remove mode logic

nippleremote_firmware/.vscode/extensions.json

@@ -0,0 +1,10 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}

nippleremote_firmware/lib/RF24

@@ -1 +1 @@
-Subproject commit ebcd0d1d0b3061fcb57444e1dbe5829ef25705cd
+Subproject commit b18ed8c0133e1d1502cb52ce723531f611252763

nippleremote_firmware/src/main.cpp

@@ -55,7 +55,7 @@ const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };  //0xF0F0F0F0xxLL,
 struct nrfdata {
   uint8_t steer; //between 0 and 255,  127 is stop. will be scaled to -1000 to 1000
   uint8_t speed; //between 0 and 255,  127 is stop. will be scaled to -1000 to 1000
-  uint8_t commands; //bit 0 set = motor enable
+  uint8_t commands; //bit 0 set = motor enable, 1=left,2=up,3=down,4=right
   uint8_t checksum;
 };
 
@@ -77,17 +77,11 @@ boolean motorenabled=false;
 
 #define TRACKPOINT_MAX 70 //value for maximum stick movement
 #define TRACKPOINT_MAX_ERROR 90 //if value above this amount, error is triggered (nipple position stuck. maybe fixed by slowing down reading interval)
-float speedscale=0.0;
+float speedscale=1.0;
-float steerscale=0.0;
+float steerscale=1.0;
 
 int16_t last_xin=0;
 int16_t last_yin=0;
-int16_t xin_smooth=0;
-int16_t yin_smooth=0;
-int16_t maxacc=0;
-int16_t maxacc_brake=0;
-int16_t maxaccsteer=0;
-int16_t maxaccsteer_brake=0;
 
 #define SETUP_NONE 0
 #define SETUP_WAIT 1 //waiting for input
@@ -98,8 +92,7 @@ long setupmode_waitstarttime=0; //starttime of SETUP_WAIT mode
 #define SETUP_HOLD_POWEROFF 2000 //if button held down after x ms in setup mode, power off
 #define SETUP_DONE_TIME 1000 //time to keep motors disabled after exiting setup
 #define SETUP_MOVE_THRESHOLD 275 //500*TRACKPOINT_MAX/127
-uint8_t speedmode=1; //0 (slow), 1(medium), 2(fast)
+
-#define SETUP_SPEEDMODE_MAX 2
 
 uint16_t led_ton=0; //never. time in ms for on time
 uint16_t led_toff=65535; //always
@@ -111,6 +104,8 @@ long time_lastactivity=0;
 
 boolean touching=false;
 
+uint8_t setup_directon_press=0; // 1=left,2=up,3=down,4=right
+
 int voltage=4000;
 #define VOLTAGE_WARN 3400
 /*
@@ -119,7 +114,7 @@ int voltage=4000;
 
 void sendRF(nrfdata senddata);
 long readVcc();
-void setup_updateSpeedmode();
+
 
 unsigned long last_testprint=0;
 
@@ -179,7 +174,6 @@ void setup() {
   Serial.print("Voltage=");
   Serial.println( voltage, DEC ); 
 
-  setup_updateSpeedmode(); //set speeds
   
 }
 
@@ -218,14 +212,13 @@ void loop() {
     Serial.println(d.y);
     #endif
 
-    Serial.print("DataReport: ");
-    Serial.print(d.x);
-    Serial.print(", ");
-    Serial.println(d.y);
     
   
     nrfdata senddata;
 
+    
+    
+    
     //senddata.steer=map(constrain((uint8_t)(d.x+127),127-TRACKPOINT_MAX,127+TRACKPOINT_MAX) , 127-TRACKPOINT_MAX,127+TRACKPOINT_MAX, 127+(127*steerscale), 127-(127*steerscale) ); //steer
     //senddata.speed=map(constrain((uint8_t)(d.y+127),127-TRACKPOINT_MAX,127+TRACKPOINT_MAX) , 127-TRACKPOINT_MAX,127+TRACKPOINT_MAX, 127-(127*speedscale), 127+(127*speedscale) ); //speed
 
@@ -282,52 +275,8 @@ void loop() {
     Serial.println(phi,4);*/
 
 
-    //xin_smooth=smoothfilter*xin_smooth + (1-smoothfilter)*xin;
+    senddata.steer=map(xin, -1000,1000, 127+(128*steerscale), 127-(127*steerscale) ); //steer
-    //yin_smooth=smoothfilter*yin_smooth + (1-smoothfilter)*yin;
+    senddata.speed=map(yin, -1000,1000, 127-(127*speedscale), 127+(128*speedscale) ); //speed
-    if (maxaccsteer>0){
-      // ### X ###
-      int16_t _xaccel=xin_smooth-xin;
-      if ((xin_smooth>0 && xin<-2) || (xin_smooth<0 && xin>2) ){ //if actively braking
-        if (_xaccel<-maxaccsteer_brake){ //limit deceleration
-          _xaccel=-maxaccsteer_brake;
-        }else if (_xaccel>maxaccsteer_brake){
-          _xaccel=maxaccsteer_brake;
-        }
-      }else{ //not braking
-        if (_xaccel<-maxaccsteer){ //limit acceleration
-          _xaccel=-maxaccsteer;
-        }else if (_xaccel>maxaccsteer){
-          _xaccel=maxaccsteer;
-        }
-      }
-      xin_smooth-=_xaccel; //update value
-
-    }else{ //no acc limit
-      xin_smooth=xin; //update immediately
-    }
-    if (maxacc>0){
-      // ### Y ###
-      int16_t _yaccel=yin_smooth-yin;
-      if ((yin_smooth>0 && yin<-2) || (yin_smooth<0 && yin>2) ){ //if actively braking
-        if (_yaccel<-maxacc_brake){ //limit deceleration
-          _yaccel=-maxacc_brake;
-        }else if (_yaccel>maxacc_brake){
-          _yaccel=maxacc_brake;
-        }
-      }else{ //not braking
-        if (_yaccel<-maxacc){ //limit acceleration
-          _yaccel=-maxacc;
-        }else if (_yaccel>maxacc){
-          _yaccel=maxacc;
-        }
-      }
-      yin_smooth-=_yaccel; //update value
-    }else{ //no acc limit
-      yin_smooth=yin;
-    }
-
-    senddata.steer=map(xin_smooth, -1000,1000, 127+(128*steerscale), 127-(127*steerscale) ); //steer
-    senddata.speed=map(yin_smooth, -1000,1000, 127-(127*speedscale), 127+(128*speedscale) ); //speed
     
     senddata.commands=0; //reset
     
@@ -335,12 +284,16 @@ void loop() {
       //senddata.steer=127; //stop
       //senddata.speed=127;
       senddata.commands|= 0 << 0; //motorenabled send false
-      xin_smooth=0; //reset smooth value
+      
-      yin_smooth=0;
     }else{
       senddata.commands|= motorenabled << 0; //motorenabled is bit 0
     }
 
+    if (setup_directon_press!=0) {
+      senddata.commands|= 1 << setup_directon_press; //motorenabled is bit 0
+      setup_directon_press=0; //reset after sending
+    }
+    
     #ifdef DEBUG
     Serial.print(senddata.steer);
     Serial.print(", ");
@@ -403,35 +356,23 @@ void loop() {
       if (millis()>setupmode_waitstarttime+SETUP_WAIT_TIMEOUT){ //waittime over
         setupmode=SETUP_NONE; //exit setup
       }else if(last_yin > SETUP_MOVE_THRESHOLD){ //y moved up
-        Serial.print("Moved Up");
+        Serial.println("Moved Up");
-        if (speedmode<SETUP_SPEEDMODE_MAX){ //if not already at maximum
+        setup_directon_press=2;
-          speedmode+=1;
-        }
-        setup_updateSpeedmode();
         setupmode=SETUP_DONE; //exit setupmode
         setupmode_waitstarttime=millis(); //use this value for done timer
       }else if(last_yin < -SETUP_MOVE_THRESHOLD){ //y moved down
-        Serial.print("Moved Down");
+        Serial.println("Moved Down");
-        if (speedmode>0){ //if not already at minimum
+        setup_directon_press=3;
-          speedmode-=1;
-        }
-        setup_updateSpeedmode();
         setupmode=SETUP_DONE; //exit setupmode
         setupmode_waitstarttime=millis();//use this value for done timer
       }else if(last_xin < -SETUP_MOVE_THRESHOLD){ //y moved left
-        Serial.print("Moved Left");
+        Serial.println("Moved Left");
-        maxacc=20; //the higher the snappier
+        setup_directon_press=1;
-        maxacc_brake=30;
-        maxaccsteer=30;
-        maxaccsteer_brake=70;
         setupmode=SETUP_DONE; //exit setupmode
         setupmode_waitstarttime=millis();//use this value for done timer
       }else if(last_xin > SETUP_MOVE_THRESHOLD){ //y moved right
-        Serial.print("Moved Right");
+        Serial.println("Moved Right");
-        maxacc=0;
+        setup_directon_press=4;
-        maxacc_brake=0;
-        maxaccsteer=0;
-        maxaccsteer_brake=0;
         setupmode=SETUP_DONE; //exit setupmode
         setupmode_waitstarttime=millis();//use this value for done timer
       }else if (millis()>setupmode_waitstarttime+SETUP_HOLD_POWEROFF && !digitalRead(PIN_BUTTON)){  //if button held down after SETUP_HOLD_POWEROFF
@@ -549,24 +490,3 @@ long readVcc() {
   result = 1126400L / result; // Back-calculate AVcc in mV 
   return result; 
 }
-
-void setup_updateSpeedmode(){
-  switch(speedmode){
-    case 0: //slow
-      speedscale=0.15;
-      steerscale=0.2;
-    break;
-    case 1: //medium
-      speedscale=0.4;
-      steerscale=0.45;
-    break;
-    case 2: //fast
-      speedscale=1.0;
-      steerscale=0.8;
-    break;
-    default:
-      speedscale=0.1;
-      steerscale=0.1;
-    break;
-  }
-}

nonpio_nippleremote_firmware/nippleremote_firmware.ino

@@ -1,535 +0,0 @@
-
-
-//from left to right. pins at bottom. chips on top
-//1 GND (black)
-//2 Data
-//3 Clock
-//4 Reset
-//5 +5V (red)
-//6 Right BTN
-//7 Middle BTN
-//8 Left BTN
-
-//Arduino Pro Mini 328P 5V 16MHz
-//hold power button pressed during flashing
-
-
-//pinout: https://martin-prochnow.de/projects/thinkpad_keyboard
-
-//see also https://github.com/feklee/usb-trackpoint/blob/master/code/code.ino
-
-//#define DEBUG
-
-#include "Trackpoint.h"
-
-//Default:
-/*Trackpoint trackpoint(8, // CLK
-                      9, // DATA
-                      12); // RESET
-*/
-
-/*funktioniert
- * Trackpoint trackpoint(2, // CLK (rosa)
-                      3, // DATA (gelb)
-                      4); // RESET (gruen)
-*/
-Trackpoint trackpoint(3, // CLK (rosa, TP3)
-                      4, // DATA (gelb, TP2)
-                      2); // RESET (gruen, TP4)
-
-#include <SPI.h>
-#include "nRF24L01.h"
-#include "RF24.h"
-#include "printf.h"
-bool radioOk=false; //true, if sending was successfull. can be false, even if data was send and received
-
-RF24 radio(9,10); //ce, cs
-//SCK D13
-//Miso D12
-//Mosi D11
-// Radio pipe addresses for the 2 nodes to communicate.
-const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };  //0xF0F0F0F0xxLL, xx is 1-byte address
-#define NRF24CHANNEL 75
-
-struct nrfdata {
-  uint8_t steer; //between 0 and 255,  127 is stop. will be scaled to -1000 to 1000
-  uint8_t speed; //between 0 and 255,  127 is stop. will be scaled to -1000 to 1000
-  uint8_t commands; //bit 0 set = motor enable
-  uint8_t checksum;
-};
-
-long last_sendNRF=0;
-#define NRFSEND_DELAY 20 //ms
-
-#define PIN_TOUCH 5
-long last_touch=0;
-#define TOUCH_TIMEOUT 100
-
-//command variables
-boolean motorenabled=false;
-
-#define PIN_LED A1
-
-#define PIN_BUTTON 6
-
-#define PIN_POWERON 7
-
-#define TRACKPOINT_MAX 70 //value for maximum stick movement
-float speedscale=0.0;
-float steerscale=0.0;
-
-int16_t last_xin=0;
-int16_t last_yin=0;
-int16_t xin_smooth=0;
-int16_t yin_smooth=0;
-int16_t maxacc=0;
-int16_t maxacc_brake=0;
-int16_t maxaccsteer=0;
-int16_t maxaccsteer_brake=0;
-
-#define SETUP_NONE 0
-#define SETUP_WAIT 1 //waiting for input
-#define SETUP_DONE 2 //waiting after input (do not move motors)
-uint8_t setupmode=SETUP_NONE;
-long setupmode_waitstarttime=0; //starttime of SETUP_WAIT mode
-#define SETUP_WAIT_TIMEOUT 10000 //maximum time to wait for input before canceling
-#define SETUP_HOLD_POWEROFF 2000 //if button held down after x ms in setup mode, power off
-#define SETUP_DONE_TIME 1000 //time to keep motors disabled after exiting setup
-#define SETUP_MOVE_THRESHOLD 275 //500*TRACKPOINT_MAX/127
-uint8_t speedmode=1; //0 (slow), 1(medium), 2(fast)
-#define SETUP_SPEEDMODE_MAX 2
-
-uint16_t led_ton=0; //never. time in ms for on time
-uint16_t led_toff=65535; //always
-long led_nextswitch=0;
-
-#define TIME_INACTIVITY_POWEROFF 120000
-long time_lastactivity=0;
-#define ACTIVITYMOVEMENT 5//Stick movement for activity recognition
-
-boolean touching=false;
-
-int voltage=4000;
-#define VOLTAGE_WARN 3400
-/*
- * 3681=3.725V
-*/
-
-void setup() {
-  //Mouse.begin();
-  
-  pinMode(PIN_TOUCH, INPUT_PULLUP);
-  pinMode(PIN_LED, OUTPUT);
-  pinMode(PIN_BUTTON, INPUT_PULLUP);
-  pinMode(PIN_POWERON, OUTPUT);
-  digitalWrite(PIN_LED, LOW);
-
-  digitalWrite(PIN_POWERON, HIGH); //keep unit powered on
-
-
-  Serial.begin(115200);
-  printf_begin();
-  Serial.println("Booting");
-  
-  
-  
-  radio.begin();
-  //Serial.print("CRC Length=");
-  //Serial.println(radio.getCRCLength());
-
-  radio.setDataRate( RF24_250KBPS ); //set to slow data rate. default was 1MBPS
-  //radio.setDataRate( RF24_1MBPS ); 
-
-  radio.setChannel(NRF24CHANNEL); //0 to 124 (inclusive)
-  
-  radio.setRetries(15,15); // optionally, increase the delay between retries & # of retries
-  radio.setPayloadSize(8); // optionally, reduce the payload size.  seems to improve reliability
-  
-  //radio.openWritingPipe(pipes[0]); //write on pipe 0
-  //radio.openReadingPipe(1,pipes[1]); //read on pipe 1
-
-  radio.openWritingPipe(pipes[1]); //write on pipe 1
-  radio.openReadingPipe(1,pipes[0]); //read on pipe 0
-
-  radio.printDetails();
-
-  radio.startListening();
-
-  #ifdef DEBUG
-  Serial.println("Radio initialized");
-  #endif
-
-  trackpoint.reset();
-  trackpoint.setRemoteMode();
-  trackpoint.setSensitivityFactor(0xc0); // more sensitive than by default
-
-  #ifdef DEBUG
-  Serial.println("Trackpoint initialized");
-  #endif
-
-  voltage=readVcc();
-  Serial.print("Voltage=");
-  Serial.println( voltage, DEC ); 
-
-  setup_updateSpeedmode(); //set speeds
-  
-}
-
-
-/*
-void sendButtonState(byte state) {
-  static const char hidStates[] = {MOUSE_LEFT, MOUSE_RIGHT};
-
-  for (byte i = 0; i < sizeof(hidStates); i++) {
-    byte hidState = hidStates[i];
-    if (state & (1 << i)) {
-      Mouse.press(hidState);
-    } else if (Mouse.isPressed(hidState)) {
-      Mouse.release(hidState);
-    }
-  }
-}
-*/
-
-// Reads TrackPoint data and sends data to computer.
-void loop() {
-  
-
-  if (millis()-last_sendNRF >= NRFSEND_DELAY)
-  {
-    voltage=readVcc(); //read own voltage
-    
-    last_sendNRF=millis();
-    trackpoint.readData(); //discard last value. otherwise values are scales way too high
-    Trackpoint::DataReport d = trackpoint.readData(); //d.x and d.y between 128 to 255=-1000 to 0, and 0 to 127=0 to +1000
-  
-    #ifdef DEBUG
-    Serial.print("DataReport: ");
-    Serial.print(d.x);
-    Serial.print(", ");
-    Serial.println(d.y);
-    #endif
-    
-  
-    nrfdata senddata;
-    
-    //senddata.steer=map(constrain((uint8_t)(d.x+127),127-TRACKPOINT_MAX,127+TRACKPOINT_MAX) , 127-TRACKPOINT_MAX,127+TRACKPOINT_MAX, 127+(127*steerscale), 127-(127*steerscale) ); //steer
-    //senddata.speed=map(constrain((uint8_t)(d.y+127),127-TRACKPOINT_MAX,127+TRACKPOINT_MAX) , 127-TRACKPOINT_MAX,127+TRACKPOINT_MAX, 127-(127*speedscale), 127+(127*speedscale) ); //speed
-
-
-    //map x and y to -1000 to 1000
-    int16_t xin;
-    if (d.x>=0 && d.x<=127){ //positive range
-      xin=map(constrain((int16_t)d.x,0,TRACKPOINT_MAX) , 0,TRACKPOINT_MAX, 0, 1000 );
-    }else{ //negative range  128(=-1000) to 255(0)
-      xin=map(constrain((int16_t)d.x,127+TRACKPOINT_MAX,255) , 127+TRACKPOINT_MAX,255, -1000, 0 );
-    }
-    int16_t yin;
-    if (d.y>=0 && d.y<=127){ //positive range
-      yin=map(constrain((float)d.y,0,TRACKPOINT_MAX) , 0,TRACKPOINT_MAX, 0, 1000 );
-    }else{ //negative range  128(=-1000) to 255(0)
-      yin=map(constrain((float)d.y,127+TRACKPOINT_MAX,255) , 127+TRACKPOINT_MAX,255, -1000, 0 );
-    }
-
-    last_xin=xin; //save position values for other stuff than control
-    last_yin=yin;
-
-    if (abs(xin)>ACTIVITYMOVEMENT){
-      time_lastactivity=millis(); //reset activity timeout
-    }else if (abs(yin)>ACTIVITYMOVEMENT){
-      time_lastactivity=millis(); //reset activity timeout
-    }
-
-    /*
-    float r=sqrt((xin*xin) + (yin*yin));
-    float phi=atan2(yin,xin); // arc tangent of y/x. 0 is right
-
-    Serial.print(xin,0);
-    Serial.print(", ");
-    Serial.print(yin,0);
-    Serial.print(":  ");
-    Serial.print(r,0);
-    Serial.print(", ");
-    Serial.println(phi,4);*/
-
-    
-    //xin_smooth=smoothfilter*xin_smooth + (1-smoothfilter)*xin;
-    //yin_smooth=smoothfilter*yin_smooth + (1-smoothfilter)*yin;
-    if (maxaccsteer>0){
-      // ### X ###
-      int16_t _xaccel=xin_smooth-xin;
-      if ((xin_smooth>0 && xin<-2) || (xin_smooth<0 && xin>2) ){ //if actively braking
-        if (_xaccel<-maxaccsteer_brake){ //limit deceleration
-          _xaccel=-maxaccsteer_brake;
-        }else if (_xaccel>maxaccsteer_brake){
-          _xaccel=maxaccsteer_brake;
-        }
-      }else{ //not braking
-        if (_xaccel<-maxaccsteer){ //limit acceleration
-          _xaccel=-maxaccsteer;
-        }else if (_xaccel>maxaccsteer){
-          _xaccel=maxaccsteer;
-        }
-      }
-      xin_smooth-=_xaccel; //update value
-
-    }else{ //no acc limit
-      xin_smooth=xin; //update immediately
-    }
-    if (maxacc>0){
-      // ### Y ###
-      int16_t _yaccel=yin_smooth-yin;
-      if ((yin_smooth>0 && yin<-2) || (yin_smooth<0 && yin>2) ){ //if actively braking
-        if (_yaccel<-maxacc_brake){ //limit deceleration
-          _yaccel=-maxacc_brake;
-        }else if (_yaccel>maxacc_brake){
-          _yaccel=maxacc_brake;
-        }
-      }else{ //not braking
-        if (_yaccel<-maxacc){ //limit acceleration
-          _yaccel=-maxacc;
-        }else if (_yaccel>maxacc){
-          _yaccel=maxacc;
-        }
-      }
-      yin_smooth-=_yaccel; //update value
-    }else{ //no acc limit
-      yin_smooth=yin;
-    }
-
-    senddata.steer=map(xin_smooth, -1000,1000, 127+(128*steerscale), 127-(127*steerscale) ); //steer
-    senddata.speed=map(yin_smooth, -1000,1000, 127-(127*speedscale), 127+(128*speedscale) ); //speed
-    
-    senddata.commands=0; //reset
-    
-    if (!radioOk || setupmode!=SETUP_NONE){ //if last transmission failed or in setup mode
-      //senddata.steer=127; //stop
-      //senddata.speed=127;
-      senddata.commands|= 0 << 0; //motorenabled send false
-      xin_smooth=0; //reset smooth value
-      yin_smooth=0;
-    }else{
-      senddata.commands|= motorenabled << 0; //motorenabled is bit 0
-    }
-    #ifdef DEBUG
-    Serial.print(senddata.steer);
-    Serial.print(", ");
-    Serial.println(senddata.speed);
-    #endif
-    
-
-    senddata.checksum=(uint8_t)((senddata.steer+3)*(senddata.speed+13));
-    sendRF(senddata);
-    
-    #ifdef DEBUG
-    Serial.println( readVcc(), DEC ); 
-    #endif
-  }
-  
-
-  if(!digitalRead(PIN_TOUCH)){ //check touch
-    last_touch=millis();
-  }
-
-  
-  if(millis()-last_touch <= TOUCH_TIMEOUT){ //is touched
-    if (!touching && setupmode!=SETUP_DONE) { //was false, is touching again (and not during setup_done wait)
-      Serial.println("touching was false");
-      if (last_xin==0 && last_yin==0) { //stick at center position
-        touching=true; //enable only if stick is at center again
-        motorenabled=true;
-        Serial.println("touching reactivated");
-      }
-    }else{
-      motorenabled=true;
-    }
-  }else{
-    touching=false;
-    motorenabled=false;
-  }
-
-  if (!digitalRead(PIN_BUTTON) && setupmode==SETUP_NONE){ //Button pressed, and not in setup mode
-    setupmode=SETUP_WAIT;
-    setupmode_waitstarttime=millis();
-    Serial.println("Entering Setup");
-    //digitalWrite(PIN_POWERON, LOW); //Power off
-  }
-
-  //inactivity poweroff
-  if (millis()>time_lastactivity+TIME_INACTIVITY_POWEROFF){
-    Serial.println("Inactivity Poweroff");
-    delay(100);
-    digitalWrite(PIN_POWERON, LOW); //Power off
-  }
-
-  switch(setupmode){
-    case SETUP_WAIT:
-      if (millis()>setupmode_waitstarttime+SETUP_WAIT_TIMEOUT){ //waittime over
-        setupmode=SETUP_NONE; //exit setup
-      }else if(last_yin > SETUP_MOVE_THRESHOLD){ //y moved up
-        Serial.print("Moved Up");
-        if (speedmode<SETUP_SPEEDMODE_MAX){ //if not already at maximum
-          speedmode+=1;
-        }
-        setup_updateSpeedmode();
-        setupmode=SETUP_DONE; //exit setupmode
-        setupmode_waitstarttime=millis(); //use this value for done timer
-      }else if(last_yin < -SETUP_MOVE_THRESHOLD){ //y moved down
-        Serial.print("Moved Down");
-        if (speedmode>0){ //if not already at minimum
-          speedmode-=1;
-        }
-        setup_updateSpeedmode();
-        setupmode=SETUP_DONE; //exit setupmode
-        setupmode_waitstarttime=millis();//use this value for done timer
-      }else if(last_xin < -SETUP_MOVE_THRESHOLD){ //y moved left
-        Serial.print("Moved Left");
-        maxacc=20; //the higher the snappier
-        maxacc_brake=30;
-        maxaccsteer=30;
-        maxaccsteer_brake=70;
-        setupmode=SETUP_DONE; //exit setupmode
-        setupmode_waitstarttime=millis();//use this value for done timer
-      }else if(last_xin > SETUP_MOVE_THRESHOLD){ //y moved right
-        Serial.print("Moved Right");
-        maxacc=0;
-        maxacc_brake=0;
-        maxaccsteer=0;
-        maxaccsteer_brake=0;
-        setupmode=SETUP_DONE; //exit setupmode
-        setupmode_waitstarttime=millis();//use this value for done timer
-      }else if (millis()>setupmode_waitstarttime+SETUP_HOLD_POWEROFF && !digitalRead(PIN_BUTTON)){  //if button held down after SETUP_HOLD_POWEROFF
-        Serial.println("Manual Power Off");
-        delay(100);
-        digitalWrite(PIN_POWERON, LOW); //Power off
-      }
-
-      
-      
-      if (!touching){ //remote got put away (not touch)
-        Serial.println("Poweroff");
-        delay(100);
-        digitalWrite(PIN_POWERON, LOW); //Power off
-      }
-    break;
-    case SETUP_DONE:
-      touching=false;
-      motorenabled=false;
-      Serial.println("touching set false");
-      if (millis()>setupmode_waitstarttime+SETUP_DONE_TIME){
-        setupmode=SETUP_NONE; //return to control mode, allows enabling motors
-      }
-    break;
-  }
-
-
-  //LED Blink Codes
-  switch(setupmode){
-    case SETUP_NONE:
-      if (radioOk){
-        if (touching){ //=touching
-          led_ton=500; //always on
-          led_toff=0;
-        }else{
-          led_ton=1000; //blink slowly regulary
-          led_toff=1000;
-        }
-      }else{ //not connected
-        if (touching){ //=touching
-          led_ton=5; //short flash
-          led_toff=200;
-        }else{
-          led_ton=0; //off
-          led_toff=500;
-        }
-      }
-      if (voltage<=VOLTAGE_WARN){
-        led_ton=25; //flash on fast
-        led_toff=75;
-      }
-      
-    break;
-    case SETUP_WAIT:
-      led_ton=200; //blink fast
-      led_toff=200;
-    break;
-    case SETUP_DONE:
-      led_ton=20; //blink fast
-      led_toff=20;
-    break;
-
-  }
-  if (millis()>=led_nextswitch){ //Set LED State by timings
-    if (digitalRead(PIN_LED)){ //led was on
-      if (led_toff>0){
-        digitalWrite(PIN_LED, LOW);  //led off
-      }
-      led_nextswitch=millis()+led_toff;
-    }else{
-      if (led_ton>0){
-        digitalWrite(PIN_LED, HIGH);  //led on
-      }
-      led_nextswitch=millis()+led_ton;
-    }
-  }
-  
-
-  
-
-  
-}
-
-
-void sendRF(nrfdata senddata){
-  #ifdef DEBUG
-  Serial.println("Transmitting...");
-  #endif
-  
-  radio.stopListening(); //stop listening to be able to transmit
-  radioOk = radio.write( &senddata, sizeof(nrfdata) );
-  if (radioOk){
-      #ifdef DEBUG
-      Serial.println("ok");
-      #endif
-        
-  }else{
-      #ifdef DEBUG
-      Serial.println("failed");
-      #endif
-  }
-  radio.startListening();
-  
-}
-
-long readVcc() { 
-  long result; // Read 1.1V reference against AVcc 
-  ADMUX = _BV(REFS0) | _BV(MUX3) | _BV(MUX2) | _BV(MUX1); 
-  delay(2); // Wait for Vref to settle 
-  ADCSRA |= _BV(ADSC); // Convert 
-  while (bit_is_set(ADCSRA,ADSC)); 
-  result = ADCL; 
-  result |= ADCH<<8; 
-  result = 1126400L / result; // Back-calculate AVcc in mV 
-  return result; 
-}
-
-void setup_updateSpeedmode(){
-  switch(speedmode){
-    case 0: //slow
-      speedscale=0.15;
-      steerscale=0.2;
-    break;
-    case 1: //medium
-      speedscale=0.4;
-      steerscale=0.45;
-    break;
-    case 2: //fast
-      speedscale=1.0;
-      steerscale=0.8;
-    break;
-    default:
-      speedscale=0.1;
-      steerscale=0.1;
-    break;
-  }
-}

nonpio_nippleremote_firmware/printf.h

@@ -1,37 +0,0 @@
-/*
- Copyright (C) 2011 J. Coliz <maniacbug@ymail.com>
- 
- This program is free software; you can redistribute it and/or
- modify it under the terms of the GNU General Public License
- version 2 as published by the Free Software Foundation.
- */
- 
-/**
- * @file printf.h
- *
- * Setup necessary to direct stdout to the Arduino Serial library, which
- * enables 'printf'
- */
-
-#ifndef __PRINTF_H__
-#define __PRINTF_H__
-
-#ifdef ARDUINO
-
-int serial_putc( char c, FILE * ) 
-{
-  Serial.write( c );
-
-  return c;
-} 
-
-void printf_begin(void)
-{
-  fdevopen( &serial_putc, 0 );
-}
-
-#else
-#error This example is only for use on Arduino.
-#endif // ARDUINO
-
-#endif // __PRINTF_H__