mangavalkandClaude Opus 5.5
91dac16fca
Not yet verified on hardware. - shared/HexapodProtocol: CmdPacket (now 20 bytes, adds remote_roll / remote_pitch), FLAG_* bits and radio settings as the single protocol definition; static payload size = sizeof(CmdPacket) on both radios. - robot: use the shared protocol; vx = forward (harness w/x <-> q/e); InputMapper adds remote tilt on top of the right stick when FLAG_REMOTE_GYRO is set, and robot.ino no longer zeroes stick roll/pitch when it's off. - remote (Teensy 4.1): Sticks (calibration, EEPROM), RemoteIMU, RemoteState (interlocks, link-loss disarm, smoothing), PacketBuilder, RadioLink, NextionUI, SerialConsole. - CLAUDE.md, README.md, remote/README.md, remote/NEXTION.md. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
21 lines
644 B
C++
21 lines
644 B
C++
#pragma once
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#include <Arduino.h>
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#include <HexapodProtocol.h> // CmdPacket + FLAG_* + radio settings, shared with the remote (shared/)
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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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