zumo/protocol.cpp


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#include <Zumo32U4.h>

#include "protocol.h"
#include <Arduino.h>
#include <Zumo32U4LCD.h>
#define DUI_CMD_NULL 0x00
#define DUI_CMD_SIGN_START 0x01
#define DUI_CMD_SIGN_END 0x0f
#define DUI_CMD_SPEED_START 0x10
#define DUI_CMD_SPEED_END 0x1f
#define DUI_CMD_STEER_START 0x20
#define DUI_CMD_STEER_END 0xff
Zumo32U4OLED display;

void handle_cmd(unsigned char cmd, dui_state_t *state) {
	Serial.println(cmd, HEX);

	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);
		display.clear();
		if (DUI_SIGN_LOOKUP[state->current_sign] == nullptr) return;
		display.print(DUI_SIGN_LOOKUP[state->current_sign]);
	} else if (DUI_CMD_SPEED_START <= cmd && cmd <= DUI_CMD_SPEED_END) {
		Serial.print(" Hallo: " );
		state->Speed = (float) (cmd - DUI_CMD_SPEED_START) / (float) (DUI_CMD_SPEED_END - DUI_CMD_SPEED_START);
		Serial.println(state->Speed);
	} 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;
	}
}