aboutsummaryrefslogtreecommitdiff
path: root/car/elegoo/main.go
blob: 0d9d7cdc6e10becee9d07bdddc4834377722e91d (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
package main

//go:generate sh -c "protoc --go_out=. --nanopb_out=.. *.proto"

import (
	"bufio"
	"io"
	"log"

	"github.com/dim13/cobs"
	"github.com/golang/protobuf/proto"
	"github.com/tarm/serial"
)

func Write(w io.Writer, pb proto.Message) error {
	buf := new(proto.Buffer)
	err := buf.EncodeMessage(pb)
	if err != nil {
		return err
	}
	block := cobs.Encode(buf.Bytes())
	_, err = w.Write(block)
	return err
}

func Read(buf *bufio.Reader, pb proto.Message) error {
	block, err := buf.ReadBytes(0)
	if err != nil {
		return err
	}
	block = cobs.Decode(block)
	return proto.NewBuffer(block).DecodeMessage(pb)
}

// /dev/cu.Elegoo-DevB
// /dev/cu.usbmodem1421
// /dev/cu.usbmodem1411

func events(r io.Reader) chan *Events {
	c := make(chan *Events)
	buf := bufio.NewReader(r)
	go func() {
		for {
			evt := &Events{}
			if err := Read(buf, evt); err != nil {
				if err == io.ErrUnexpectedEOF {
					continue
				}
				log.Println("ERR", err)
				return
			}
			c <- evt
		}
	}()
	return c
}

func main() {
	c := &serial.Config{
		//Name: "/dev/tty.usbmodem1421",
		//Name: "/dev/tty.usbmodem1411",
		Name: "/dev/tty.Elegoo-DevB",
		Baud: 57600,
	}
	s, err := serial.OpenPort(c)
	if err != nil {
		log.Fatal(err)
	}
	defer s.Close()

	for e := range events(s) {
		log.Println(e)
	}

	/* log.Println("send -45")
	time.Sleep(3 * time.Second)
	Write(s, &Command{Direction: 5})

	log.Println("send +45")
	time.Sleep(3 * time.Second)
	Write(s, &Command{Direction: 175})

	log.Println("send +0")
	time.Sleep(3 * time.Second)
	Write(s, &Command{Direction: 90})
	*/

	/* log.Println("send motor")
	Write(s, &Command{SpeedL: 200, SpeedR: 200, StopAfter: 1000})
	time.Sleep(time.Second)

	log.Println("send motor turn")
	time.Sleep(time.Second)
	Write(s, &Command{SpeedL: -250, SpeedR: 250, StopAfter: 500})

	log.Println("send motor turn")
	time.Sleep(time.Second)
	Write(s, &Command{SpeedL: 250, SpeedR: -250, StopAfter: 500})
	*/

	/* 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)
	*/
}