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#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
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);
}
}
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;
}
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