From 4255e0ad78e0f7cc8694df77e585ca02a8113bb3 Mon Sep 17 00:00:00 2001 From: Dimitri Sokolyuk Date: Mon, 21 Aug 2017 23:52:53 +0200 Subject: ... --- car/elegoo/elegoo.pb.go | 70 ++++++++++++++++++++++++------------------------- car/elegoo/elegoo.proto | 12 ++++----- car/elegoo/main.go | 63 ++++++++++++++++++++++++-------------------- 3 files changed, 75 insertions(+), 70 deletions(-) (limited to 'car/elegoo') diff --git a/car/elegoo/elegoo.pb.go b/car/elegoo/elegoo.pb.go index b20c09c..0d779ee 100644 --- a/car/elegoo/elegoo.pb.go +++ b/car/elegoo/elegoo.pb.go @@ -29,12 +29,11 @@ var _ = math.Inf const _ = proto.ProtoPackageIsVersion2 // please upgrade the proto package type Command struct { - SpeedR int32 `protobuf:"zigzag32,1,opt,name=SpeedR" json:"SpeedR,omitempty"` - SpeedL int32 `protobuf:"zigzag32,2,opt,name=SpeedL" json:"SpeedL,omitempty"` - Stop bool `protobuf:"varint,3,opt,name=Stop" json:"Stop,omitempty"` - Center bool `protobuf:"varint,4,opt,name=Center" json:"Center,omitempty"` - TurnHead int32 `protobuf:"zigzag32,5,opt,name=TurnHead" json:"TurnHead,omitempty"` - Trim int32 `protobuf:"zigzag32,6,opt,name=Trim" json:"Trim,omitempty"` + SpeedR int32 `protobuf:"zigzag32,1,opt,name=SpeedR" json:"SpeedR,omitempty"` + SpeedL int32 `protobuf:"zigzag32,2,opt,name=SpeedL" json:"SpeedL,omitempty"` + Stop bool `protobuf:"varint,3,opt,name=Stop" json:"Stop,omitempty"` + Center bool `protobuf:"varint,4,opt,name=Center" json:"Center,omitempty"` + Direction int32 `protobuf:"zigzag32,5,opt,name=Direction" json:"Direction,omitempty"` } func (m *Command) Reset() { *m = Command{} } @@ -70,26 +69,20 @@ func (m *Command) GetCenter() bool { return false } -func (m *Command) GetTurnHead() int32 { +func (m *Command) GetDirection() int32 { if m != nil { - return m.TurnHead - } - return 0 -} - -func (m *Command) GetTrim() int32 { - if m != nil { - return m.Trim + return m.Direction } return 0 } type Event struct { - Distance uint32 `protobuf:"varint,1,opt,name=Distance" json:"Distance,omitempty"` - SensorR bool `protobuf:"varint,2,opt,name=SensorR" json:"SensorR,omitempty"` - SensorC bool `protobuf:"varint,3,opt,name=SensorC" json:"SensorC,omitempty"` - SensorL bool `protobuf:"varint,4,opt,name=SensorL" json:"SensorL,omitempty"` - KeyPress uint32 `protobuf:"varint,5,opt,name=KeyPress" json:"KeyPress,omitempty"` + Distance uint32 `protobuf:"varint,1,opt,name=Distance" json:"Distance,omitempty"` + Direction int32 `protobuf:"zigzag32,2,opt,name=Direction" json:"Direction,omitempty"` + SensorR bool `protobuf:"varint,3,opt,name=SensorR" json:"SensorR,omitempty"` + SensorC bool `protobuf:"varint,4,opt,name=SensorC" json:"SensorC,omitempty"` + SensorL bool `protobuf:"varint,5,opt,name=SensorL" json:"SensorL,omitempty"` + KeyPress uint32 `protobuf:"varint,6,opt,name=KeyPress" json:"KeyPress,omitempty"` } func (m *Event) Reset() { *m = Event{} } @@ -104,6 +97,13 @@ func (m *Event) GetDistance() uint32 { return 0 } +func (m *Event) GetDirection() int32 { + if m != nil { + return m.Direction + } + return 0 +} + func (m *Event) GetSensorR() bool { if m != nil { return m.SensorR @@ -140,19 +140,19 @@ func init() { func init() { proto.RegisterFile("elegoo.proto", fileDescriptor0) } var fileDescriptor0 = []byte{ - 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0x33, 0x73, 0xc1, 0xaa, 0x09, 0x8c, 0xb7, 0x4e, 0xa2, 0x5a, 0x2d, 0x77, 0x3c, 0x36, 0x43, 0xd2, - 0xdb, 0xf1, 0xd8, 0x8c, 0x49, 0x71, 0xc7, 0xf8, 0xd2, 0x0b, 0xfc, 0xbe, 0x3a, 0xf0, 0x1e, 0x1d, - 0x1b, 0x99, 0xf9, 0x81, 0xbe, 0x15, 0x5a, 0xad, 0xe6, 0x9d, 0xe2, 0xb7, 0xdd, 0x9f, 0x02, 0x00, - 0x00, 0xff, 0xff, 0x67, 0x52, 0x91, 0x80, 0x46, 0x01, 0x00, 0x00, + // 217 bytes of a gzipped FileDescriptorProto + 0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xff, 0x5c, 0x90, 0xb1, 0x4a, 0xc5, 0x30, + 0x14, 0x86, 0xc9, 0xb5, 0x37, 0xad, 0x07, 0x1d, 0xcc, 0x20, 0x41, 0x1c, 0x4a, 0xa7, 0x4e, 0x2e, + 0xbe, 0x81, 0xad, 0x93, 0x19, 0x24, 0xdd, 0xdc, 0x6a, 0x7b, 0x90, 0x80, 0xcd, 0x29, 0x49, 0x10, + 0x9c, 0x7d, 0x1c, 0x5f, 0x52, 0x1a, 0xd3, 0x56, 0xef, 0x96, 0xef, 0xff, 0xc3, 0xcf, 0xc7, 0x81, + 0x0b, 0x7c, 0xc7, 0x37, 0xa2, 0xbb, 0xd9, 0x51, 0xa0, 0xea, 0x8b, 0x41, 0xde, 0xd0, 0x34, 0xf5, + 0x76, 0x14, 0xd7, 0xc0, 0xbb, 0x19, 0x71, 0xd4, 0x92, 0x95, 0xac, 0xbe, 0xd2, 0x89, 0xb6, 0x5c, + 0xc9, 0xc3, 0x9f, 0x5c, 0x09, 0x01, 0x59, 0x17, 0x68, 0x96, 0x67, 0x25, 0xab, 0x0b, 0x1d, 0xdf, + 0xcb, 0xdf, 0x06, 0x6d, 0x40, 0x27, 0xb3, 0x98, 0x26, 0x12, 0xb7, 0x70, 0xde, 0x1a, 0x87, 0x43, + 0x30, 0x64, 0xe5, 0x31, 0xce, 0xec, 0x41, 0xf5, 0xcd, 0xe0, 0xf8, 0xf8, 0x81, 0x36, 0x88, 0x1b, + 0x28, 0x5a, 0xe3, 0x43, 0x6f, 0x07, 0x8c, 0x16, 0x97, 0x7a, 0xe3, 0xff, 0x1b, 0x87, 0x93, 0x0d, + 0x21, 0x21, 0xef, 0xd0, 0x7a, 0x72, 0x3a, 0x09, 0xad, 0xb8, 0x37, 0x4d, 0x92, 0x5a, 0x71, 0x6f, + 0x54, 0x74, 0xda, 0x1a, 0xb5, 0x78, 0x3c, 0xe1, 0xe7, 0xb3, 0x43, 0xef, 0x25, 0xff, 0xf5, 0x58, + 0xf9, 0x81, 0xbf, 0x64, 0x53, 0x6f, 0xec, 0x2b, 0x8f, 0x27, 0xbc, 0xff, 0x09, 0x00, 0x00, 0xff, + 0xff, 0x78, 0x67, 0x1b, 0x88, 0x52, 0x01, 0x00, 0x00, } diff --git a/car/elegoo/elegoo.proto b/car/elegoo/elegoo.proto index bdf1b95..f9b13bf 100644 --- a/car/elegoo/elegoo.proto +++ b/car/elegoo/elegoo.proto @@ -7,14 +7,14 @@ message Command { sint32 SpeedL = 2; bool Stop = 3; bool Center = 4; - sint32 TurnHead = 5; // ±90 deg - sint32 Trim = 6; + sint32 Direction = 5; // +90 left; -90 right } message Event { uint32 Distance = 1; - bool SensorR = 2; - bool SensorC = 3; - bool SensorL = 4; - uint32 KeyPress = 5; + sint32 Direction = 2; + bool SensorR = 3; + bool SensorC = 4; + bool SensorL = 5; + uint32 KeyPress = 6; } diff --git a/car/elegoo/main.go b/car/elegoo/main.go index df5dabc..e2f4e05 100644 --- a/car/elegoo/main.go +++ b/car/elegoo/main.go @@ -7,6 +7,7 @@ import ( "bufio" "io" "log" + "time" "github.com/dim13/cobs" "github.com/golang/protobuf/proto" @@ -49,38 +50,42 @@ func main() { defer s.Close() go func() { - cmd := &Command{} - cmd.Trim = -10 - cmd.Center = true - Write(s, cmd) - - /* MOTOR - cmd.SpeedL = 200 - cmd.SpeedR = 0 - cmd.Stop = false - Write(s, cmd) - time.Sleep(3 * time.Second) - - cmd.SpeedL = 0 - cmd.SpeedR = 0 - cmd.Stop = true - Write(s, cmd) - time.Sleep(3 * time.Second) - - cmd.SpeedL = 0 - cmd.SpeedR = 200 - cmd.Stop = false - Write(s, cmd) - time.Sleep(3 * time.Second) - - cmd.SpeedL = 0 - cmd.SpeedR = 0 - cmd.Stop = true - Write(s, cmd) - */ + time.Sleep(5 * time.Second) + Write(s, &Command{Direction: -45}) + time.Sleep(time.Second) + + Write(s, &Command{Direction: 45}) + time.Sleep(time.Second) + + Write(s, &Command{Center: true}) }() + /* MOTOR + cmd.SpeedL = 200 + cmd.SpeedR = 0 + cmd.Stop = false + Write(s, cmd) + time.Sleep(3 * time.Second) + + cmd.SpeedL = 0 + cmd.SpeedR = 0 + cmd.Stop = true + Write(s, cmd) + time.Sleep(3 * time.Second) + + cmd.SpeedL = 0 + cmd.SpeedR = 200 + cmd.Stop = false + Write(s, cmd) + time.Sleep(3 * time.Second) + + cmd.SpeedL = 0 + cmd.SpeedR = 0 + cmd.Stop = true + Write(s, cmd) + */ + buf := bufio.NewReader(s) for { evt := &Event{} -- cgit v1.2.3