fix protocol implementation

1 files changed, 7 insertions, 41 deletions

diff --git a/zumo/protocol.cpp b/zumo/protocol.cpp
index f11827c..ab8397a 100644
--- a/zumo/protocol.cpp
+++ b/zumo/protocol.cpp
@@ -1,55 +1,21 @@
-#include <Zumo32U4Motors.h>
-#include <Arduino.h>
-#include <Wire.h>
-
 #include "protocol.h"
 
-#define DUI_SPEED_MOD 96.0f
-#define DUI_MOTOR_DIFF 0.6f
-
 #define DUI_CMD_NULL 0x00
 #define DUI_CMD_SIGN_START 0x01
 #define DUI_CMD_SIGN_END 0x0f
-#define DUI_CMD_STEER_START 0x10
-#define DUI_CMD_STEER_END 0x1f
-#define DUI_CMD_SPEED_START 0x20
-#define DUI_CMD_SPEED_END 0xff
+#define DUI_CMD_SPEED_START 0x10
+#define DUI_CMD_SPEED_END 0x1f
+#define DUI_CMD_STEER_START 0x20
+#define DUI_CMD_STEER_END 0xff
 
 void handle_cmd(unsigned char cmd, dui_state_t *state) {
 	if (cmd == DUI_CMD_NULL) return;
 	else if (DUI_CMD_SIGN_START <= cmd && cmd <= DUI_CMD_SIGN_END) {
 		state->current_sign = (dui_e_sign) (cmd - DUI_CMD_SIGN_START);
-	} else if (DUI_CMD_STEER_START <= cmd && cmd <= DUI_CMD_STEER_END) {
-		state->steer = (float) (cmd - DUI_CMD_STEER_START) / (float) (DUI_CMD_STEER_END - DUI_CMD_STEER_START);
 	} else if (DUI_CMD_SPEED_START <= cmd && cmd <= DUI_CMD_SPEED_END) {
-		state->speed = ((float) (cmd - DUI_CMD_SPEED_START) / (float) (DUI_CMD_SPEED_START - DUI_CMD_SPEED_END) * (float) 2 - (float) 1);
+		state->speed = (float) (cmd - DUI_CMD_SPEED_START) / (float) (DUI_CMD_SPEED_END - DUI_CMD_SPEED_START);
+	} else if (DUI_CMD_STEER_START <= cmd && cmd <= DUI_CMD_STEER_END) {
+		state->steer = (float) (cmd - DUI_CMD_STEER_START) / (float) (DUI_CMD_STEER_END - DUI_CMD_STEER_START) * (float) 2 - (float) 1;
 	}
 }
 
-void apply_state(dui_state_t *state) {
-	float motor_l = 0.5f * state->speed * (+1.f * state->steer * DUI_MOTOR_DIFF - DUI_MOTOR_DIFF + 2) * state->speed_mod * DUI_SPEED_MOD;
-	float motor_r = 0.5f * state->speed * (-1.f * state->steer * DUI_MOTOR_DIFF - DUI_MOTOR_DIFF + 2) * state->speed_mod * DUI_SPEED_MOD;
-
-	Zumo32U4Motors::setLeftSpeed((int16_t) motor_l);
-	Zumo32U4Motors::setRightSpeed((int16_t) motor_r);
-
-	// TODO: print sign on OLED screen
-}
-
-inline bool rx() { return !digitalRead(DUI_PINOUT_NICLA_RX); }
-
-unsigned char uart_read() {
-	if (rx() == true) return 0x00; // return immediately if line is idle
-
-	delayMicroseconds(1500); // wait out start bit
-
-	unsigned char byte = 0x00;
-	for (unsigned int i = 0; i < 8; i++) {
-		byte = (byte << 1) | rx();
-		delayMicroseconds(1000);
-	}
-
-	delayMicroseconds(1000); // wait out stop bit
-
-	return byte;
-}