Feature controller integration

src/comms/config_layer.hpp

@@ -209,4 +209,4 @@ class ConfigLayer {
 
 extern Config config;
 
-#endif
+#endif

src/comms/data/comms_data.hpp

@@ -16,7 +16,7 @@ enum class TypeLabel : uint8_t {
     RevEncoderData,
     TOFSensorData,
     LidarDataPacketSI,
-    DR16Data,
+    TransmitterData,
     TempRobotState,
     TargetState,
     EstimatedState,
@@ -48,8 +48,8 @@ inline std::string to_string(TypeLabel type_label) {
         return "TOFSensorData";
     case TypeLabel::LidarDataPacketSI:
         return "LidarDataPacketSI";
-    case TypeLabel::DR16Data:
-        return "DR16Data";
+    case TypeLabel::TransmitterData:
+        return "TransmitterData";
     case TypeLabel::TempRobotState:
         return "TempRobotState"; 
     case TypeLabel::TargetState:

src/comms/data/data_structs.hpp

@@ -7,7 +7,7 @@
 #include "modules/comms/data/comms_data.hpp"    // for CommsData
 #endif
 
-#include <stdint.h>                             // uintN_t
+#include <stdint.h>     // uintN_t
 
 #include "test_data.hpp"
 
@@ -21,12 +21,12 @@
 
 #include "lidar_data_packet_si.hpp"
 
-#include "dr16_data.hpp"
+#include "transmitter_data.hpp"
 
 #include "robot_state_data.hpp"
 
 #include "config_section.hpp"
 
 #include "comms_ref_data.hpp"
 
-#endif // DATA_STRUCTS_HPP
+#endif // DATA_STRUCTS_HPP

src/comms/data/firmware_data.cpp

@@ -50,9 +50,9 @@ void FirmwareData::set_data(CommsData* data) {
 
         break;
     }
-    case TypeLabel::DR16Data: {
+    case TypeLabel::TransmitterData: {
         // place the data in the mega struct
-        dr16_data = *static_cast<DR16Data*>(data);
+        transmitter_data = *static_cast<TransmitterData*>(data);
         break;
     }
     case TypeLabel::BuffEncoderData: {
@@ -125,7 +125,7 @@ void FirmwareData::set_data(CommsData* data) {
 }
 
 }   // namespace Comms
-    
+
 #if defined(HIVE) 
 
 TEST_CASE("setting firmware data structs") {
@@ -196,10 +196,10 @@ TEST_CASE("setting firmware data structs") {
     firmware_data.set_data(&lidar_sensor_data);
     CHECK(firmware_data.lidars[1].back().lidar_speed == 55);
 
-    DR16Data dr16_data;
-    dr16_data.mouse_x = 55;
-    firmware_data.set_data(&dr16_data);
-    CHECK(firmware_data.dr16_data.mouse_x == 55);
+    TransmitterData transmitter_data;
+    transmitter_data.mouse_x = 55;
+    firmware_data.set_data(&transmitter_data);
+    CHECK(firmware_data.transmitter_data.mouse_x == 55);
 
     ConfigSection config_section;
     config_section.section_id = 55;
@@ -212,4 +212,4 @@ TEST_CASE("setting firmware data structs") {
     CHECK(firmware_data.ref_data.game_status.raw[0] == 55);
 }
 
-#endif  // defined(HIVE)
+#endif  // defined(HIVE)

src/comms/data/firmware_data.hpp

@@ -64,8 +64,8 @@ struct FirmwareData {
     /// @brief lidar vector
     std::vector<LidarDataPacketSI> lidars[2];
 
-    /// @brief DR16 data
-    DR16Data dr16_data;
+    /// @brief Transmitter data
+    TransmitterData transmitter_data;
 
     /// @brief Config section
     ConfigSection config_section;

src/comms/data/transmitter_data.hpp

@@ -0,0 +1,107 @@
+#pragma once 
+
+#if defined(FIRMWARE)
+#include "comms/data/comms_data.hpp"            // for CommsData
+#elif defined(HIVE)
+#include "modules/comms/data/comms_data.hpp"    // for CommsData
+#endif
+
+#include <stdint.h>                             // uintN_t
+#include <optional>                             // std::optional
+
+/// @brief Switch Position Enum
+enum class SwitchPos{
+	INVALID = 0,
+	FORWARD,
+	BACKWARD,
+	MIDDLE
+};
+
+/// @brief Structure for the Transmitter
+struct TransmitterData : Comms::CommsData {
+    TransmitterData() : CommsData(Comms::TypeLabel::TransmitterData, Comms::PhysicalMedium::Ethernet, Comms::Priority::High, sizeof(TransmitterData)) { }
+
+    /// mouse x velocity
+	std::optional<float> mouse_x = {};
+    /// mouse y velocity
+	std::optional<float> mouse_y = {};
+    /// mouse z velocity
+	std::optional<float> mouse_z = {};
+    /// left mouse button status
+	std::optional<bool> l_mouse_button = {};
+    /// right mouse button status
+	std::optional<bool> r_mouse_button = {};
+    /// left switch status
+	SwitchPos l_switch = SwitchPos::INVALID;
+    /// right switch status
+	SwitchPos r_switch = SwitchPos::INVALID;
+    /// left stick x axis
+	float  l_stick_x = 0;
+    /// left stick y axis
+    float l_stick_y = 0;
+    /// right stick x axis
+    float r_stick_x = 0;
+    /// right stick y axis
+    float r_stick_y = 0;
+    /// wheel
+	std::optional<float> wheel = {};
+	/// safety switch
+	std::optional<SwitchPos> safety_switch = {};
+	/// switch b
+	std::optional<SwitchPos> switch_b = {};
+	/// switch c
+	std::optional<SwitchPos> switch_c = {};
+	/// switch d
+	std::optional<SwitchPos> switch_d = {};
+	/// switch e
+	std::optional<SwitchPos> switch_e = {};
+	/// switch f
+	std::optional<SwitchPos> switch_f = {};
+	/// switch g
+	std::optional<SwitchPos> switch_g = {};
+	/// switch h
+	std::optional<SwitchPos> switch_h = {};
+	/// left dial
+	std::optional<float> l_dial = {};
+	/// right dial
+	std::optional<float> r_dial = {};
+    /// left slider
+    std::optional<float> l_slider = {};
+    /// right slider
+    std::optional<float> r_slider = {};
+	/// trim one
+	std::optional<float> trim_one = {};
+	/// trim two
+	std::optional<float> trim_two = {};
+	/// trim three
+	std::optional<float> trim_three = {};
+	/// trim four
+	std::optional<float> trim_four = {};
+	/// trim five
+	std::optional<float> trim_five = {};
+	/// trim six
+	std::optional<float> trim_six = {};
+
+	/// @brief Keys
+	union {
+        uint16_t raw = 0;
+        struct {
+            bool w     : 1;
+            bool s     : 1;
+            bool a     : 1;
+            bool d     : 1;
+            bool shift : 1;
+            bool ctrl  : 1;
+            bool q     : 1;
+            bool e     : 1;
+            bool r     : 1;
+            bool f     : 1;
+            bool g     : 1;
+            bool z     : 1;
+            bool x     : 1;
+            bool c     : 1;
+            bool v     : 1;
+            bool b     : 1;
+        } key;
+    } keys;	
+};

src/controls/controller_manager.cpp

@@ -60,6 +60,7 @@ void ControllerManager::step(float macro_reference[STATE_LEN][3], float macro_es
         for (size_t j = 0; j < CAN_MAX_MOTORS + 1; j++) {
             if (config_data->controller_info[i][j + 1] < 0) break;
             actuator_write(config_data->controller_info[i][j + 1], outputs[j]);
+
         }
     }
 }

src/controls/estimator_manager.cpp

@@ -13,7 +13,6 @@ EstimatorManager::~EstimatorManager() {
 }
 
 void EstimatorManager::init(CANManager* _can, const Config* _config_data, SensorManager* _sensor_manager) {
-
     // set can and config data pointers
     can = _can;
     config_data = _config_data;
@@ -106,4 +105,4 @@ void EstimatorManager::clear_outputs(float macro_outputs[STATE_LEN][3], float mi
             micro_outputs[i][j] = 0;
         }
     }
-}
+}