Important fix to controller y axis calibration, minor build cleanups

Chassis/Bot.h

@@ -90,7 +90,8 @@ namespace bot {
     rightoutput = constrain(rightoutput,1000,2000);
 
     // Invert the appropriate side
-    rightoutput = map(rightoutput,1000,2000,2000,1000);
+    // rightoutput = map(rightoutput,1000,2000,2000,1000);
+    leftoutput = map(leftoutput,1000,2000,2000,1000);
 
     //Send out to the motors
     motorLeft.writeMicroseconds(leftoutput);
@@ -166,7 +167,7 @@ int maxright=0;
     // *10 // convert from volt to decivolt
     // /1024 // Divide by ADC steps to get voltage
     // ;
-    //TODO: Add board support to properly scale down 12V inputs to
+    //TODO: iAdd board support to properly scale down 12V inputs to
     return 15;
   }
 

Chassis/Chassis.ino

@@ -73,9 +73,9 @@ void setup() {
   Scheduler.startLoop(recieve_input);
 
   //Informative tasks for debugging
-  // Scheduler.startLoop(print_status);
+  Scheduler.startLoop(print_status);
   // Scheduler.startLoop(printControl);
-  Scheduler.startLoop(printTelemetry);
+  // Scheduler.startLoop(printTelemetry);
 }
 
 bool isEnabled=false;
@@ -172,7 +172,7 @@ void recieve_input(){
       ){
         //valid data; Handle it appropriately
         chassisControlData.data = radioBuffer.ccd;
-        // Serial.printf("[OK %2i%s] ",
+        // Serial.printf("\n[OK %2i%s] ",
         //   chassisControlData.data.metadata.heartbeat,
         //   chassisControlData.data.enable?"+":"-"
         //   );
@@ -181,17 +181,23 @@ void recieve_input(){
         //pet the watchdog to keep the system alive
         watchdog=0;
       }
+      else if(
+        radiobufferlen==CANNON_CONTROL_SIZE_BYTES &&
+        radioBuffer.ccd.metadata.type==PacketType::CANNON_CONTROL
+      ){
+        //Catch to avoid printing stuff
+      }
       else{
         //Some other packet type
         //Print out info about it
-        // Serial.printf("?(%i) ",radiobufferlen);
-        // for(int i = 0; i < radiobufferlen; i++){
-        //   for(int j = 0; j < 8; j++){
-        //     Serial.print((radioBuffer.buffer[i]>>(7-j)) &1);
-        //   }
-        //   Serial.print(".");
-        // }
-        // Serial.println();
+        Serial.printf("\n?(%i) ",radiobufferlen);
+        for(int i = 0; i < radiobufferlen; i++){
+          for(int j = 0; j < 8; j++){
+            Serial.print((radioBuffer.buffer[i]>>(7-j)) &1);
+          }
+          Serial.print(".");
+        }
+        Serial.println();
 
       }
     }

Controller/Buttons.h

@@ -33,7 +33,7 @@ namespace Buttons{
   // normalizeAnalog(Buttons::leftX(),131,(543+500)/2 ,886,50)
   JoystickAxesConfig configLeftY={ 
     .min=163,
-    .max=684,
+    .max=886,
     .idleMin=493,
     .idleMax=535
   };

Controller/Controller.ino

@@ -5,7 +5,6 @@
 #include <SPI.h>
 #include <RH_RF95.h>
 #include <Scheduler.h>
-#include <Adafruit_SleepyDog.h>
 
 #include "Buttons.h"
 // #include "Pins.h"
@@ -34,6 +33,12 @@ union ChassisTelemetryData {
   uint8_t buffer[CHASSIS_TELEMETRY_SIZE_BYTES];
 } chassisTelemetryData;
 
+union CannonControlData {
+  CannonControl data;
+  uint8_t buffer[CANNON_CONTROL_SIZE_BYTES];
+} cannonControlData;
+
+
 union RadioBuffer{
   ChassisControl chassisControl;
   ChassisTelemetry chassisTelemetry;
@@ -87,6 +92,10 @@ void setup() {
   Scheduler.startLoop(printChassisControl);
   Scheduler.startLoop(printChassisTelemetry);
 
+  Scheduler.startLoop(sendCannonControl);
+  // Scheduler.startLoop(printCannonControl);
+
+
   //Helpful for debugging hardware
   // Scheduler.startLoop(Buttons::printDebug);
   // Scheduler.startLoop(print_status);
@@ -106,6 +115,7 @@ void loop() {
 
 /** Monitor hardware + do the things. */
 void updateControls(){
+
   if(Buttons::home2() >1500 && chassisControlData.data.enable==false){
     chassisControlData.data.enable=true;
   }
@@ -148,6 +158,12 @@ void updateControls(){
   stick.y*=-1; //Covert y from HID standard of negative-is-away to positive robot forward
   chassisControlData.data.speed = Chassis::arcadeDrive( stick.y, stick.x*.25 );
 
+
+  cannonControlData.data.fire=Buttons::a();
+  cannonControlData.data.load=Buttons::x();
+  cannonControlData.data.enable=chassisControlData.data.enable;
+
+
   delay(10);
 }
 
@@ -175,6 +191,45 @@ void send_control() {
   delay(sleepTime.chassisControl);
 }
 
+elapsedMillis cannontimer;
+void sendCannonControl() {
+  //Observe the need of RX mode to reserve the radio;
+  //In such cases, just hang out until it passes control back
+  while (rf95.mode() == RHGenericDriver::RHModeRx) delay(1);
+
+  cannonControlData.data.metadata.type = PacketType::CANNON_CONTROL;
+  cannonControlData.data.metadata.heartbeat+=1;
+
+  bool sent = false;
+  sent = rf95.send(cannonControlData.buffer, CANNON_CONTROL_SIZE_BYTES);
+  bool done = rf95.waitPacketSent(200);
+  // Serial.println();
+  // Serial.print("#");
+  // Serial.print(sent ? ">>" : "--");
+  // Serial.print(done ? "++" : "--");
+  cctimer = 0;
+
+  delay(sleepTime.chassisControl);
+}
+
+void printCannonControl(){
+  Serial.println();
+
+  Serial.print(" <Cannon ");
+
+  Serial.printf(
+    "%2s ",cannonControlData.data.enable?"EN":"--."
+  );
+  Serial.printf(
+    "F%2s ",cannonControlData.data.fire?"!!":"--."
+  );
+  Serial.printf(
+    "L%2s ",cannonControlData.data.load?"!!":"--."
+  );
+
+  delay(200);
+}
+
 
 elapsedMillis cttimer;
 void recieve_telemetry() {
@@ -269,6 +324,7 @@ void printChassisTelemetry(){
   delay(200);
 }
 
+
 /** Print some very detailed information about the Control packets
 * May be necessary to troubleshoot communication related issues
 */

ModuleTShirtCannon/ModuleTShirtCannon.ino

@@ -143,7 +143,11 @@ void loop(){
   //Heartbeat LED
   if (cannonHeartbeat > 1000){
     cannonHeartbeat=0;
-    digitalWrite(BUILT_IN_LED, !digitalRead(BUILT_IN_LED));
+    Serial.print("cannon ");
+    Serial.print(cannonControlData.data.metadata.heartbeat);
+    Serial.println("");
+
+    digitalWrite(BUILT_IN_LED, !digitalRead(BUILT_IN_LED) || cannonControlData.data.enable );
   }
 
   //Read the encoder from the subfile
@@ -190,8 +194,14 @@ void loop(){
   elevationServo.writeMicroseconds(elevationMotorOutput);
 
   //Run State Machine
-  cannonTrigger = millis()%3000 > 1500;
+  // cannonTrigger = millis()%3000 > 1500;
+  cannonTrigger = cannonControlData.data.fire && cannonControlData.data.enable;
 
+  if(cannonControlData.data.load){
+    manualReloadSwitch = ManualReloadSwitch::UNLOCKED;
+  }else{
+    manualReloadSwitch = ManualReloadSwitch::DONE;
+  }
   run_state_machine(cannonTrigger,manualReloadSwitch);
 
   delay(10);
@@ -226,15 +236,15 @@ void recieve_input(){
     if (rf95.recv(radioBuffer.buffer, &radiobufferlen)) {
 
       if(
-        radiobufferlen==CANNON_CONTROL_SIZE_BYTES &&
+        // radiobufferlen==CANNON_CONTROL_SIZE_BYTES &&
         radioBuffer.ccd.metadata.type==PacketType::CANNON_CONTROL
       ){
         //valid data; Handle it appropriately
         cannonControlData.data = radioBuffer.ccd;
-        // Serial.printf("[OK %2i%s] ",
-        //   chassisControlData.data.metadata.heartbeat,
-        //   chassisControlData.data.enable?"+":"-"
-        //   );
+        Serial.printf("[OK %2i%s] ",
+          cannonControlData.data.metadata.heartbeat,
+          cannonControlData.data.enable?"+":"-"
+          );
 
 
         //pet the watchdog to keep the system alive
@@ -243,19 +253,19 @@ void recieve_input(){
       else{
         //Some other packet type
         //Print out info about it
-        // Serial.printf("?(%i) ",radiobufferlen);
-        // for(int i = 0; i < radiobufferlen; i++){
-        //   for(int j = 0; j < 8; j++){
-        //     Serial.print((radioBuffer.buffer[i]>>(7-j)) &1);
-        //   }
-        //   Serial.print(".");
-        // }
-        // Serial.println();
+        Serial.printf("?(%i) ",radiobufferlen);
+        for(int i = 0; i < radiobufferlen; i++){
+          for(int j = 0; j < 8; j++){
+            Serial.print((radioBuffer.buffer[i]>>(7-j)) &1);
+          }
+          Serial.print(".");
+        }
+        Serial.println();
 
       }
     }
   } else {
-    // Serial.print(".");
+    Serial.print(".");
   }
 
   //We want this to go as fast as possible; Effectively our default task

libraries/README.md

@@ -14,8 +14,8 @@ https://learn.adafruit.com/adafruit-feather-m0-radio-with-lora-radio-module/usin
 
 Using Arduino's library manager, you'll need to install a few additional libraries
 
-- RadioHead (a library)
 - Encoder by Paul Stroffregen
 - elapsedMillis by Paul Stroffregen
 - RadioHead by Mike Mccauley
 - Scheduler by Arduino
+- PCAL6416A-IO-Expander (Not available in the arduino library - acquire via sneakernet)