From 34c4c1a7145c8c224392ca36f70225bf00b418fd Mon Sep 17 00:00:00 2001 From: Dimitri Sokolyuk Date: Mon, 11 Dec 2017 23:04:52 +0100 Subject: ... --- elegoo/elegoo.ino | 21 ++++++--------------- 1 file changed, 6 insertions(+), 15 deletions(-) (limited to 'elegoo/elegoo.ino') 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); -- cgit v1.2.3