21 lines
655 B
C++
21 lines
655 B
C++
 
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#pragma once
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#include <HexapodProtocol.h>
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#include "Sticks.h"
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#include "RemoteIMU.h"
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#include "RemoteState.h"
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// The inverse of the robot's InputMapper: turns physical stick axes, handset
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// tilt and operator state into a CmdPacket. It only fills fields per the
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// protocol contract (HexapodProtocol.h); all physical scaling and mode
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// interpretation stays on the robot.
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class PacketBuilder {
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public:
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CmdPacket build(const StickFrame& s, const RemoteIMU& imu, const RemoteState& st, uint32_t now_ms);
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private:
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uint8_t seq_ = 0;
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bool walk_seen_ = false;
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uint32_t last_walk_input_ms_ = 0;
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static int16_t tiltToWire(float deg, float blend);
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};
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