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vtm added to the ref packet #202

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Merged
effdotsh merged 1 commit into from
Jun 30, 2026
Merged

vtm added to the ref packet #202

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74 changes: 73 additions & 1 deletion src/comms/data/comms_ref_data.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -104,6 +104,76 @@ struct ProjectileAllowanceData {
uint32_t num_gold = 0;
};

/// @copydoc VTMRemoteControl
struct VTMData {
/// @copydoc VTMRemoteControl::channel_0
uint16_t channel_0 = 1024;
/// @copydoc VTMRemoteControl::channel_1
uint16_t channel_1 = 1024;
/// @copydoc VTMRemoteControl::channel_2
uint16_t channel_2 = 1024;
/// @copydoc VTMRemoteControl::channel_3
uint16_t channel_3 = 1024;
/// @copydoc VTMRemoteControl::mode_switch
uint8_t mode_switch = 0;
/// @copydoc VTMRemoteControl::pause_button
uint8_t pause_button = 0;
/// @copydoc VTMRemoteControl::custom_button_left
uint8_t custom_button_left = 0;
/// @copydoc VTMRemoteControl::custom_button_right
uint8_t custom_button_right = 0;
/// @copydoc VTMRemoteControl::dial
uint16_t dial = 1024;
/// @copydoc VTMRemoteControl::mouse_speed_x
int16_t mouse_speed_x = 0;
/// @copydoc VTMRemoteControl::mouse_speed_y
int16_t mouse_speed_y = 0;
/// @copydoc VTMRemoteControl::scroll_speed
int16_t scroll_speed = 0;
/// @copydoc VTMRemoteControl::trigger
uint8_t trigger = 0;
/// @copydoc VTMRemoteControl::button_left
uint8_t button_left = 0;
/// @copydoc VTMRemoteControl::button_right
uint8_t button_right = 0;
/// @copydoc VTMRemoteControl::button_middle
uint8_t button_middle = 0;
/// @copydoc VTMRemoteControl::keyboard_value
uint16_t keyboard_value = 0;
/// @copydoc VTMRemoteControl::key_w
uint8_t key_w;
/// @copydoc VTMRemoteControl::key_s
uint8_t key_s;
/// @copydoc VTMRemoteControl::key_a
uint8_t key_a;
/// @copydoc VTMRemoteControl::key_d
uint8_t key_d;
/// @copydoc VTMRemoteControl::key_shift
uint8_t key_shift;
/// @copydoc VTMRemoteControl::key_ctrl
uint8_t key_ctrl;
/// @copydoc VTMRemoteControl::key_q
uint8_t key_q;
/// @copydoc VTMRemoteControl::key_e
uint8_t key_e;
/// @copydoc VTMRemoteControl::key_r
uint8_t key_r;
/// @copydoc VTMRemoteControl::key_f
uint8_t key_f;
/// @copydoc VTMRemoteControl::key_g
uint8_t key_g;
/// @copydoc VTMRemoteControl::key_z
uint8_t key_z;
/// @copydoc VTMRemoteControl::key_x
uint8_t key_x;
/// @copydoc VTMRemoteControl::key_c
uint8_t key_c;
/// @copydoc VTMRemoteControl::key_v
uint8_t key_v;
/// @copydoc VTMRemoteControl::key_b
uint8_t key_b;
};

/// @brief Mega struct fo al of the ref data we want to send over comms
struct CommsRefData : Comms::CommsData {
/// @brief default constructor that initializes the CommsData base class with the appropriate type label, physical medium, priority, and size for this struct
Expand All @@ -126,6 +196,8 @@ struct CommsRefData : Comms::CommsData {
LaunchingStatusData launching_status_data;
/// @brief projectile allowance data for our robot
ProjectileAllowanceData projectile_allowance_data;
/// @brief VTM remote control data for our robot
VTMData vtm_data;
/// @brief padding to ensure proper alignment
uint32_t _padding = 0;
uint16_t _padding[3] = {0};
};
1 change: 1 addition & 0 deletions src/sensors/RefSystem.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -213,6 +213,7 @@ void RefSystem::send_to_comms() {
ref_data_for_comms.damage_status_data = ref_data.damage_status.to_comms_data();
ref_data_for_comms.launching_status_data = ref_data.launching_status.to_comms_data();
ref_data_for_comms.projectile_allowance_data = ref_data.projectile_allowance.to_comms_data();
ref_data_for_comms.vtm_data = ref_data.vtm_remote_control.to_comms_data();
Comms::Sendable<CommsRefData> ref_data_sendable = ref_data_for_comms;
ref_data_sendable.send_to_comms();
}
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40 changes: 40 additions & 0 deletions src/sensors/RefSystemPacketDefs.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1777,6 +1777,46 @@ struct VTMRemoteControl {
last_update_ms = millis();
}

/// @brief Converts this VTMRemoteControl struct to a VTMRemoteControlData struct for comms transmission
/// @return VTMRemoteControlData struct with the same data as this VTMRemoteControl struct
VTMData to_comms_data() {
VTMData data;
data.channel_0 = channel_0;
data.channel_1 = channel_1;
data.channel_2 = channel_2;
data.channel_3 = channel_3;
data.mode_switch = mode_switch;
data.pause_button = pause_button;
data.custom_button_left = custom_button_left;
data.custom_button_right = custom_button_right;
data.dial = dial;
data.mouse_speed_x = mouse_speed_x;
data.mouse_speed_y = mouse_speed_y;
data.scroll_speed = scroll_speed;
data.trigger = trigger;
data.button_left = button_left;
data.button_right = button_right;
data.button_middle = button_middle;
data.keyboard_value = keyboard_value;
data.key_w = key_w;
data.key_s = key_s;
data.key_a = key_a;
data.key_d = key_d;
data.key_shift = key_shift;
data.key_ctrl = key_ctrl;
data.key_q = key_q;
data.key_e = key_e;
data.key_r = key_r;
data.key_f = key_f;
data.key_g = key_g;
data.key_z = key_z;
data.key_x = key_x;
data.key_c = key_c;
data.key_v = key_v;
data.key_b = key_b;
return data;
}

private:
/// @brief Reads a little-endian bit field from a VT03/VT13 remote-control frame.
/// @param packet Raw 21-byte frame
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