hexapod-robot/2026-current/remote/SerialConsole.cpp

#include "SerialConsole.h"
#include <Arduino.h>

bool SerialConsole::poll(UiEvent& ui, Local& local) {
  ui = UiEvent{};
  local = Local::None;
  while (Serial.available()) {
    char c = Serial.read();
    switch (c) {
      case 'a': ui.cmd = UiCmd::ToggleArm;         return true;
      case 'k': ui.cmd = UiCmd::Disarm;            return true;
      case 's': ui.cmd = UiCmd::ToggleStand;       return true;
      case 'g': ui.cmd = UiCmd::ToggleGait;        return true;
      case 'm': ui.cmd = UiCmd::ToggleWalkMode;    return true;
      case 't': ui.cmd = UiCmd::ToggleRStickXlate; return true;
      case 'r': ui.cmd = UiCmd::ToggleRemoteGyro;  return true;
      case 'b': ui.cmd = UiCmd::ToggleRobotGyro;   return true;
      case '+': case '=': ui.cmd = UiCmd::SpeedUp;   return true;
      case '-': case '_': ui.cmd = UiCmd::SpeedDown; return true;
      case ']': ui.cmd = UiCmd::HeightUp;          return true;
      case '[': ui.cmd = UiCmd::HeightDown;        return true;
      case 'z': ui.cmd = UiCmd::ZeroGyro;          return true;
      case 'c': ui.cmd = UiCmd::CalStartSave;      return true;
      case 'x': ui.cmd = UiCmd::CalCancel;         return true;
      case 'U': ui.cmd = UiCmd::NextionUpload;     return true;
      case 'p': local = Local::PrintStatus;        return true;
      case 'd': local = Local::ToggleDump;         return true;
      case 'R': local = Local::ResetCal;           return true;
      default: break;   // ignore line endings and unknown keys
    }
  }
  return false;
}