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>
23 lines
805 B
C++
23 lines
805 B
C++
#pragma once
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#include <HexapodProtocol.h>
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// nRF24L01 transmitter. Uses hardware auto-ack to measure the link: the
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// robot's radio acks every packet it receives, so an ack = the robot heard us.
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class RadioLink {
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public:
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bool begin(); // false if the radio chip didn't respond
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bool send(const CmdPacket& p); // blocking, returns true if acked
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void update(uint32_t now_ms); // refreshes linkOk()
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bool present() const { return present_; }
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bool linkOk() const { return link_ok_; }
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uint8_t qualityPct() const; // acked share of the last 32 packets
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private:
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bool present_ = false;
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bool link_ok_ = false;
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uint32_t last_ack_ms_ = 0;
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bool ever_acked_ = false;
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uint32_t history_ = 0; // 1 bit per packet, newest in bit 0
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};
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