40 lines
1.8 KiB
C++
40 lines
1.8 KiB
C++
 
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#pragma once
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#include <Arduino.h>
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// Remote -> robot, sent at a fixed rate. Kept as the single source of truth
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// here so a future remote sketch just has to fill this same struct and
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// radio.write() it - nothing on the robot side needs to change.
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struct CmdPacket {
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int16_t vx = 0, vy = 0; // left stick: strafe / forward-back, -1000..1000
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int16_t yaw_rate = 0; // left stick twist, -1000..1000
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int16_t rx = 0, ry = 0, rz = 0; // right stick: roll/pitch/yaw OR X/Y/height, per flags
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uint8_t speed_scale = 128; // 0-255
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uint8_t flags = 0; // bit-packed, see FLAG_* below
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uint8_t seq = 0;
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};
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constexpr uint8_t FLAG_ARMED = 1 << 0;
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constexpr uint8_t FLAG_STAND = 1 << 1; // 0 = sit requested, 1 = stand requested
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constexpr uint8_t FLAG_WALK = 1 << 2; // stick past deadzone -> walking
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constexpr uint8_t FLAG_MODE_B = 1 << 3; // 0 = mode A direct, 1 = mode B heading-hold
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constexpr uint8_t FLAG_RSTICK_XLATE = 1 << 4; // 0 = right stick = rotation, 1 = translation
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constexpr uint8_t FLAG_GAIT_WAVE = 1 << 5; // 0 = tripod requested, 1 = wave requested
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constexpr uint8_t FLAG_REMOTE_GYRO = 1 << 6; // remote tilt feedforward enabled
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constexpr uint8_t FLAG_ROBOT_GYRO = 1 << 7; // robot stabilization feedback enabled
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class Comms {
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public:
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bool begin();
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void update(); // call every loop; polls the radio if present
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bool linkOk() const { return link_ok_; }
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const CmdPacket& latest() const { return packet_; }
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// Lets the serial test harness (or, later, real radio) inject a packet directly.
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void injectPacket(const CmdPacket& p) { packet_ = p; last_rx_ms_ = millis(); }
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private:
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CmdPacket packet_;
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uint32_t last_rx_ms_ = 0;
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bool link_ok_ = false;
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bool radio_present_ = false;
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};
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