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>
60 lines
2.0 KiB
C++
60 lines
2.0 KiB
C++
#pragma once
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#include "UiTypes.h"
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#include "Sticks.h"
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#include "RemoteIMU.h"
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#include "SmoothedValue.h"
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#include "Config.h"
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// Operator-facing state of the remote: every toggle the touchscreen can
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// flip, the interlocks around them, and the smoothed setpoints. It does not
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// know the wire format - PacketBuilder turns this into a CmdPacket.
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class RemoteState {
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public:
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void begin();
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// Applies one operator request. Sticks are needed for the arm interlock
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// and calibration, the IMU for re-zeroing. Returns true if accepted;
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// rejections leave an explanation in message().
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bool handle(const UiEvent& e, Sticks& sticks, RemoteIMU& imu, uint32_t now_ms);
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// Advances smoothers and link-loss handling. Call once per TX tick.
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void update(float dt, bool link_ok, uint32_t now_ms);
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bool armed() const { return armed_; }
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bool standRequested() const { return stand_; }
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bool gaitWave() const { return gait_wave_; }
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bool modeB() const { return mode_b_; }
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bool rstickXlate() const { return rstick_xlate_; }
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bool remoteGyro() const { return remote_gyro_; }
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bool robotGyro() const { return robot_gyro_; }
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uint8_t speedTarget() const { return speed_target_; }
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uint8_t speedCurrent() const { return (uint8_t)lroundf(speed_.current); }
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float remoteTiltBlend() const { return tilt_blend_.current; } // 0..1, fades on the gyro toggle
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const char* message(uint32_t now_ms) const { return now_ms < message_until_ms_ ? message_ : ""; }
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void setMessage(const char* msg, uint32_t now_ms);
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void fillView(UiView& v, uint32_t now_ms) const;
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private:
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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_ = SPEED_SCALE_DEFAULT;
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SmoothedValue speed_{SPEED_SCALE_RATE_PER_SEC};
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SmoothedValue tilt_blend_{REMOTE_TILT_FADE_PER_SEC};
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bool link_was_ok_ = false;
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const char* message_ = "";
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uint32_t message_until_ms_ = 0;
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void disarm();
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};
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