Adding Quick selection, light, proper mode definitions and CRUISE MODE
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1c948c7070
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230
src/remote.cpp
230
src/remote.cpp
@ -22,7 +22,24 @@ Preferences preferences;
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uint8_t boardData[6] = {0, 0, 0, 0, 0, 0};
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//#define DEBUG
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#define M_NORMAL 0 // Limit is a sub of normal
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#define M_SELECT 1
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#define M_SETTINGS 2
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#define M_CRUISE 3
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#define M_STEERING 4
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//#define steeringInfluential
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uint8_t currentMode = M_NORMAL;
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uint8_t selectedIndex = 2;
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bool lightActive = false;
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bool shouldUpdateSettings = false; // Needed to update limitmode on core 1 instead of 0
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bool crusing = false;
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uint8_t crusingSpeed = 127;
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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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@ -48,9 +65,6 @@ unsigned long lastSignalBlink;
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bool signalBlink = false;
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unsigned long lastDataRotation;
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bool beginnerMode = false; // TODO: moved to setting
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bool steeringMode = false;
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// Defining variables for Hall Effect throttle.
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short hallMeasurement;
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@ -60,8 +74,8 @@ uint8_t esc2 = 127;
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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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const float minVoltage = 2.9; // These values are heavily strange since the devider is not working nicely yet...
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const float maxVoltage = 3.6;
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const float refVoltage = 3.3;
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// Resistors in Ohms
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const float deviderR1 = 1500;
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@ -88,6 +102,15 @@ bool triggerActive();
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#include "settings.h"
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void setCrusing(uint8_t speed) {
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if(speed < 127) { // no backward cruse!
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crusing = false;
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crusingSpeed = 127;
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} else {
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crusing = true;
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if(speed > crusingSpeed) crusingSpeed = speed;
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}
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}
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// ESPNOW functions ##############################
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// Scan for boards in AP mode
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@ -237,6 +260,7 @@ void sendData() {
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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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DEBUG_PRINT("Send Status: ");
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if(result != ESP_OK) setCrusing(0);
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if (result == ESP_OK) {
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DEBUG_PRINTLN("Success");
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} else if (result == ESP_ERR_ESPNOW_NOT_INIT) {
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@ -268,6 +292,7 @@ void OnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status) {
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} else {
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connected = false;
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DEBUG_PRINTLN("Delivery Fail");
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setCrusing(0);
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}
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}
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@ -315,7 +340,7 @@ void calculateThrottlePosition() {
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DEBUG_PRINTLN(hallMeasurement);
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int maxSpeed = 255;
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if(settings[limitMode] == 1) maxSpeed = 190;
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if(settings[limitMode] == 1) maxSpeed = 180;
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if (hallMeasurement >= HAL_CENTER) {
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throttle = c_map(hallMeasurement, HAL_CENTER, HAL_MAX, 127, maxSpeed);
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@ -387,12 +412,42 @@ void checkClicks(void * parameter) {
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int timeSinceLastClick = millis()-lastClick;
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lastClick = millis();
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if(currentMode == M_SELECT) {
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switch(selectedIndex) {
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case 0:
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currentMode = M_SETTINGS;
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break;
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case 1:
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if(settings[limitMode] == 0) settings[limitMode] = 1;
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else settings[limitMode] = 0;
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shouldUpdateSettings = true;
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currentMode = M_NORMAL;
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break;
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case 2:
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lightActive = !lightActive;
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currentMode = M_NORMAL;
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break;
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case 3:
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currentMode = M_STEERING;
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break;
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case 4:
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currentMode = M_CRUISE;
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break;
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}
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}
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if(timeSinceLastClick < clickDiff) clickCounter++;
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else clickCounter = 1;
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if(clickCounter == 3) {
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DEBUG_PRINTLN("YEAH TRIPPLE");
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if(changeSettings) changeSettings = false;
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else steeringMode = !steeringMode;
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if(currentMode == M_NORMAL) {
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currentMode = M_SELECT;
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selectedIndex = 2;
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} else {
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currentMode = M_NORMAL;
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}
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vTaskDelay(pdMS_TO_TICKS(2000));
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}
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@ -430,7 +485,8 @@ void drawBatteryLevel() {
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void drawThrottle() {
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int x = 0;
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int y = 18;
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uint8_t displayThrottle = throttle;
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if(crusing) displayThrottle = crusingSpeed;
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// Draw throttle
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u8g2.drawHLine(x, y, 52);
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u8g2.drawVLine(x, y, 10);
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@ -438,14 +494,14 @@ void drawThrottle() {
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u8g2.drawHLine(x, y + 10, 5);
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u8g2.drawHLine(x + 52 - 4, y + 10, 5);
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if (throttle >= 127) {
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int width = map(throttle, 127, 255, 0, 49);
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if (displayThrottle >= 127) {
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int width = map(displayThrottle, 127, 255, 0, 49);
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for (int i = 0; i < width; i++) {
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u8g2.drawVLine(x + i + 2, y + 2, 7);
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}
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} else {
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int width = map(throttle, 0, 126, 49, 0);
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int width = map(displayThrottle, 0, 126, 49, 0);
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for (int i = 0; i < width; i++) {
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u8g2.drawVLine(x + 50 - i, y + 2, 7);
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}
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@ -577,18 +633,95 @@ void drawPage() {
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u8g2.drawStr(x + 86 + 2, y + 13, displayBuffer);
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}
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void controlSelect() {
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if (hallMeasurement >= (HAL_MAX - 250) && settingsLoopFlag == false) { //settings[maxHallValue]
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// Up
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if (selectedIndex != 0) {
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selectedIndex--;
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settingsLoopFlag = true;
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}
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} else if (hallMeasurement <= (HAL_MIN + 250) && settingsLoopFlag == false) { //settings[minHallValue]
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// Down
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if (selectedIndex < 4) {
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selectedIndex++;
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settingsLoopFlag = true;
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}
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} else if (inRange(hallMeasurement, HAL_CENTER - 50, HAL_CENTER + 50)) { // settings[centerHallValue]
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settingsLoopFlag = false;
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}
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}
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String selectionItems[5] = {
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"Se","Li","B","St","Cr"
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};
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void drawSelectionMenu() {
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const uint8_t y = 35;
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const uint8_t xStart = 10;
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const uint8_t xSpace = 20;
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u8g2.setFontMode(0);
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u8g2.setDrawColor(1);
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String title = "Select Action";
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title.toCharArray(displayBuffer, 20);
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u8g2.setFont(u8g2_font_helvR10_tr );
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u8g2.drawStr(20, 12, displayBuffer);
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for(int i = 0; i < 5; i++) {
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if(selectedIndex == i) {
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u8g2.setFontMode(0);
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u8g2.drawBox(xStart-2 + xSpace * i, y-12, 15, 15);
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u8g2.setDrawColor(0);
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}
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selectionItems[i].toCharArray(displayBuffer, 10);
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u8g2.setFont(u8g2_font_profont12_tr);
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u8g2.drawStr(xStart + xSpace * i, y, displayBuffer);
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u8g2.setFontMode(0);
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u8g2.setDrawColor(1);
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}
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}
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void drawLight() {
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if(lightActive) {
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displayString = "Light";
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displayString.toCharArray(displayBuffer, 12);
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u8g2.setFont(u8g2_font_profont10_tr);
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u8g2.drawStr(100, 38, displayBuffer);
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}
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}
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void drawMode() {
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if(steeringMode) {
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if(currentMode == M_STEERING) {
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displayString = (String)esc1 + " |S| " + (String)esc2;
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displayString.toCharArray(displayBuffer, 12);
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u8g2.setFont(u8g2_font_profont12_tr);
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u8g2.drawStr(25, 50, displayBuffer);
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}
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if(settings[limitMode] == 1) {
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} else if(currentMode == M_NORMAL && settings[limitMode] == 1) {
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displayString = "LIM";
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displayString.toCharArray(displayBuffer, 12);
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u8g2.setFont(u8g2_font_profont12_tr);
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u8g2.drawStr(105, 50, displayBuffer);
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} else if(currentMode == M_CRUISE) {
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if(crusing) {
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displayString = "ACTIVE: " + (String) crusingSpeed;
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displayString.toCharArray(displayBuffer, 12);
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u8g2.setFont(u8g2_font_profont12_tr);
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u8g2.drawStr(0, 50, displayBuffer);
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} else {
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displayString = "Inactive";
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displayString.toCharArray(displayBuffer, 12);
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u8g2.setFont(u8g2_font_profont12_tr);
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u8g2.drawStr(0, 50, displayBuffer);
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}
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displayString = "CRU";
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displayString.toCharArray(displayBuffer, 12);
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u8g2.setFont(u8g2_font_profont12_tr);
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u8g2.drawStr(105, 50, displayBuffer);
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}
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}
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@ -596,8 +729,9 @@ void updateMainDisplay() {
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u8g2.firstPage();
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do {
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if (changeSettings == true) {
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if(currentMode == M_SELECT) {
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drawSelectionMenu();
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} else if (currentMode == M_SETTINGS) {
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drawSettingsMenu();
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drawSettingNumber();
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} else {
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@ -605,6 +739,7 @@ void updateMainDisplay() {
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drawPage();
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drawBatteryLevel();
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drawSignal();
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drawLight();
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drawMode();
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}
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@ -661,7 +796,7 @@ void setup() {
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drawStartScreen();
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if (triggerActive()) {
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changeSettings = true;
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currentMode = M_SETTINGS;
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drawTitleScreen("Remote Settings");
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}
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@ -697,7 +832,7 @@ void setup() {
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void loop() {
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updateMainDisplay();
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readAccel();
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if(currentMode == M_STEERING) readAccel();
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Serial.print("Accel Value Left Right( Y): ");
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Serial.print(map(AcY, -15000, 15000, -100, 100));
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@ -705,41 +840,61 @@ void loop() {
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Serial.println(map(GyY, -15000, 15000, -100, 100));
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calculateThrottlePosition();
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if (changeSettings == true) {
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if (currentMode == M_SELECT) {
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controlSelect();
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esc1 = 127;
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esc2 = 127;
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} else if (currentMode == M_SETTINGS) {
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// Use throttle and trigger to change settings
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controlSettingsMenu();
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} else {
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// Use throttle and trigger to drive motors
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if (triggerActive()) {
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if(!steeringMode) {
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esc1 = (uint8_t) throttle;
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esc2 = (uint8_t) throttle;
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} else {
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if(currentMode == M_STEERING) {
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DEBUG_PRINT("Value: ");
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int map = c_map(AcX, 15000, -15000, -50, 50);
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int map = c_map(AcX, 15000, -15000, -60, 60);
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DEBUG_PRINTLN(map);
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esc1 = (uint8_t) constrain(throttle + map, 0, 200);
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esc2 = (uint8_t) constrain(throttle - map, 0, 200);
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#ifdef steeringInfluential
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esc1 = (uint8_t) constrain(throttle - map, 0, 200);
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esc2 = (uint8_t) constrain(throttle + map, 0, 200);
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#else
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esc1 = (uint8_t) constrain(127 - map, 0, 200);
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esc2 = (uint8_t) constrain(127 + map, 0, 200);
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if(-10 < map && map < 10) {
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esc1 = throttle;
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esc2 = throttle;
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}
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#endif
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if(throttle == 127) {
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esc1 = 127;
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esc2 = 127;
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}
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DEBUG_PRINT("SteeringMode: ESC1: "); DEBUG_PRINT(esc1); DEBUG_PRINT(" ESC2: "); DEBUG_PRINTLN(esc2);
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} else if(currentMode == M_CRUISE) {
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setCrusing(throttle);
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esc1 = (uint8_t) throttle;
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esc2 = (uint8_t) throttle;
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if(crusing) {
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esc1 = (uint8_t) crusingSpeed;
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esc2 = (uint8_t) crusingSpeed;
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}
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} else {
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esc1 = (uint8_t) throttle;
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esc2 = (uint8_t) throttle;
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}
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} else {
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// 127 is the middle position - no throttle and no brake/reverse
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esc1 = 127;
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esc2 = 127;
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if(throttle < 30) { // enter settings mode
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changeSettings = true;
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}
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// could use the other side for cruise control...
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if(throttle > 230) {
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}
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if(crusing) setCrusing(0);
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}
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}
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@ -759,4 +914,9 @@ void loop() {
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else {
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// No board found to process
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}
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if(shouldUpdateSettings) {
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updateSettings();
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shouldUpdateSettings = false;
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}
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}
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@ -15,7 +15,6 @@ float ratioRpmSpeed;
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float ratioPulseDistance;
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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 settingsLoopFlag = false;
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