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Diffstat (limited to 'car/elegoo/main.go')
-rw-r--r--car/elegoo/main.go58
1 files changed, 42 insertions, 16 deletions
diff --git a/car/elegoo/main.go b/car/elegoo/main.go
index 40fffdb..46d3058 100644
--- a/car/elegoo/main.go
+++ b/car/elegoo/main.go
@@ -39,7 +39,9 @@ func Read(buf *bufio.Reader, pb proto.Message) error {
func main() {
c := &serial.Config{
- Name: "/dev/tty.usbmodem1421",
+ //Name: "/dev/tty.usbmodem1421",
+ //Name: "/dev/tty.usbmodem1411",
+ Name: "/dev/tty.Elegoo-DevB",
Baud: 57600,
}
s, err := serial.OpenPort(c)
@@ -47,18 +49,50 @@ func main() {
log.Fatal(err)
}
defer s.Close()
+ log.Println("connected")
go func() {
- time.Sleep(5 * time.Second)
+ log.Println("recv")
+ buf := bufio.NewReader(s)
+ for {
+ evt := &Events{}
+ if err := Read(buf, evt); err != nil {
+ log.Println("ERR", err)
+ }
+ log.Println(evt)
+ }
+ }()
- Write(s, &Command{Direction: -45})
- time.Sleep(time.Second)
+ log.Println("send -45")
+ time.Sleep(time.Second)
+ Write(s, &Command{Direction: -45})
- Write(s, &Command{Direction: 45})
- time.Sleep(time.Second)
+ log.Println("send +45")
+ time.Sleep(time.Second)
+ Write(s, &Command{Direction: 45})
- Write(s, &Command{Center: true})
- }()
+ log.Println("send center")
+ time.Sleep(time.Second)
+ Write(s, &Command{Center: true})
+
+ log.Println("send -5")
+ time.Sleep(time.Second)
+ Write(s, &Command{Direction: -5})
+
+ /* log.Println("send motor")
+ Write(s, &Command{SpeedL: 200, SpeedR: 200, StopAfter: 1000})
+ time.Sleep(time.Second)
+ */
+
+ log.Println("send motor turn")
+ time.Sleep(time.Second)
+ Write(s, &Command{SpeedL: -250, SpeedR: 250, StopAfter: 500})
+
+ log.Println("send motor turn")
+ time.Sleep(time.Second)
+ Write(s, &Command{SpeedL: 250, SpeedR: -250, StopAfter: 500})
+
+ time.Sleep(time.Minute)
/* MOTOR
cmd.SpeedL = 200
@@ -85,12 +119,4 @@ func main() {
Write(s, cmd)
*/
- buf := bufio.NewReader(s)
- for {
- evt := &Event{}
- if err := Read(buf, evt); err != nil {
- log.Println("ERR", err)
- }
- log.Println(evt)
- }
}