From 7f537199d223fed3d076358e6fa4930cabeea39e Mon Sep 17 00:00:00 2001
From: Robert Hedman <robert.hedman@mac.com>
Date: Tue, 28 Nov 2017 13:49:36 +0100
Subject: [PATCH] minor update/sync
---
src/main.rs | 9 ++++-----
1 file changed, 4 insertions(+), 5 deletions(-)
diff --git a/src/main.rs b/src/main.rs
index c88fe50..e7dff4f 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -20,13 +20,12 @@ use serial::prelude::*;
// constants
const LIDAR_ADDRESS: &str = "127.0.0.1:8080";
-const COUNTER_SERIAL_PORT: &str = "/dev/cu.usbmodem41";
+const COUNTER_SERIAL_PORT: &str = "/dev/cu.usbmodem1422";
// should the map matrix be two dim array of const size, vecs of dynamic, or what?
-
-
const ROWS: usize = 50;
const COLS: usize = 100;
+static mut vec = vec![vec![0; COLS]; ROWS];
fn main() {
// dummy thread for replacing lidar
@@ -103,8 +102,8 @@ fn main() {
// get encoder data from arduino and update local variables
match port.read_exact(&mut serial_buf){
Ok(_) => {
- pos.0 = freq_to_distance( ( ((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);
- pos.1 = freq_to_distance( ( ((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);
+ pos.0 += freq_to_distance( ( ((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);
+ pos.1 += freq_to_distance( ( ((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);
print!("L: {}, ", pos.0);
println!("R: {}", pos.1);
},
--
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