diff options
Diffstat (limited to 'zumo/protocol.h')
| -rw-r--r-- | zumo/protocol.h | 15 |
1 files changed, 13 insertions, 2 deletions
diff --git a/zumo/protocol.h b/zumo/protocol.h index a1f9951..ea3e27d 100644 --- a/zumo/protocol.h +++ b/zumo/protocol.h @@ -19,13 +19,24 @@ typedef enum { DUI_SIGN_LIGHT_GO, /** @brief traffic light green (keep current speed) */ } dui_e_sign; +const char* const DUI_SIGN_LOOKUP[16] = { + [DUI_SIGN_NONE] = "", + [DUI_SIGN_STOP] = "bord\nstop", + [DUI_SIGN_LEFT] = "bord\nlinks", + [DUI_SIGN_RIGHT] = "bord\nrechts", + [DUI_SIGN_SPEED_LIMIT_LOW] = "snelheid\nlaag", + [DUI_SIGN_SPEED_LIMIT_HIGH] = "snelheid\nhoog", + [DUI_SIGN_LIGHT_STOP] = "stop.l.\nrood", + [DUI_SIGN_LIGHT_FLOOR_IT] = "stop.l.\ngeel", + [DUI_SIGN_LIGHT_GO] = "stop.l.\ngroen", +}; + typedef struct { float steer; /** @brief steer value (-1 is left, +1 is right) */ - float speed; /** @brief speed (0-15) */ + 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 read and apply cmd to state */ void handle_cmd(unsigned char cmd, dui_state_t *state); - |