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 ++++++--------------- elegoo/elegoo.pb.c | 19 +++++++++---------- elegoo/elegoo.pb.h | 42 ++++++++++++++++++++---------------------- 3 files changed, 35 insertions(+), 47 deletions(-) (limited to 'elegoo') 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 -- cgit v1.2.3