From f13f85df37b90d49b5b1462c53f07627d8e93c70 Mon Sep 17 00:00:00 2001
From: Lukas Bachschwell <lukas@lbsfilm.at>
Date: Tue, 17 Apr 2018 11:52:17 +0200
Subject: [PATCH] Changing filename, calibrating output values, adding proper
 failsafe

---
 platformio.ini                     |  4 ++--
 src/mac_config.h                   |  2 +-
 src/{reciever.cpp => receiver.cpp} | 35 +++++++++++++++++-------------
 3 files changed, 23 insertions(+), 18 deletions(-)
 rename src/{reciever.cpp => receiver.cpp} (75%)

diff --git a/platformio.ini b/platformio.ini
index b7fd470..22744b1 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -18,12 +18,12 @@ src_filter = +<remote.cpp>
 monitor_baud = 115200
 
 
-[env:reciever]
+[env:receiver]
 platform = espressif32
 board = esp32doit-devkit-v1
 framework = arduino
 
-src_filter = +<reciever.cpp>
+src_filter = +<receiver.cpp>
 
 monitor_baud = 115200
 
diff --git a/src/mac_config.h b/src/mac_config.h
index 46ed4b8..32b6fde 100644
--- a/src/mac_config.h
+++ b/src/mac_config.h
@@ -1,7 +1,7 @@
 //mac addresses
 
 // reciever mac:
-uint8_t mac_reciever[] = {0x30, 0xae, 0xa4, 0x04, 0x21, 0x2d};
+uint8_t mac_receiver[] = {0x30, 0xae, 0xa4, 0x04, 0x21, 0x2d};
 
 // remote macStr
 uint8_t mac_remote[] = {0x24, 0x0a, 0xc4, 0x82, 0x51, 0x70};
diff --git a/src/reciever.cpp b/src/receiver.cpp
similarity index 75%
rename from src/reciever.cpp
rename to src/receiver.cpp
index ada2d68..8a8f162 100644
--- a/src/reciever.cpp
+++ b/src/receiver.cpp
@@ -1,12 +1,14 @@
-// ESPNOWSkate Reciever by Lukas Bachschwell this device SLAVE =D
+// ESPNOWSkate Receiver by Lukas Bachschwell this device SLAVE =D
 #include <Servo.h>
 #include "Arduino.h"
 #include "SSD1306.h"
 #include <esp_now.h>
 #include <WiFi.h>
 
-static const int esc1pin = 15;
-static const int esc2pin = 13;
+#define esc1pin 15
+#define esc2pin 13
+#define fallbackpin 36
+
 
 Servo esc1;
 Servo esc2;
@@ -14,15 +16,13 @@ SSD1306 display(0x3c, 5, 4);
 
 
 //#define pairingMode
-#define FAILSAFE 90
-#define CONNECTION_TIMEOUT 200
+#define CONNECTION_TIMEOUT 300
 #define CHANNEL 1
 long lastPacket = 0;
 
 bool isConnected = false;
 
 // ESPNOW Functions ############################
-//
 // config AP
 void configDeviceAP(bool hidden) {
   bool result = WiFi.softAP("ESK8", "ESK8_Password+vD8z2YAvoDBW?Zx", CHANNEL, hidden);
@@ -34,7 +34,6 @@ void configDeviceAP(bool hidden) {
 }
 
 void writeServos(uint8_t firstServo, uint8_t secondServo) {
-  isConnected = true;
   esc1.write(firstServo);
   esc2.write(secondServo);
 }
@@ -65,14 +64,16 @@ void OnDataRecv(const uint8_t *mac_addr, const uint8_t *data, int data_len) {
 
 void setup() {
   Serial.begin(115200);
-  Serial.println("ESPNowSkate Reciever");
+  Serial.println("ESPNowSkate Receiver");
 
   display.init();
   display.flipScreenVertically();
   display.setFont(ArialMT_Plain_16);
 
-  esc1.attach(esc1pin);
-  esc2.attach(esc2pin);
+  // Init escs, min and max value similar as Traxxas TQI 1100, 1900
+  // chanel, minAngel, maxAngel, minPulseWidth, maxPulseWidth
+  esc1.attach(esc1pin, 0, 0, 180, 1100, 1900);
+  esc2.attach(esc2pin, 1, 0, 180, 1100, 1900);
 
   //Set device in AP mode to begin with
   WiFi.mode(WIFI_AP);
@@ -100,10 +101,14 @@ void setup() {
 
 
 void loop() {
-  if(isConnected) {
-    if(millis() - lastPacket > CONNECTION_TIMEOUT ) {
-      isConnected = false;
-      writeServos(FAILSAFE, FAILSAFE);
-    }
+  if(millis() - lastPacket > CONNECTION_TIMEOUT ) {
+    isConnected = false;
+    int failsafeValue = map(analogRead(fallbackpin), 0, 4095, 0, 180);
+    writeServos(failsafeValue, failsafeValue);
+    display.clear();
+    char buf[25];
+    sprintf(buf, "FAIL: %i", failsafeValue);
+    display.drawString(2, 0, buf);
+    display.display();
   }
 }