initial robot driver code

1 files changed, 35 insertions, 0 deletions

diff --git a/zumo/protocol.h b/zumo/protocol.h
new file mode 100644
index 0000000..662a5ce
--- /dev/null
+++ b/zumo/protocol.h
@@ -0,0 +1,35 @@
+#pragma once
+
+typedef enum {
+	DUI_CMD_NULL,
+	DUI_CMD_SIGN,
+	DUI_CMD_SPEED,
+	DUI_CMD_STEER,
+} dui_e_cmd;
+
+typedef enum {
+	DUI_SIGN_NONE, /** @brief no sign */
+	DUI_SIGN_STOP, /** @brief stop (set speed to 0) */
+	DUI_SIGN_LEFT, /** @brief turn left (set steer to -1) */
+	DUI_SIGN_RIGHT, /** @brief turn right (set steer to +1) */
+	DUI_SIGN_SPEED_LIMIT_LOW, /** @brief slow down (speed limit 0.5) */
+	DUI_SIGN_SPEED_LIMIT_HIGH, /** @brief full speed (speed limit 1.0) */
+	DUI_SIGN_LIGHT_STOP, /** @brief traffic light red (set speed to 0) */
+	DUI_SIGN_LIGHT_FLOOR_IT, /** @brief traffic light orange (set speed to 2 temporarily) */
+	DUI_SIGN_LIGHT_GO, /** @brief traffic light green (keep current speed) */
+} dui_e_sign;
+
+typedef struct {
+	float steer; /** @brief steer value (-1 is left, +1 is right) */
+	float speed; /** @brief speed (0-15) */
+	dui_e_sign current_sign; /** @brief last seen sign */
+	float speed_mod; /** @brief global speed multiplier */
+} dui_state_t;
+
+/** @brief non blocking read byte */
+unsigned char uart_read();
+/** @brief read and apply cmd to state */
+void handle_cmd(unsigned char cmd, dui_state_t *state);
+/** @brief apply state to motors */
+void apply_state(dui_state_t* state);
+