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Merge branch 'gtxaspec:master' into master

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This commit is contained in:
virmaior
2022-07-15 17:54:29 +09:00
committed by GitHub
parent 9c065b078f 636b3ebac2
commit 51102719c9
11 changed files with 161 additions and 10 deletions
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111
SD_ROOT/wz_mini/bin/car_control.sh Executable file
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@@ -0,0 +1,111 @@
#!/bin/sh
echo "=== CAR CONTROL over COMMAND LINE! ==="
echo "CAR: car_control.sh"
echo "CAR: car_control.sh constant"
echo "CAR: car_control.sh constant low_speed"
echo "CAR: car_control.sh low_speed"
echo "CAR: w: forward "
echo "CAR: d: reverse"
echo "CAR: a: turn wheel left"
echo "CAR: d: turn wheel right"
echo "CAR: q: forward left"
echo "CAR: e: forward right"
echo "CAR: z: reverse left"
echo "CAR: c: reverse right"
echo "CAR: x: all stop"
echo "CAR: use 1 to quit ASAP!"
echo -e ""
echo "Ready!"
trap control_c SIGINT
control_c()
{
echo -ne "\xaa\x55\x43\x06\x29\x80\x80\x00\x02\x71" > /dev/ttyUSB0
echo "control-c KILL"
pkill -9 -f car_control.sh
}
#idle background loop
while true; do
echo -ne "\xaa\x55\x43\x06\x29\x80\x80\x00\x02\x71" > /dev/ttyUSB0
#fw sends 0.2
sleep 0.2
done &
while true; do
if [ "$1" == "constant" ]; then
read -s -n1 -t 0.05 input
else
read -rsn1 input
fi
if [ "$input" = "w" ]; then
#forward
if [ "$1" == "low_speed" ] || [ "$2" == "low_speed" ]; then
echo -ne "\xaa\x55\x43\x06\x29\x80\xca\x00\x02\xbb" > /dev/ttyUSB0
else
echo -ne "\xaa\x55\x43\x06\x29\x80\xe3\x00\x02\xd4" > /dev/ttyUSB0
fi
elif [ "$input" = "s" ]; then
#reverse
if [ "$1" == "low_speed" ] || [ "$2" == "low_speed" ]; then
echo -ne "\xaa\x55\x43\x06\x29\x80\x3b\x00\x02\x2c" > /dev/ttyUSB0
else
echo -ne "\xaa\x55\x43\x06\x29\x80\x36\x00\x02\x27" > /dev/ttyUSB0
fi
elif [ "$input" = "a" ]; then
#left
echo -ne "\xaa\x55\x43\x06\x29\x76\x81\x00\x02\x68" > /dev/ttyUSB0
elif [ "$input" = "d" ]; then
#right
echo -ne "\xaa\x55\x43\x06\x29\x8a\x81\x00\x02\x7c" > /dev/ttyUSB0
elif [ "$input" = "q" ]; then
#forward left
if [ "$1" == "low_speed" ] || [ "$2" == "low_speed" ]; then
echo -ne "\xaa\x55\x43\x06\x29\x76\xca\x00\x02\xb1" > /dev/ttyUSB0
else
echo -ne "\xaa\x55\x43\x06\x29\x76\xe3\x00\x02\xca" > /dev/ttyUSB0
fi
elif [ "$input" = "e" ]; then
#forward right
if [ "$1" == "low_speed" ] || [ "$2" == "low_speed" ]; then
echo -ne "\xaa\x55\x43\x06\x29\x8a\xca\x00\x02\xc5" > /dev/ttyUSB0
else
echo -ne "\xaa\x55\x43\x06\x29\x8a\xe3\x00\x02\xde" > /dev/ttyUSB0
fi
elif [ "$input" = "z" ]; then
#reverse left
if [ "$1" == "low_speed" ] || [ "$2" == "low_speed" ]; then
echo -ne "\xaa\x55\x43\x06\x29\x76\x3b\x00\x02\x22" > /dev/ttyUSB0
else
echo -ne "\xaa\x55\x43\x06\x29\x76\x36\x00\x02\x1d" > /dev/ttyUSB0
fi
elif [ "$input" = "c" ]; then
#reverse right
if [ "$1" == "low_speed" ] || [ "$2" == "low_speed" ]; then
echo -ne "\xaa\x55\x43\x06\x29\x8a\x3b\x00\x02\x36" > /dev/ttyUSB0
else
echo -ne "\xaa\x55\x43\x06\x29\x8a\x36\x00\x02\x31" > /dev/ttyUSB0
fi
elif [ "$input" = "c" ]; then
echo -ne "\xaa\x55\x43\x06\x29\x80\x80\x00\x02\x71" > /dev/ttyUSB0
elif [ "$input" = "1" ]; then
#exit
echo -ne "\xaa\x55\x43\x06\x29\x80\x80\x00\x02\x71" > /dev/ttyUSB0
pkill -9 -f car_control.sh
break
fi
done

BIN
SD_ROOT/wz_mini/bin/curl Executable file
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Binary file not shown.

7
SD_ROOT/wz_mini/etc/init.d/wz_init.sh
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@@ -140,6 +140,13 @@ if [ -f /opt/wz_mini/tmp/.T20 ]; then
mount -t jffs2 /dev/mtdblock4 /system
fi
#Check for Car FW
if [ -f /opt/wz_mini/tmp/.WYZEC1-JZ ]; then
if cat /system/bin/app.ver | grep 4.55; then
touch /opt/wz_mini/tmp/.CAR
fi
fi
echo "Copy factory app_init.sh"
cp /system/init/app_init.sh /opt/wz_mini/tmp/.storage/app_init.sh

5
SD_ROOT/wz_mini/etc/init.d/wz_post.sh
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@@ -138,6 +138,11 @@ if [[ "$DISABLE_MOTOR" == "true" ]]; then
touch /opt/wz_mini/tmp/.ms
fi
#Enable serial driver for car
if [ -f /opt/wz_mini/tmp/.CAR ] || [[ "$ENABLE_CAR_DRIVER" == "true" ]]; then
modprobe cp210x
fi
/opt/wz_mini/etc/init.d/wz_user.sh &
##LIBRARY DEBUG

1
SD_ROOT/wz_mini/etc/wz_mini.conf.dist
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@@ -91,6 +91,7 @@ ENABLE_MP4_WRITE="false"
NIGHT_DROP_DISABLE="false"
DISABLE_MOTOR="false"
ENABLE_FSCK_ON_BOOT="false"
ENABLE_CAR_DRIVER="false"
#####DEBUG#####
#drops you to a shell via serial, doesn't load app_init.sh

1
SD_ROOT/wz_mini/usr/bin/app.ver Normal file
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@@ -0,0 +1 @@
Thu Jul 14 04:01:23 PM PDT 2022

1
SD_ROOT/wz_mini/wz_mini.conf
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@@ -91,6 +91,7 @@ ENABLE_MP4_WRITE="false"
NIGHT_DROP_DISABLE="false"
DISABLE_MOTOR="false"
ENABLE_FSCK_ON_BOOT="false"
ENABLE_CAR_DRIVER="false"
#####DEBUG#####
#drops you to a shell via serial, doesn't load app_init.sh