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@ -4,14 +4,14 @@
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#include <esp_now.h>
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#include <WiFi.h>
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#include <U8g2lib.h>
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#include <EEPROM.h> // ESP32 ?
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#include <Preferences.h>
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#include "mac_config.h"
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#include "graphics.h"
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#include "accel.h"
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TaskHandle_t clickTaskHandle;
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Preferences preferences;
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#define B_VOLT 0
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#define B_VOLT_D 1
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@ -22,6 +22,16 @@ TaskHandle_t clickTaskHandle;
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uint8_t boardData[6] = {0, 0, 0, 0, 0, 0};
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//#define DEBUG
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#ifdef DEBUG
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#define DEBUG_PRINTLN(x) Serial.println(x)
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#define DEBUG_PRINT(x) Serial.print(x)
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#else
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#define DEBUG_PRINTLN(x)
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#define DEBUG_PRINT(x)
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#endif
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bool connected = false;
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uint8_t clickCounter = 0;
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@ -38,25 +48,17 @@ unsigned long lastSignalBlink;
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bool signalBlink = false;
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unsigned long lastDataRotation;
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// Defining variables for Settings menu
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bool changeSettings = false;
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bool changeSelectedSetting = false;
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bool beginnerMode = false;
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bool beginnerMode = false; // TODO: moved to setting
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bool steeringMode = false;
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bool settingsLoopFlag = false;
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bool settingsChangeFlag = false;
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bool settingsChangeValueFlag = false;
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// Defining variables for Hall Effect throttle.
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short hallMeasurement;
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int throttle = 127;
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int sendThrottle = 127;
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byte hallCenterMargin = 5;
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uint8_t esc1 = 127;
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uint8_t esc2 = 127;
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byte currentSetting = 0;
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const byte numOfSettings = 11;
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byte hallCenterMargin = 5;
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const float minVoltage = 3.4;
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const float maxVoltage = 4.1;
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@ -65,7 +67,6 @@ const float refVoltage = 3.3;
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const float deviderR1 = 1500;
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const float deviderR2 = 22000;
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// Global copy of board
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esp_now_peer_info_t board;
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#define CHANNEL 1
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@ -82,6 +83,10 @@ esp_now_peer_info_t board;
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#define triggerPin 17
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#define batteryMeasurePin 38
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bool triggerActive();
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#include "settings.h"
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// ESPNOW functions ##############################
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// Scan for boards in AP mode
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@ -93,11 +98,11 @@ void ScanForBoard() {
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bool boardFound = 0;
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memset(&board, 0, sizeof(board));
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Serial.println("");
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DEBUG_PRINTLN("");
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if (scanResults == 0) {
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Serial.println("No WiFi devices in AP Mode found");
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DEBUG_PRINTLN("No WiFi devices in AP Mode found");
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} else {
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Serial.print("Found "); Serial.print(scanResults); Serial.println(" devices ");
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DEBUG_PRINT("Found "); DEBUG_PRINT(scanResults); DEBUG_PRINTLN(" devices ");
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for (int i = 0; i < scanResults; ++i) {
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// Print SSID and RSSI for each device found
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String SSID = WiFi.SSID(i);
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@ -105,21 +110,21 @@ void ScanForBoard() {
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String BSSIDstr = WiFi.BSSIDstr(i);
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if (PRINTSCANRESULTS) {
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Serial.print(i + 1);
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Serial.print(": ");
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Serial.print(SSID);
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Serial.print(" (");
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Serial.print(RSSI);
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Serial.print(")");
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Serial.println("");
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DEBUG_PRINT(i + 1);
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DEBUG_PRINT(": ");
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DEBUG_PRINT(SSID);
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DEBUG_PRINT(" (");
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DEBUG_PRINT(RSSI);
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DEBUG_PRINT(")");
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DEBUG_PRINTLN("");
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}
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delay(10);
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// Check if the current device starts with `board`
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if (SSID.indexOf("ESK8") == 0) {
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// SSID of interest
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Serial.println("Found a board.");
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Serial.print(i + 1); Serial.print(": "); Serial.print(SSID); Serial.print(" ["); Serial.print(BSSIDstr); Serial.print("]"); Serial.print(" ("); Serial.print(RSSI); Serial.print(")"); Serial.println("");
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DEBUG_PRINTLN("Found a board.");
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DEBUG_PRINT(i + 1); DEBUG_PRINT(": "); DEBUG_PRINT(SSID); DEBUG_PRINT(" ["); DEBUG_PRINT(BSSIDstr); DEBUG_PRINT("]"); DEBUG_PRINT(" ("); DEBUG_PRINT(RSSI); DEBUG_PRINT(")"); DEBUG_PRINTLN("");
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// Get BSSID => Mac Address of the board
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int mac[6];
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if ( 6 == sscanf(BSSIDstr.c_str(), "%x:%x:%x:%x:%x:%x%c", &mac[0], &mac[1], &mac[2], &mac[3], &mac[4], &mac[5] ) ) {
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@ -140,9 +145,9 @@ void ScanForBoard() {
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}
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if (boardFound) {
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Serial.println("board Found, processing..");
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DEBUG_PRINTLN("board Found, processing..");
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} else {
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Serial.println("board Not Found, trying again.");
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DEBUG_PRINTLN("board Not Found, trying again.");
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}
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// clean up ram
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@ -154,19 +159,19 @@ void deletePeer() {
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const esp_now_peer_info_t *peer = &board;
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const uint8_t *peer_addr = board.peer_addr;
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esp_err_t delStatus = esp_now_del_peer(peer_addr);
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Serial.print("board Delete Status: ");
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DEBUG_PRINT("board Delete Status: ");
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if (delStatus == ESP_OK) {
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// Delete success
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Serial.println("Success");
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DEBUG_PRINTLN("Success");
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} else if (delStatus == ESP_ERR_ESPNOW_NOT_INIT) {
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// How did we get so far!!
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Serial.println("ESPNOW Not Init");
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DEBUG_PRINTLN("ESPNOW Not Init");
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} else if (delStatus == ESP_ERR_ESPNOW_ARG) {
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Serial.println("Invalid Argument");
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DEBUG_PRINTLN("Invalid Argument");
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} else if (delStatus == ESP_ERR_ESPNOW_NOT_FOUND) {
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Serial.println("Peer not found.");
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DEBUG_PRINTLN("Peer not found.");
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} else {
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Serial.println("Not sure what happened");
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DEBUG_PRINTLN("Not sure what happened");
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}
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}
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@ -178,76 +183,75 @@ bool manageBoard() {
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deletePeer();
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}
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Serial.print("board Status: ");
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DEBUG_PRINT("board Status: ");
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const esp_now_peer_info_t *peer = &board;
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const uint8_t *peer_addr = board.peer_addr;
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// check if the peer exists
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bool exists = esp_now_is_peer_exist(peer_addr);
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if ( exists) {
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// board already paired.
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Serial.println("Already Paired");
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DEBUG_PRINTLN("Already Paired");
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return true;
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} else {
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// board not paired, attempt pair
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esp_err_t addStatus = esp_now_add_peer(peer);
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if (addStatus == ESP_OK) {
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// Pair success
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Serial.println("Pair success");
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DEBUG_PRINTLN("Pair success");
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return true;
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} else if (addStatus == ESP_ERR_ESPNOW_NOT_INIT) {
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// How did we get so far!!
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Serial.println("ESPNOW Not Init");
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DEBUG_PRINTLN("ESPNOW Not Init");
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return false;
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} else if (addStatus == ESP_ERR_ESPNOW_ARG) {
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Serial.println("Invalid Argument");
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DEBUG_PRINTLN("Invalid Argument");
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return false;
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} else if (addStatus == ESP_ERR_ESPNOW_FULL) {
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Serial.println("Peer list full");
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DEBUG_PRINTLN("Peer list full");
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return false;
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} else if (addStatus == ESP_ERR_ESPNOW_NO_MEM) {
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Serial.println("Out of memory");
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DEBUG_PRINTLN("Out of memory");
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return false;
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} else if (addStatus == ESP_ERR_ESPNOW_EXIST) {
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Serial.println("Peer Exists");
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DEBUG_PRINTLN("Peer Exists");
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return true;
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} else {
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Serial.println("Not sure what happened");
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DEBUG_PRINTLN("Not sure what happened");
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return false;
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}
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}
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} else {
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// No board found to process
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Serial.println("No board found to process");
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DEBUG_PRINTLN("No board found to process");
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return false;
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}
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}
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// send data
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void sendData() {
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uint8_t esc1 = sendThrottle;
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uint8_t esc2 = esc1;
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const uint8_t data[] = { esc1, esc2 };
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//const uint8_t data[] = { esc1, esc2, options};
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const uint8_t data[] = { esc1, esc2 }; // no mixture for the normal mode
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const uint8_t *peer_addr = board.peer_addr;
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Serial.print("Sending: "); Serial.println(esc1);
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DEBUG_PRINT("Sending: "); DEBUG_PRINTLN(esc1);
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esp_err_t result = esp_now_send(peer_addr, data, sizeof(data));
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Serial.print("Send Status: ");
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DEBUG_PRINT("Send Status: ");
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if (result == ESP_OK) {
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Serial.println("Success");
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DEBUG_PRINTLN("Success");
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} else if (result == ESP_ERR_ESPNOW_NOT_INIT) {
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// How did we get so far!!
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Serial.println("ESPNOW not Init.");
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DEBUG_PRINTLN("ESPNOW not Init.");
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} else if (result == ESP_ERR_ESPNOW_ARG) {
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Serial.println("Invalid Argument");
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DEBUG_PRINTLN("Invalid Argument");
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} else if (result == ESP_ERR_ESPNOW_INTERNAL) {
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Serial.println("Internal Error");
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DEBUG_PRINTLN("Internal Error");
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} else if (result == ESP_ERR_ESPNOW_NO_MEM) {
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Serial.println("ESP_ERR_ESPNOW_NO_MEM");
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DEBUG_PRINTLN("ESP_ERR_ESPNOW_NO_MEM");
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} else if (result == ESP_ERR_ESPNOW_NOT_FOUND) {
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Serial.println("Peer not found.");
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DEBUG_PRINTLN("Peer not found.");
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} else {
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Serial.println("Not sure what happened");
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DEBUG_PRINTLN("Not sure what happened");
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}
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}
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@ -256,14 +260,14 @@ void OnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status) {
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char macStr[18];
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snprintf(macStr, sizeof(macStr), "%02x:%02x:%02x:%02x:%02x:%02x",
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mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5]);
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Serial.print("Last Packet Sent to: "); Serial.println(macStr);
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Serial.print("Last Packet Send Status: ");
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DEBUG_PRINT("Last Packet Sent to: "); DEBUG_PRINTLN(macStr);
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DEBUG_PRINT("Last Packet Send Status: ");
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if(status == ESP_NOW_SEND_SUCCESS) {
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connected = true;
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Serial.println("Delivery Success");
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DEBUG_PRINTLN("Delivery Success");
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} else {
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connected = false;
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Serial.println("Delivery Fail");
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DEBUG_PRINTLN("Delivery Fail");
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}
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}
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@ -272,18 +276,18 @@ void OnDataRecv(const uint8_t *mac_addr, const uint8_t *data, int data_len) {
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char macStr[18];
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snprintf(macStr, sizeof(macStr), "%02x:%02x:%02x:%02x:%02x:%02x",
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mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5]);
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Serial.print("Last Response Recv from: "); Serial.println(macStr);
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DEBUG_PRINT("Last Response Recv from: "); DEBUG_PRINTLN(macStr);
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memcpy(boardData, data, data_len);
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Serial.print("Recieved data! len: ");
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Serial.println(data_len);
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DEBUG_PRINT("Recieved data! len: ");
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DEBUG_PRINTLN(data_len);
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}
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//############ End ESP Now
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//############ Hardware Helpers
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// Check if an integer is within a min and max value
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bool inRange(int val, int minimum, int maximum) {
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return ((minimum <= val) && (val <= maximum));
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int c_map(int value, int inMin, int inMax, int outMin, int outMax) {
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return constrain(map(value, inMin, inMax, outMin, outMax), outMin, outMax);
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}
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// Return true if trigger is activated, false otherwice
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@ -305,15 +309,18 @@ void calculateThrottlePosition() {
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for (int i = 0; i < 10; i++) {
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total += analogRead(leverPin);
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}
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hallMeasurement = total / 10;
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Serial.print("HAL: ");
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Serial.println(hallMeasurement);
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//DEBUG_PRINT( (String)hallMeasurement );
|
|
|
|
|
DEBUG_PRINT("HAL: ");
|
|
|
|
|
DEBUG_PRINTLN(hallMeasurement);
|
|
|
|
|
|
|
|
|
|
int maxSpeed = 255;
|
|
|
|
|
if(settings[limitMode] == 1) maxSpeed = 190;
|
|
|
|
|
|
|
|
|
|
if (hallMeasurement >= HAL_CENTER) {
|
|
|
|
|
throttle = constrain(map(hallMeasurement, HAL_CENTER, HAL_MAX, 127, 255), 127, 255);
|
|
|
|
|
throttle = c_map(hallMeasurement, HAL_CENTER, HAL_MAX, 127, maxSpeed);
|
|
|
|
|
} else {
|
|
|
|
|
throttle = constrain(map(hallMeasurement, HAL_MIN, HAL_CENTER, 0, 127), 0, 127);
|
|
|
|
|
throttle = c_map(hallMeasurement, HAL_MIN, HAL_CENTER, 0, 127);
|
|
|
|
|
}
|
|
|
|
|
// removeing center noise
|
|
|
|
|
if (abs(throttle - 127) < hallCenterMargin) {
|
|
|
|
@ -332,8 +339,8 @@ float batteryVoltage() {
|
|
|
|
|
batteryVoltage = (refVoltage / 4095.0) * ((float)total / 10.0);
|
|
|
|
|
// Now we have the actual Voltage, lets calculate the value befor the devider
|
|
|
|
|
batteryVoltage = batteryVoltage / ( deviderR1 / (deviderR1 + deviderR2));
|
|
|
|
|
Serial.print("Batt: ");
|
|
|
|
|
Serial.println(batteryVoltage);
|
|
|
|
|
DEBUG_PRINT("Batt: ");
|
|
|
|
|
DEBUG_PRINTLN(batteryVoltage);
|
|
|
|
|
return batteryVoltage;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
@ -362,29 +369,30 @@ int getStrength(int points){
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
averageRSSI=rssi/points;
|
|
|
|
|
Serial.print("RSSI: ");
|
|
|
|
|
Serial.println(averageRSSI);
|
|
|
|
|
DEBUG_PRINT("RSSI: ");
|
|
|
|
|
DEBUG_PRINTLN(averageRSSI);
|
|
|
|
|
return averageRSSI;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void checkClicks(void * parameter) {
|
|
|
|
|
for (;;) {
|
|
|
|
|
//Serial.print("Trig: "); Serial.print(triggerActive()); Serial.print(" LAST: "); Serial.println(lastTriggerState);
|
|
|
|
|
//DEBUG_PRINT("Trig: "); DEBUG_PRINT(triggerActive()); DEBUG_PRINT(" LAST: "); DEBUG_PRINTLN(lastTriggerState);
|
|
|
|
|
if(millis()-lastClick > clickDiff && clickCounter!=0) {
|
|
|
|
|
Serial.println("reset");
|
|
|
|
|
DEBUG_PRINTLN("reset");
|
|
|
|
|
clickCounter = 0;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if(!triggerActive() && lastTriggerState) {
|
|
|
|
|
Serial.println("CLICK##################### ");
|
|
|
|
|
DEBUG_PRINTLN("CLICK##################### ");
|
|
|
|
|
int timeSinceLastClick = millis()-lastClick;
|
|
|
|
|
lastClick = millis();
|
|
|
|
|
|
|
|
|
|
if(timeSinceLastClick < clickDiff) clickCounter++;
|
|
|
|
|
else clickCounter = 1;
|
|
|
|
|
if(clickCounter == 3) {
|
|
|
|
|
Serial.println("YEAH TRIPPLE");
|
|
|
|
|
steeringMode = !steeringMode;
|
|
|
|
|
DEBUG_PRINTLN("YEAH TRIPPLE");
|
|
|
|
|
if(changeSettings) changeSettings = false;
|
|
|
|
|
else steeringMode = !steeringMode;
|
|
|
|
|
vTaskDelay(pdMS_TO_TICKS(2000));
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
@ -569,99 +577,19 @@ void drawPage() {
|
|
|
|
|
u8g2.drawStr(x + 86 + 2, y + 13, displayBuffer);
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void drawSettingsMenu() {
|
|
|
|
|
/*
|
|
|
|
|
// Position on OLED
|
|
|
|
|
int x = 0; int y = 10;
|
|
|
|
|
|
|
|
|
|
// Draw setting title
|
|
|
|
|
displayString = settingPages[currentSetting][0];
|
|
|
|
|
displayString.toCharArray(displayBuffer, displayString.length() + 1);
|
|
|
|
|
|
|
|
|
|
u8g2.setFont(u8g2_font_profont12_tr);
|
|
|
|
|
u8g2.drawStr(x, y, displayBuffer);
|
|
|
|
|
|
|
|
|
|
int val = getSettingValue(currentSetting);
|
|
|
|
|
|
|
|
|
|
displayString = (String)val + "" + settingPages[currentSetting][1];
|
|
|
|
|
displayString.toCharArray(displayBuffer, displayString.length() + 1);
|
|
|
|
|
u8g2.setFont(u8g2_font_10x20_tr );
|
|
|
|
|
|
|
|
|
|
if (changeSelectedSetting == true) {
|
|
|
|
|
u8g2.drawStr(x + 10, y + 20, displayBuffer);
|
|
|
|
|
} else {
|
|
|
|
|
u8g2.drawStr(x, y + 20, displayBuffer);
|
|
|
|
|
}
|
|
|
|
|
*/
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void controlSettingsMenu() {
|
|
|
|
|
/*
|
|
|
|
|
if (triggerActive()) {
|
|
|
|
|
if (settingsChangeFlag == false) {
|
|
|
|
|
|
|
|
|
|
// Save settings to EEPROM
|
|
|
|
|
if (changeSelectedSetting == true) {
|
|
|
|
|
updateEEPROMSettings();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
changeSelectedSetting = !changeSelectedSetting;
|
|
|
|
|
settingsChangeFlag = true;
|
|
|
|
|
}
|
|
|
|
|
} else {
|
|
|
|
|
settingsChangeFlag = false;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (hallMeasurement >= (remoteSettings.maxHallValue - 150) && settingsLoopFlag == false) {
|
|
|
|
|
// Up
|
|
|
|
|
if (changeSelectedSetting == true) {
|
|
|
|
|
int val = getSettingValue(currentSetting) + 1;
|
|
|
|
|
|
|
|
|
|
if (inRange(val, settingRules[currentSetting][1], settingRules[currentSetting][2])) {
|
|
|
|
|
setSettingValue(currentSetting, val);
|
|
|
|
|
settingsLoopFlag = true;
|
|
|
|
|
}
|
|
|
|
|
} else {
|
|
|
|
|
if (currentSetting != 0) {
|
|
|
|
|
currentSetting--;
|
|
|
|
|
settingsLoopFlag = true;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
else if (hallMeasurement <= (remoteSettings.minHallValue + 150) && settingsLoopFlag == false) {
|
|
|
|
|
// Down
|
|
|
|
|
if (changeSelectedSetting == true) {
|
|
|
|
|
int val = getSettingValue(currentSetting) - 1;
|
|
|
|
|
|
|
|
|
|
if (inRange(val, settingRules[currentSetting][1], settingRules[currentSetting][2])) {
|
|
|
|
|
setSettingValue(currentSetting, val);
|
|
|
|
|
settingsLoopFlag = true;
|
|
|
|
|
}
|
|
|
|
|
} else {
|
|
|
|
|
if (currentSetting < (numOfSettings - 1)) {
|
|
|
|
|
currentSetting++;
|
|
|
|
|
settingsLoopFlag = true;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
} else if (inRange(hallMeasurement, remoteSettings.centerHallValue - 50, remoteSettings.centerHallValue + 50)) {
|
|
|
|
|
settingsLoopFlag = false;
|
|
|
|
|
}*/
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void drawSettingNumber() {
|
|
|
|
|
// Position on OLED
|
|
|
|
|
int x = 2; int y = 10;
|
|
|
|
|
|
|
|
|
|
// Draw current setting number box
|
|
|
|
|
u8g2.drawRFrame(x + 102, y - 10, 22, 32, 4);
|
|
|
|
|
|
|
|
|
|
// Draw current setting number
|
|
|
|
|
displayString = (String)(currentSetting + 1);
|
|
|
|
|
displayString.toCharArray(displayBuffer, displayString.length() + 1);
|
|
|
|
|
|
|
|
|
|
u8g2.setFont(u8g2_font_profont22_tn);
|
|
|
|
|
u8g2.drawStr(x + 108, 22, displayBuffer);
|
|
|
|
|
void drawMode() {
|
|
|
|
|
if(steeringMode) {
|
|
|
|
|
displayString = (String)esc1 + " |S| " + (String)esc2;
|
|
|
|
|
displayString.toCharArray(displayBuffer, 12);
|
|
|
|
|
u8g2.setFont(u8g2_font_profont12_tr);
|
|
|
|
|
u8g2.drawStr(25, 50, displayBuffer);
|
|
|
|
|
}
|
|
|
|
|
if(settings[limitMode] == 1) {
|
|
|
|
|
displayString = "LIM";
|
|
|
|
|
displayString.toCharArray(displayBuffer, 12);
|
|
|
|
|
u8g2.setFont(u8g2_font_profont12_tr);
|
|
|
|
|
u8g2.drawStr(105, 50, displayBuffer);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void updateMainDisplay() {
|
|
|
|
@ -677,6 +605,7 @@ void updateMainDisplay() {
|
|
|
|
|
drawPage();
|
|
|
|
|
drawBatteryLevel();
|
|
|
|
|
drawSignal();
|
|
|
|
|
drawMode();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
} while ( u8g2.nextPage() );
|
|
|
|
@ -701,7 +630,9 @@ void setup() {
|
|
|
|
|
Serial.begin(115200);
|
|
|
|
|
//Set device in STA mode to begin with
|
|
|
|
|
WiFi.mode(WIFI_STA);
|
|
|
|
|
Serial.println("ESPNowSkate");
|
|
|
|
|
DEBUG_PRINTLN("ESPNowSkate");
|
|
|
|
|
|
|
|
|
|
loadSettings();
|
|
|
|
|
|
|
|
|
|
// reset the screen
|
|
|
|
|
pinMode(16, OUTPUT);
|
|
|
|
@ -725,7 +656,7 @@ void setup() {
|
|
|
|
|
|
|
|
|
|
initAccel();
|
|
|
|
|
|
|
|
|
|
Serial.println("ESPNowSkate Sender");
|
|
|
|
|
DEBUG_PRINTLN("ESPNowSkate Sender");
|
|
|
|
|
u8g2.begin();
|
|
|
|
|
drawStartScreen();
|
|
|
|
|
|
|
|
|
@ -735,13 +666,13 @@ void setup() {
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// This is the mac address of the Master in Station Mode
|
|
|
|
|
Serial.print("STA MAC: "); Serial.println(WiFi.macAddress());
|
|
|
|
|
DEBUG_PRINT("STA MAC: "); DEBUG_PRINTLN(WiFi.macAddress());
|
|
|
|
|
|
|
|
|
|
if (esp_now_init() == ESP_OK) {
|
|
|
|
|
Serial.println("ESPNow Init Success");
|
|
|
|
|
DEBUG_PRINTLN("ESPNow Init Success");
|
|
|
|
|
}
|
|
|
|
|
else {
|
|
|
|
|
Serial.println("ESPNow Init Failed");
|
|
|
|
|
DEBUG_PRINTLN("ESPNow Init Failed");
|
|
|
|
|
ESP.restart();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
@ -767,39 +698,65 @@ void loop() {
|
|
|
|
|
updateMainDisplay();
|
|
|
|
|
|
|
|
|
|
readAccel();
|
|
|
|
|
Serial.print("Accel Values: ");
|
|
|
|
|
Serial.print(AcX);
|
|
|
|
|
Serial.print(" ");
|
|
|
|
|
Serial.println(GyX);
|
|
|
|
|
|
|
|
|
|
Serial.print("Accel Value Left Right( Y): ");
|
|
|
|
|
Serial.print(map(AcY, -15000, 15000, -100, 100));
|
|
|
|
|
Serial.print("Help(Y): ");
|
|
|
|
|
Serial.println(map(GyY, -15000, 15000, -100, 100));
|
|
|
|
|
|
|
|
|
|
calculateThrottlePosition();
|
|
|
|
|
if (changeSettings == true) {
|
|
|
|
|
// Use throttle and trigger to change settings
|
|
|
|
|
//controlSettingsMenu();
|
|
|
|
|
controlSettingsMenu();
|
|
|
|
|
} else {
|
|
|
|
|
// Use throttle and trigger to drive motors
|
|
|
|
|
if (triggerActive()) {
|
|
|
|
|
sendThrottle = throttle;
|
|
|
|
|
if(!steeringMode) {
|
|
|
|
|
esc1 = (uint8_t) throttle;
|
|
|
|
|
esc2 = (uint8_t) throttle;
|
|
|
|
|
} else {
|
|
|
|
|
DEBUG_PRINT("Value: ");
|
|
|
|
|
int map = c_map(AcX, 15000, -15000, -50, 50);
|
|
|
|
|
DEBUG_PRINTLN(map);
|
|
|
|
|
|
|
|
|
|
esc1 = (uint8_t) constrain(throttle + map, 0, 200);
|
|
|
|
|
esc2 = (uint8_t) constrain(throttle - map, 0, 200);
|
|
|
|
|
|
|
|
|
|
if(throttle == 127) {
|
|
|
|
|
esc1 = 127;
|
|
|
|
|
esc2 = 127;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
DEBUG_PRINT("SteeringMode: ESC1: "); DEBUG_PRINT(esc1); DEBUG_PRINT(" ESC2: "); DEBUG_PRINTLN(esc2);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
} else {
|
|
|
|
|
// 127 is the middle position - no throttle and no brake/reverse
|
|
|
|
|
sendThrottle = 127;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// If board is found, it would be populate in `board` variable
|
|
|
|
|
// We will check if `board` is defined and then we proceed further
|
|
|
|
|
if (board.channel == CHANNEL) { // check if board channel is defined
|
|
|
|
|
// `board` is defined
|
|
|
|
|
// Add board as peer if it has not been added already
|
|
|
|
|
bool isPaired = manageBoard();
|
|
|
|
|
if (isPaired) {
|
|
|
|
|
sendData();
|
|
|
|
|
} else {
|
|
|
|
|
// board pair failed
|
|
|
|
|
Serial.println("board not found / paired!");
|
|
|
|
|
esc1 = 127;
|
|
|
|
|
esc2 = 127;
|
|
|
|
|
if(throttle < 30) { // enter settings mode
|
|
|
|
|
changeSettings = true;
|
|
|
|
|
}
|
|
|
|
|
// could use the other side for cruise control...
|
|
|
|
|
if(throttle > 230) {
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
else {
|
|
|
|
|
// No board found to process
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// If board is found, it would be populate in `board` variable
|
|
|
|
|
// We will check if `board` is defined and then we proceed further
|
|
|
|
|
if (board.channel == CHANNEL) { // check if board channel is defined
|
|
|
|
|
// `board` is defined
|
|
|
|
|
// Add board as peer if it has not been added already
|
|
|
|
|
bool isPaired = manageBoard();
|
|
|
|
|
if (isPaired) {
|
|
|
|
|
sendData();
|
|
|
|
|
} else {
|
|
|
|
|
// board pair failed
|
|
|
|
|
DEBUG_PRINTLN("board not found / paired!");
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
else {
|
|
|
|
|
// No board found to process
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|