mangavalkandClaude Opus 5.5
5ff85c4eb8
- LEGACY/Hexapod_Teensy/: old robot sketch (reference only). - platformio.ini: robot env targets teensy36 (owner-confirmed board). - Config.h: per-servo SERVOS table (pin, pulse at 0 deg, signed us/deg, pulse limits) built from the old sketch's pins, ranges, trims and the old Unity servo directions. Rear-left/front-left coxa offsets set to 0: the owner re-horns those two servos (the old +-90 left them at the end of travel; the sim showed them clamping). - ServoDriver: 18 servos on hardware PWM (50 Hz, 16-bit); the Teensy 3.6 Servo library stops at 12. - Radio on CE 39 / CSN 15 with SPI SCK on pin 14. - sim: analogWrite/PWM shims, pulses decoded through SERVOS (API v6). - Docs: CLAUDE.md, READMEs. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
34 lines
1.1 KiB
C++
34 lines
1.1 KiB
C++
#include "Comms.h"
|
|
#include "Config.h"
|
|
#include <RF24.h>
|
|
#include <SPI.h>
|
|
|
|
static_assert(HXP_RADIO_DATA_RATE == RF24_250KBPS && HXP_RADIO_PA_LEVEL == RF24_PA_LOW,
|
|
"HexapodProtocol.h radio enum values out of sync with RF24.h");
|
|
|
|
static RF24 radio(RADIO_CE_PIN, RADIO_CSN_PIN);
|
|
|
|
bool Comms::begin() {
|
|
SPI.setSCK(RADIO_SCK_PIN); // alternate SCK pin (see Config.h); before RF24 starts SPI
|
|
radio_present_ = radio.begin();
|
|
if (radio_present_) {
|
|
radio.setPayloadSize(HXP_RADIO_PAYLOAD); // mismatched protocol versions won't be received at all
|
|
radio.openReadingPipe(1, HXP_RADIO_ADDRESS);
|
|
radio.setPALevel((rf24_pa_dbm_e)HXP_RADIO_PA_LEVEL);
|
|
radio.setDataRate((rf24_datarate_e)HXP_RADIO_DATA_RATE);
|
|
radio.setChannel(HXP_RADIO_CHANNEL);
|
|
radio.startListening();
|
|
}
|
|
return radio_present_;
|
|
}
|
|
|
|
void Comms::update() {
|
|
if (radio_present_) {
|
|
while (radio.available()) {
|
|
radio.read(&packet_, sizeof(packet_));
|
|
last_rx_ms_ = millis();
|
|
}
|
|
}
|
|
link_ok_ = (millis() - last_rx_ms_) < (uint32_t)(LINK_TIMEOUT_SEC * 1000);
|
|
}
|