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>
48 lines
1.6 KiB
C++
48 lines
1.6 KiB
C++
#pragma once
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#include "Config.h"
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struct AxisCal {
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int16_t min, center, max; // raw ADC counts
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};
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// Processed stick values, -1000..1000 per logical axis (see StickAxis):
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// X + = right, Y + = forward, TWIST + = counterclockwise.
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struct StickFrame {
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int16_t v[NUM_AXES] = {};
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bool allCentered(int16_t tolerance) const;
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};
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class Sticks {
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public:
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// Loads calibration from EEPROM (or Config defaults), then captures the
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// resting center of each axis. Returns false if a stick looked deflected
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// at power-on (center capture skipped for that axis).
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bool begin();
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void update(); // read + filter + map all axes
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const StickFrame& frame() const { return frame_; }
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int16_t raw(int axis) const { return (int16_t)filtered_[axis]; }
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const AxisCal& cal(int axis) const { return cal_[axis]; }
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// Sweep calibration: start, move every stick to all its limits, release
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// all sticks, then save. Output is held at zero while calibrating.
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void startCalibration();
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bool saveCalibration(); // false = sweep too small, nothing saved
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void cancelCalibration();
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bool calibrating() const { return calibrating_; }
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void resetCalibrationToDefaults(); // also clears EEPROM
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void printCalibration(Stream& s) const; // paste-able into Config.h
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private:
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AxisCal cal_[NUM_AXES];
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AxisCal sweep_[NUM_AXES];
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float filtered_[NUM_AXES] = {};
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StickFrame frame_;
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bool calibrating_ = false;
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int16_t readAveraged(int axis, int samples);
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int16_t mapAxis(int axis, float raw) const;
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void applyDefaults();
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bool loadFromEeprom();
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void saveToEeprom();
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};
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