// Dimitri Sokolyuk // 01.01.2017 #include #include #include #include #include #include "elegoo.pb.h" #include "config.h" PacketSerial serial; Servo servo; IRrecv irrecv(IR); decode_results ir; void motor(int e, int a, int b, int v) { if (v > 0) { digitalWrite(a, LOW); digitalWrite(b, HIGH); } if (v < 0) { digitalWrite(a, HIGH); digitalWrite(b, LOW); v = -v; } analogWrite(e, v); } #define motorR(v) motor(ENA, IN1, IN2, v) #define motorL(v) motor(ENB, IN3, IN4, v) #define look(deg) servo.write(deg + 90) #define looking() (servo.read() - 90) int distance() { digitalWrite(Trig, LOW); delayMicroseconds(2); digitalWrite(Trig, HIGH); delayMicroseconds(18); digitalWrite(Trig, LOW); return pulseIn(Echo, HIGH, TimeOut) / ToCM; } void onPacket(const uint8_t* buf, size_t size) { Command cmd = Command_init_zero; pb_istream_t istream = pb_istream_from_buffer(buf, size); pb_decode_delimited(&istream, Command_fields, &cmd); if (cmd.has_SpeedR) { motorR(cmd.SpeedR); } if (cmd.has_SpeedL) { motorL(cmd.SpeedL); } if (cmd.has_Stop) { motorR(0); motorL(0); } if (cmd.has_Direction) { look(cmd.Direction); } if (cmd.has_Center) { look(0); } } void env() { uint8_t buf[256]; Event evt = Event_init_zero; evt.Distance = distance(); 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 = looking(); evt.has_Direction = true; pb_ostream_t ostream = pb_ostream_from_buffer(buf, sizeof(buf)); pb_encode_delimited(&ostream, Event_fields, &evt); serial.send(buf, ostream.bytes_written); } void loop() { env(); serial.update(); delay(100); } void setup() { serial.begin(57600); serial.setPacketHandler(&onPacket); pinMode(Echo, INPUT); pinMode(Trig, OUTPUT); pinMode(IN1, OUTPUT); pinMode(IN2, OUTPUT); pinMode(IN3, OUTPUT); pinMode(IN4, OUTPUT); pinMode(ENA, OUTPUT); pinMode(ENB, OUTPUT); pinMode(LED, OUTPUT); pinMode(SR, INPUT); pinMode(SC, INPUT); pinMode(SL, INPUT); pinMode(IR, INPUT); irrecv.enableIRIn(); servo.attach(SRV); servo.write(90); }