From 3340214e6409a8b8ba156b0760eed766bffb7b71 Mon Sep 17 00:00:00 2001 From: Dimitri Sokolyuk Date: Mon, 11 Dec 2017 00:25:12 +0100 Subject: proto3 --- elegoo/elegoo.ino | 21 +++++---------------- 1 file changed, 5 insertions(+), 16 deletions(-) (limited to 'elegoo/elegoo.ino') diff --git a/elegoo/elegoo.ino b/elegoo/elegoo.ino index 62d7d62..e354262 100644 --- a/elegoo/elegoo.ino +++ b/elegoo/elegoo.ino @@ -56,19 +56,19 @@ void onPacket(const uint8_t* buf, size_t size) { pb_istream_t istream = pb_istream_from_buffer(buf, size); pb_decode_delimited(&istream, Command_fields, &cmd); - if (cmd.has_SpeedR) { + if (cmd.SpeedR > 0) { motorR(cmd.SpeedR); } - if (cmd.has_SpeedL) { + if (cmd.SpeedL > 0) { motorL(cmd.SpeedL); } - if (cmd.has_Stop) { + if (cmd.Stop) { stop(); } - if (cmd.has_Direction) { + if (cmd.Direction > 0) { servo.write(cmd.Direction); } - if (cmd.has_StopAfter) { + if (cmd.StopAfter > 0) { timer.after(cmd.StopAfter, stop); } } @@ -79,28 +79,17 @@ void events() { Events evt = Events_init_zero; evt.Distance = readDistance(); - evt.has_Distance = evt.Distance > 0; - evt.SensorR = digitalRead(SR); - evt.has_SensorR = true; - evt.SensorC = digitalRead(SC); - evt.has_SensorC = true; - evt.SensorL = digitalRead(SL); - evt.has_SensorL = true; if (irrecv.decode(&ir)) { evt.KeyPress = ir.value; - evt.has_KeyPress = ir.bits > 0; irrecv.resume(); } evt.Direction = servo.read(); - evt.has_Direction = true; - evt.Time = millis(); - evt.has_Time = true; pb_ostream_t ostream = pb_ostream_from_buffer(buf, sizeof(buf)); pb_encode_delimited(&ostream, Events_fields, &evt); -- cgit v1.2.3