45 lines
1.4 KiB
C
45 lines
1.4 KiB
C
 
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#pragma once
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#include <Arduino.h>
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// Operator commands. Produced by the Nextion touchscreen (NextionUI) and by
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// the USB serial console (SerialConsole) through the same path, so the
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// remote can be fully exercised on the bench without the display attached.
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enum class UiCmd : uint8_t {
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None = 0,
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ToggleArm,
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Disarm, // unconditional - the big red button
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ToggleStand,
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ToggleGait, // tripod <-> wave
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ToggleWalkMode, // direct (A) <-> heading-hold (B)
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ToggleRStickXlate, // right stick: rotation <-> translation
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ToggleRemoteGyro,
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ToggleRobotGyro,
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SetSpeed, // value = 0..255
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SpeedUp, // serial console only
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SpeedDown, // serial console only
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ZeroGyro, // capture the handset's current attitude as "level"
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CalStartSave, // start sweep calibration, or save it if running
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CalCancel,
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};
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struct UiEvent {
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UiCmd cmd = UiCmd::None;
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uint8_t value = 0;
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};
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// Everything the display shows. The remote is authoritative: the Nextion
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// only sends requests, and always renders what's in here.
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struct UiView {
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bool armed = false;
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bool stand = false;
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bool gait_wave = false;
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bool mode_b = false;
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bool rstick_xlate = false;
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bool remote_gyro = false;
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bool robot_gyro = false;
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bool calibrating = false;
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uint8_t speed_target = 0;
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bool link_ok = false;
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uint8_t link_pct = 0;
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const char* message = ""; // always a string literal - NextionUI diffs it by pointer
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};
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