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>
27 lines
779 B
C
27 lines
779 B
C
#pragma once
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// Rate-limited setpoint smoother - identical to robot/SmoothedValue.h (kept
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// as a copy rather than moved to shared/ so the robot sketch stays untouched).
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// Used for UI-driven setpoints that would otherwise step: speed scale and
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// the remote-tilt fade.
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struct SmoothedValue {
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float current = 0;
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float target = 0;
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float max_rate; // units per second
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explicit SmoothedValue(float rate = 100.0f) : max_rate(rate) {}
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void setTarget(float t) { target = t; }
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float update(float dt) {
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float delta = target - current;
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float max_step = max_rate * dt;
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if (delta > max_step) delta = max_step;
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else if (delta < -max_step) delta = -max_step;
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current += delta;
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return current;
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}
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void reset(float v) { current = target = v; }
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};
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