From 5f9bc9eafeed17c2bd7b39ff934cd97abbc69d1d Mon Sep 17 00:00:00 2001
From: Robert Hedman <robert.hedman@mac.com>
Date: Thu, 30 Nov 2017 21:51:59 +0100
Subject: [PATCH] added support for direction byte in tracker
---
src/main.rs | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/main.rs b/src/main.rs
index ca5cc2e..111be79 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -106,7 +106,7 @@ fn main() {
let tracker = thread::spawn(move || {
println!("Tracker started.");
- let mut serial_buf: [u8; 8] = [0; 8];
+ let mut serial_buf: [u8; 10] = [0; 10];
let mut port = serial::open(&COUNTER_SERIAL_PORT).unwrap();
interact(&mut port).unwrap();
@@ -118,8 +118,8 @@ fn main() {
// get encoder data from arduino and update local variables
match port.read_exact(&mut serial_buf){
Ok(_) => {
- let l_speed: f32 = tick_to_speed( ( ((serial_buf[0] as u32) << 24) + ((serial_buf[1] as u32) << 16) + ((serial_buf[2] as u32) << 8) + (serial_buf[3] as u32) ) as i32);
- let r_speed: f32 = tick_to_speed( ( ((serial_buf[4] as u32) << 24) + ((serial_buf[5] as u32) << 16) + ((serial_buf[6] as u32) << 8) + (serial_buf[7] as u32) ) as i32);
+ let l_speed: f32 = tick_to_speed( serial_buf[0], ( ((serial_buf[1] as u32) << 24) + ((serial_buf[2] as u32) << 16) + ((serial_buf[3] as u32) << 8) + (serial_buf[4] as u32) ) as i32);
+ let r_speed: f32 = tick_to_speed( serial_buf[5], ( ((serial_buf[6] as u32) << 24) + ((serial_buf[7] as u32) << 16) + ((serial_buf[8] as u32) << 8) + (serial_buf[9] as u32) ) as i32);
pos.2 = update_state(&pos, l_tick, r_tick);
print!("L: {}, ", pos.0);
println!("R: {}", pos.1);
@@ -271,7 +271,7 @@ const FREQ_TO_OMEGA: f32 = 0.0002;
const WHEEL_RADIUS: f32 = 30.0; //cm
*/
-fn tick_to_speed(tick: i32) -> f32 {
+fn tick_to_speed(dir: u8, tick: i32) -> f32 {
tick/10.0
}
fn update_state(pos: &(f32,f32,f32), l_speed: f32, r_speed: f32) {
--
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