75 lines
2.0 KiB
C++
75 lines
2.0 KiB
C++
// -----------------------------------------------------------------------------
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// Copyright (c) 2024 Mu Shibo
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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// THE SOFTWARE.
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// -----------------------------------------------------------------------------
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#pragma once
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#include <WiFi.h>
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#include <ArduinoJson.h>
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typedef struct {
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int height = 38;
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int roll;
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int linear;
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int angular;
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int dir;
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int dir_last;
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int joyy;
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int joyy_last;
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int joyx;
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int joyx_last;
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bool go;
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}Wrobot;
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extern Wrobot wrobot;
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// 机器人运动状态枚举
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typedef enum {
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FORWARD = 0,
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BACK,
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RIGHT,
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LEFT,
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STOP,
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JUMP,
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} QR_State_t;
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// 机器人模式枚举类型
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typedef enum {
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BASIC = 0,
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} Robot_Mode_t;
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class RobotProtocol
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{
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public:
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RobotProtocol(uint8_t len);
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~RobotProtocol();
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void spinOnce(void);
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void parseBasic(StaticJsonDocument<300> &doc);
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private:
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uint8_t *_now_buf;
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uint8_t *_old_buf;
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uint8_t _len;
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void UART_WriteBuf(void);
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int checkBufRefresh(void);
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};
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