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