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>
46 lines
1.4 KiB
C
46 lines
1.4 KiB
C
#pragma once
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#include <Arduino.h>
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// Operator commands. Produced by the Nextion touchscreen (NextionUI) and by
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// the USB serial console (SerialConsole) through the same path, so the
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// remote can be fully exercised on the bench without the display attached.
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enum class UiCmd : uint8_t {
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None = 0,
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ToggleArm,
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Disarm, // unconditional - the big red button
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ToggleStand,
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ToggleGait, // tripod <-> wave
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ToggleWalkMode, // direct (A) <-> heading-hold (B)
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ToggleRStickXlate, // right stick: rotation <-> translation
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ToggleRemoteGyro,
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ToggleRobotGyro,
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SetSpeed, // value = 0..255
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SpeedUp, // serial console only
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SpeedDown, // serial console only
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ZeroGyro, // capture the handset's current attitude as "level"
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CalStartSave, // start sweep calibration, or save it if running
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CalCancel,
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};
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struct UiEvent {
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UiCmd cmd = UiCmd::None;
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uint8_t value = 0;
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};
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// Everything the display shows. The remote is authoritative: the Nextion
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// only sends requests, and always renders what's in here.
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struct UiView {
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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 = 0;
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bool link_ok = false;
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uint8_t link_pct = 0;
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const char* message = ""; // always a string literal - NextionUI diffs it by pointer
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};
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