xde, 0xe6, 0xbd, 0x79, 0x99, 0xf7,
- 0xf2, 0x16, 0xa6, 0xb4, 0xa3, 0x0f, 0xe6, 0x45, 0xab, 0xd9, 0xb0, 0x0c, 0x3b, 0x94, 0x5e, 0xc0,
- 0xb8, 0x6c, 0x89, 0x36, 0x72, 0x0a, 0xa2, 0x48, 0xc4, 0x5c, 0x64, 0xc7, 0x28, 0x0a, 0x8b, 0x30,
- 0x39, 0xe8, 0x10, 0xa6, 0x06, 0x0e, 0x73, 0x6e, 0x9a, 0x4a, 0x6d, 0x64, 0xaf, 0x77, 0xd2, 0xc9,
- 0x32, 0x5e, 0xf8, 0xab, 0x8e, 0x44, 0x7f, 0x4b, 0x42, 0x50, 0x1a, 0x6e, 0x93, 0xd1, 0x5c, 0x64,
- 0x11, 0xba, 0xd9, 0x72, 0x05, 0xf3, 0x67, 0x12, 0xcc, 0x45, 0x16, 0xa3, 0x9b, 0xe5, 0x19, 0x1c,
- 0xd9, 0xdd, 0xed, 0xd6, 0x90, 0x4e, 0xc6, 0x6e, 0x31, 0x10, 0xe9, 0x03, 0xc0, 0xeb, 0xce, 0xe8,
- 0xaa, 0x64, 0x55, 0xaf, 0xe5, 0x29, 0x44, 0xab, 0x7a, 0x6f, 0x2a, 0xb5, 0x26, 0xe7, 0x1d, 0xe3,
- 0x1f, 0xb6, 0x77, 0x56, 0xb5, 0xa6, 0xb5, 0xa9, 0x59, 0xf9, 0xd4, 0x03, 0x91, 0xde, 0x40, 0xf4,
- 0xa4, 0xb6, 0xba, 0xc2, 0xee, 0x2f, 0xd1, 0x7d, 0x1e, 0xa1, 0x40, 0x8b, 0x72, 0xa7, 0x8f, 0x50,
- 0xe4, 0x5d, 0x03, 0x5d, 0x64, 0x51, 0xa4, 0xe7, 0x10, 0x23, 0x35, 0x6c, 0x28, 0x67, 0x65, 0x34,
- 0xef, 0xe4, 0x0c, 0x46, 0xcf, 0xf4, 0xed, 0xbd, 0xed, 0x98, 0xfe, 0x08, 0x18, 0xdf, 0x7f, 0x91,
- 0x32, 0xf2, 0x12, 0x82, 0x47, 0xaa, 0xfa, 0x52, 0x64, 0x5f, 0xca, 0x10, 0x1f, 0xdd, 0x5e, 0x66,
- 0x10, 0x96, 0xa4, 0xf6, 0xac, 0x9d, 0xeb, 0x64, 0x39, 0xeb, 0x95, 0x7d, 0x40, 0xf4, 0x7b, 0x79,
- 0x05, 0x61, 0x67, 0xef, 0x12, 0x4d, 0x96, 0x27, 0xbd, 0xf2, 0x5f, 0x28, 0xf4, 0x22, 0xdb, 0xc0,
- 0x4b, 0xdd, 0x50, 0x69, 0xaa, 0xa6, 0xf5, 0x15, 0x0f, 0xc4, 0x5d, 0xf8, 0x16, 0x34, 0x55, 0xad,
- 0xde, 0x43, 0xf7, 0xf6, 0xd7, 0xbf, 0x01, 0x00, 0x00, 0xff, 0xff, 0x01, 0x9b, 0xf8, 0x59, 0x0b,
- 0x02, 0x00, 0x00,
+ // 315 bytes of a gzipped FileDescriptorProto
+ 0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xff, 0x54, 0x51, 0x5d, 0x4b, 0xc3, 0x30,
+ 0x14, 0x25, 0xae, 0xab, 0xf5, 0x6e, 0x85, 0x19, 0x10, 0x8a, 0xf8, 0x30, 0x2b, 0xc8, 0x5e, 0xdc,
+ 0xc3, 0xf4, 0x0f, 0x6c, 0x9d, 0xa2, 0xd8, 0xa7, 0x5b, 0x7d, 0xf1, 0x2d, 0x6e, 0x77, 0x52, 0x5c,
+ 0x73, 0x4b, 0x17, 0x04, 0xff, 0x90, 0xbf, 0x53, 0x9a, 0xa4, 0x16, 0xdf, 0x72, 0x4e, 0x4e, 0xcf,
+ 0x47, 0x0a, 0x63, 0xda, 0xd3, 0x07, 0xf3, 0xbc, 0x6e, 0xd8, 0xb0, 0x0c, 0x1d, 0x4a, 0x97, 0x30,
+ 0x2c, 0x6a, 0xa2, 0xad, 0x1c, 0x83, 0xc8, 0x13, 0x31, 0x15, 0xb3, 0x53, 0x14, 0x79, 0x8b, 0x30,
+ 0x39, 0x72, 0x08, 0xe5, 0x05, 0x9c, 0x14, 0x86, 0xeb, 0xe5, 0xce, 0x50, 0x93, 0x0c, 0xa6, 0x62,
+ 0x16, 0x63, 0x4f, 0xa4, 0x2b, 0x38, 0xce, 0xb8, 0xaa, 0x94, 0xde, 0xca, 0x2b, 0xef, 0x66, 0x8d,
+ 0x46, 0x8b, 0x78, 0xee, 0x33, 0x2d, 0x89, 0x3e, 0x49, 0x42, 0x90, 0x33, 0x7f, 0x7a, 0x7b, 0x7b,
+ 0x4e, 0x1f, 0x00, 0x5e, 0xf7, 0xa6, 0x51, 0x05, 0xeb, 0x72, 0x23, 0xcf, 0x21, 0x5a, 0x97, 0x07,
+ 0xa3, 0xf4, 0x86, 0xac, 0x53, 0x8c, 0x7f, 0xb8, 0xed, 0xb2, 0x2e, 0x1b, 0xda, 0x98, 0x92, 0xb5,
+ 0xb7, 0xe8, 0x89, 0xf4, 0x0e, 0xa2, 0x27, 0xbd, 0x6b, 0x14, 0xba, 0x45, 0x68, 0x3f, 0x8f, 0xda,
+ 0x0d, 0x63, 0x10, 0x99, 0xd5, 0x47, 0x28, 0x32, 0xb7, 0x76, 0xe0, 0x50, 0x9e, 0x5e, 0x42, 0x8c,
+ 0x54, 0xb1, 0xa1, 0x8c, 0xb5, 0x69, 0x78, 0x2f, 0x27, 0x30, 0x78, 0xa6, 0x6f, 0x9f, 0xdd, 0x1e,
+ 0xd3, 0x1f, 0x01, 0xc3, 0xfb, 0x2f, 0xd2, 0xa6, 0x2d, 0xf0, 0x52, 0x56, 0x54, 0x18, 0x55, 0xd5,
+ 0x5e, 0xd1, 0x13, 0xf2, 0x1a, 0x82, 0x47, 0x52, 0x5b, 0x9b, 0x34, 0x5a, 0xc8, 0xee, 0x01, 0xfa,
+ 0x71, 0x68, 0xef, 0xe5, 0x0c, 0xc2, 0x82, 0xf4, 0x81, 0xdd, 0x7b, 0x8e, 0x16, 0x93, 0x4e, 0xd9,
+ 0xd5, 0x47, 0x7f, 0x2f, 0x6f, 0x20, 0x74, 0xe5, 0x92, 0xc0, 0x2a, 0xcf, 0x3a, 0xe5, 0xbf, 0xca,
+ 0xe8, 0x45, 0xab, 0xf0, 0x2d, 0xa8, 0x54, 0xa9, 0xdf, 0x43, 0xfb, 0x9f, 0x6f, 0x7f, 0x03, 0x00,
+ 0x00, 0xff, 0xff, 0xc8, 0x54, 0x2f, 0x04, 0xf7, 0x01, 0x00, 0x00,
}
diff --git a/elegoo.proto b/elegoo.proto
index ab54a1b..9049893 100644
--- a/elegoo.proto
+++ b/elegoo.proto
@@ -7,13 +7,12 @@ option go_package = "main";
message Speed {
sint32 L = 1; // -255 .. + 255
sint32 R = 2; // -255 .. + 255
+ uint32 StopAfter = 3; // milliseconds
}
message Command {
Speed Speed = 1;
- bool Stop = 3;
- uint32 Look = 4; // deg: 0 right .. 180 left
- uint32 StopAfter = 5; // milliseconds
+ sint32 Look = 2; // deg: -90 right .. +90 left
}
message UltraSonic {
@@ -32,8 +31,8 @@ message RemoteControl {
}
message Event {
- UltraSonic Head = 1;
- InfraRed Sensor = 2;
- RemoteControl Remote = 3;
- uint32 TimeStamp = 4; // milliseconds
+ uint32 TimeStamp = 1; // milliseconds
+ UltraSonic Head = 2;
+ InfraRed Sensor = 3;
+ RemoteControl Remote = 4;
}
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
diff --git a/fsm.go b/fsm.go
index dfe04a5..9565d5b 100644
--- a/fsm.go
+++ b/fsm.go
@@ -53,7 +53,7 @@ func (f *FSM) Start() {
}
func (f *FSM) initalState() stateFn {
- f.commands <- &Command{Look: 90}
+ f.commands <- &Command{Look: 0}
return f.readDistance
}
@@ -72,6 +72,6 @@ func (f *FSM) moveAhead() stateFn {
}
func (f *FSM) stop() stateFn {
- f.commands <- &Command{Stop: true}
+ f.commands <- &Command{}
return f.readDistance
}