mangavalkandClaude Opus 5.5
ad77b06c36
Robot-side firmware (Teensy 4.0) imported unchanged as extracted. platformio.ini defines [env:robot] (teensy40) and [env:remote] (teensy41); scripts/select_src_dir.py points each env at its own sketch folder so robot/ and remote/ stay Arduino-style sketches. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
29 lines
697 B
C++
29 lines
697 B
C++
#include "Comms.h"
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#include "Config.h"
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#include <RF24.h>
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#include <SPI.h>
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static RF24 radio(RADIO_CE_PIN, RADIO_CSN_PIN);
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bool Comms::begin() {
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radio_present_ = radio.begin();
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if (radio_present_) {
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radio.openReadingPipe(1, RADIO_ADDRESS);
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radio.setPALevel(RF24_PA_LOW);
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radio.setDataRate(RF24_250KBPS);
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radio.setChannel(96); // pick one clear of your local Wi-Fi
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radio.startListening();
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}
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return radio_present_;
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}
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void Comms::update() {
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if (radio_present_) {
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while (radio.available()) {
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radio.read(&packet_, sizeof(packet_));
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last_rx_ms_ = millis();
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}
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}
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link_ok_ = (millis() - last_rx_ms_) < (uint32_t)(LINK_TIMEOUT_SEC * 1000);
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}
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