fixed motor direction, added correct pins to StatusLight

RoboJackets · May 18, 2024 · a648bb3 · a648bb3
1 parent a8d689b
commit a648bb3
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Showing 3 changed files with 59 additions and 53 deletions.
diff --git a/platformio.ini b/platformio.ini
@@ -1,5 +1,5 @@
 [platformio]
-default_envs = StepperArm
+default_envs = StatusLight
 
 [env:main]
 platform = teensy

diff --git a/scripts/protobuf/JoystickMotorControl/joystick_control.py b/scripts/protobuf/JoystickMotorControl/joystick_control.py
@@ -180,25 +180,25 @@ def keyboard_thread():
                 # print("Press 'esc' to exit...")
                 # print("Currently pressed keys:", ', '.join(current_keys))
                 if "Key.up" in current_keys and "Key.down" not in current_keys:
-                    with left_speed_lock:
-                        left_speed = 3000
-                    with right_speed_lock:
-                        right_speed = 3000
-                elif "Key.up" not in current_keys and "Key.down" in current_keys:
                     with left_speed_lock:
                         left_speed = -3000
                     with right_speed_lock:
                         right_speed = -3000
-                elif "Key.right" in current_keys and "Key.left" not in current_keys:
+                elif "Key.up" not in current_keys and "Key.down" in current_keys:
                     with left_speed_lock:
                         left_speed = 3000
                     with right_speed_lock:
-                        right_speed = -3000
-                elif "Key.right" not in current_keys and "Key.left" in current_keys:
+                        right_speed = 3000
+                elif "Key.right" in current_keys and "Key.left" not in current_keys:
                     with left_speed_lock:
                         left_speed = -3000
                     with right_speed_lock:
                         right_speed = 3000
+                elif "Key.right" not in current_keys and "Key.left" in current_keys:
+                    with left_speed_lock:
+                        left_speed = 3000
+                    with right_speed_lock:
+                        right_speed = -3000
                 else:
                     with left_speed_lock:
                         left_speed = 0

diff --git a/src/StatusLight/main.cpp b/src/StatusLight/main.cpp
@@ -4,6 +4,12 @@
 #include <Messages.hpp>
 #include "StatusLight.hpp"
 
+// v1.0 PCB pins
+// const int GREEN_PIN = 30;
+// const int BLUE_PIN = 31;
+// const int RED_PIN = 32;
+
+// protoboard pins
 const int GREEN_PIN = 35;
 const int BLUE_PIN = 34;
 const int RED_PIN = 32;
@@ -36,57 +42,57 @@ int main() {
     pinMode(LED_BUILTIN, OUTPUT);
     // status_light::StatusLight statusLight({{"GREEN", GREEN_PIN},{"BLUE", BLUE_PIN},{"RED", RED_PIN}});
 
-    // // Ethernet setup
-    // qindesign::network::Ethernet.begin();
-    // udp.begin(PORT);
+    // Ethernet setup
+    qindesign::network::Ethernet.begin();
+    udp.begin(PORT);
 
-    // // initialize data
-    // size_t requestLength;
-    // uint8_t requestBuffer[256];
+    // initialize data
+    size_t requestLength;
+    uint8_t requestBuffer[256];
 
     // handleLEDRequest(RED_PROTO, 1);
 
     while (true) {
-        // OLD
-        digitalWrite(GREEN_PIN, HIGH);
-        delay(500);
-        digitalWrite(BLUE_PIN, HIGH);
-        delay(500);
-        digitalWrite(RED_PIN, HIGH);
-        digitalWrite(LED_BUILTIN, HIGH);
-        delay(2000);
-        digitalWrite(GREEN_PIN, LOW);
-        delay(500);
-        digitalWrite(BLUE_PIN, LOW);
-        delay(500);
-        digitalWrite(RED_PIN, LOW);
-        digitalWrite(LED_BUILTIN, LOW);
-        delay(2000);
+        // // OLD
+        // digitalWrite(GREEN_PIN, HIGH);
+        // delay(500);
+        // digitalWrite(BLUE_PIN, HIGH);
+        // delay(500);
+        // digitalWrite(RED_PIN, HIGH);
+        // digitalWrite(LED_BUILTIN, HIGH);
+        // delay(2000);
+        // digitalWrite(GREEN_PIN, LOW);
+        // delay(500);
+        // digitalWrite(BLUE_PIN, LOW);
+        // delay(500);
+        // digitalWrite(RED_PIN, LOW);
+        // digitalWrite(LED_BUILTIN, LOW);
+        // delay(2000);
 
         // // read incoming UDP messages
-        // requestLength = udp.parsePacket();
-        // if (udp.available()) { 
+        requestLength = udp.parsePacket();
+        if (udp.available()) { 
 
-        //     Serial.println("Packet received: ");
+            Serial.println("Packet received: ");
 
-        //     memset(requestBuffer, 0, 256);
-        //     udp.readBytes(requestBuffer, requestLength);
-        //     bool success = protobuf::Messages::decodeStatusLightRequest(requestBuffer, requestLength, requestCommand);
+            memset(requestBuffer, 0, 256);
+            udp.readBytes(requestBuffer, requestLength);
+            bool success = protobuf::Messages::decodeStatusLightRequest(requestBuffer, requestLength, requestCommand);
 
-        //     Serial.print("[color=");
-        //     Serial.print(requestCommand.color);
-        //     Serial.print(", display=");
-        //     Serial.print(requestCommand.display);
-        //     Serial.println("]");
-
-        //     // // OLD
-        //     // handleLEDRequest(requestCommand.color, requestCommand.display);  
+            Serial.print("[color=");
+            Serial.print(requestCommand.color);
+            Serial.print(", display=");
+            Serial.print(requestCommand.display);
+            Serial.println("]");
+
+            // // OLD
+            handleLEDRequest(requestCommand.color, requestCommand.display);  
 
-        //     // NEW
-        //     statusLight.resetLeds();
-        //     statusLight.setLedState("GREEN", HIGH);
-        //     statusLight.setLedBlink("GREEN", requestCommand.display);
-        // }
+            // NEW
+            // statusLight.resetLeds();
+            // statusLight.setLedState("GREEN", HIGH);
+            // statusLight.setLedBlink("GREEN", requestCommand.display);
+        }
 
         // // OLD
         // if (blinkTimer >= BLINK_RATE_MS) {
@@ -106,10 +112,10 @@ int main() {
         // NEW 
         // statusLight.update();
 
-        // if (blinkTimer >= BLINK_RATE_MS) {
-        //     blinkTimer -= BLINK_RATE_MS;
-        //     digitalToggle(LED_BUILTIN);
-        // }
+        if (blinkTimer >= BLINK_RATE_MS) {
+            blinkTimer -= BLINK_RATE_MS;
+            digitalToggle(LED_BUILTIN);
+        }
     }
 }