minor update/sync

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);
                     },