controller demofun

2 files changed, 65 insertions, 21 deletions

diff --git a/robot/main.c b/robot/main.c
index 21d0e5c..a708a13 100644
--- a/robot/main.c
+++ b/robot/main.c
@@ -1,33 +1,26 @@
 #include <pololu/orangutan.h>
 #include <stdlib.h>
 
+unsigned char hex_to_int(char a) {
+	if (a >= 0x30 && a <= 0x39) return a - 0x30;
+	else if (a >= 0x61 && a <= 0x66) return a - 0x61 + 10;
+	return 0;
+}
+
 int main() {
 	play("L50 c>c");
 	serial_set_baud_rate(9600);
 
-	char *buf = malloc(20);
-	unsigned int counter = 0;
-
+	char *buf = malloc(9);
 	while (1) {
-		serial_receive_blocking(buf, 1, 65e3);
+		serial_receive_blocking(buf, 8, 65e3);
+		
+		int modl = hex_to_int(buf[1]) - 1;
+		int speedl = hex_to_int(buf[2]) * 0x10 + hex_to_int(buf[3]);
+		int modr = hex_to_int(buf[5]) - 1;
+		int speedr = hex_to_int(buf[6]) * 0x10 + hex_to_int(buf[7]);
 
-		switch (buf[0]) {
-			case 0x7f: {
-				counter--;
-				lcd_goto_xy(counter, 0);
-				print(" ");
-				lcd_goto_xy(counter, 0);
-				break;
-			}
-			default: {
-				print(&buf[0]);
-				counter++;
-				if (counter > 20) {
-					counter = 0;
-					lcd_goto_xy(0, 0);
-				}
-			}
-		}
+		set_motors(modl * speedl, modr * speedr);
 	}
 
 	return 0;
diff --git a/robot/test/dummy.py b/robot/test/dummy.py
new file mode 100644
index 0000000..5265fa0
--- /dev/null
+++ b/robot/test/dummy.py
@@ -0,0 +1,51 @@
+import pygame
+import serial
+pygame.init()
+joysticks = []
+clock = pygame.time.Clock()
+keepPlaying = True
+
+left_right_stick = 0
+forward_stick = 0
+backward_stick = 0
+
+def sign(num):
+  if num == 0:
+    return 0
+  elif num > 0:
+    return 1
+  else:
+    return -1
+
+serport = serial.Serial("/dev/ttyACM0", 9600, timeout=1)
+def send_speed(left, right):
+  total = ""
+  total += f"{(sign(left) + 1):02x}"
+  total += f"{(abs(left)):02x}"
+  total += f"{(sign(right) + 1):02x}"
+  total += f"{(abs(right)):02x}"
+
+  serport.write(bytes(total, 'utf-8'))
+  serport.flush()
+  print(total)
+
+for i in range(0, pygame.joystick.get_count()):
+  joysticks.append(pygame.joystick.Joystick(i))
+  joysticks[-1].init()
+  print ("Detected joystick "),joysticks[-1].get_name(),"'"
+
+def make_values():
+  left = 255 - max(0, left_right_stick) * 255
+  right = 255 + min(0, left_right_stick) * 255
+  speed_mod = backward_stick + forward_stick
+  return (int(left * speed_mod) , int(right * speed_mod))
+
+while keepPlaying:
+  clock.tick(60)
+  values = make_values()
+  send_speed(values[0], values[1])
+  for event in pygame.event.get():
+    if event.type != 1536: continue
+    if event.axis == 0: left_right_stick = event.value
+    if event.axis == 2: backward_stick = event.value * -0.5 - 1
+    if event.axis == 5: forward_stick = event.value * 0.5 + 1