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#include <Zumo32U4.h>
#include <Arduino.h>
#include <Wire.h>
#include "control.h"
#include "protocol.h"
#include "pid.h"
dui_state_t g_dui_target_state = {
.steer = 0.0f,
.Speed = 0.0f,
.current_sign = DUI_SIGN_NONE,
.speed_mod = 1.f,
};
dui_state_t g_dui_current_state = {
.steer = 0.f,
.Speed = 0.f,
.current_sign = DUI_SIGN_NONE,
.speed_mod = 1.f,
};
void setup() {
pinMode(DUI_PINOUT_NICLA_TX, OUTPUT);
pinMode(DUI_PINOUT_NICLA_RX, INPUT_PULLUP);
Serial.begin(11500);
}
void loop() {
static unsigned char cmd_old = 0x00;
for (unsigned int i = 0; i < 1000; i++) {
digitalWrite(DUI_PINOUT_NICLA_TX, LOW);
unsigned char cmd = uart_read();
if (cmd == 0x00) continue;
if (cmd == cmd_old) handle_cmd(cmd, &g_dui_target_state);
cmd_old = cmd;
}
digitalWrite(DUI_PINOUT_NICLA_TX, HIGH);
apply_pid(&g_dui_target_state, &g_dui_current_state);
g_dui_current_state.current_sign = g_dui_target_state.current_sign;
apply_state(&g_dui_current_state);
}
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