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>
31 lines
1.3 KiB
C++
31 lines
1.3 KiB
C++
#include "SerialConsole.h"
|
|
#include <Arduino.h>
|
|
|
|
bool SerialConsole::poll(UiEvent& ui, Local& local) {
|
|
ui = UiEvent{};
|
|
local = Local::None;
|
|
while (Serial.available()) {
|
|
char c = Serial.read();
|
|
switch (c) {
|
|
case 'a': ui.cmd = UiCmd::ToggleArm; return true;
|
|
case 'k': ui.cmd = UiCmd::Disarm; return true;
|
|
case 's': ui.cmd = UiCmd::ToggleStand; return true;
|
|
case 'g': ui.cmd = UiCmd::ToggleGait; return true;
|
|
case 'm': ui.cmd = UiCmd::ToggleWalkMode; return true;
|
|
case 't': ui.cmd = UiCmd::ToggleRStickXlate; return true;
|
|
case 'r': ui.cmd = UiCmd::ToggleRemoteGyro; return true;
|
|
case 'b': ui.cmd = UiCmd::ToggleRobotGyro; return true;
|
|
case '+': case '=': ui.cmd = UiCmd::SpeedUp; return true;
|
|
case '-': case '_': ui.cmd = UiCmd::SpeedDown; return true;
|
|
case 'z': ui.cmd = UiCmd::ZeroGyro; return true;
|
|
case 'c': ui.cmd = UiCmd::CalStartSave; return true;
|
|
case 'x': ui.cmd = UiCmd::CalCancel; return true;
|
|
case 'p': local = Local::PrintStatus; return true;
|
|
case 'd': local = Local::ToggleDump; return true;
|
|
case 'R': local = Local::ResetCal; return true;
|
|
default: break; // ignore line endings and unknown keys
|
|
}
|
|
}
|
|
return false;
|
|
}
|