- make motorctl compatible with different drivers
- pass set function instead of specific motor object
- add lambda function in config.cpp
- update config to use one new sabertooth driver instead of two single100a
- main test controlled motor
Same reason as before commit
Note: some changes to http were necessary due to global object
- untested!
Also remove unneded duplicate components folder
since board_single uses mostly the same code as board_control and
board_motorctl several files are outsorced to common folder to prevent
dupliate code and different versions
Same functionality as previous commit. But way more stable and clean.
Previous proof of concept approach had issues with random partial or
too large messages due to time based method
Rework send and receive functions to work more stable
- send: encode data with frame (start, end byte)
- receive: read each byte one after the other, assemble message,
handle actual data in handle function
- add semaphore to write operation to prevent parallel write of
different data when called from other tasks
- board_control successfully sends motor commands to board_motorctl
- board_motorctl receives and applies motor commands
note: control pcb currently switches to HTTP mode after startup for testing
with data from ui
- partially commented in code that has to be reworked
- control: send commands via uart instead of to motor objects
- board motorctl handled motor: add timeout when no target data
received (e.g. control pcb offline / uart bugged)
- board motorctl uart: receive motorCommands_t struct and apply data to
target state of handled motors
- types: fix issue with global motorstateStr variable
- outsoruce common files and separate common types from source files (new
common/types.hpp)
- split source files to 2 board folders (relevant only, no duplicate)
- currently boards compile successfull but not functional at all
- comment out currently incompatible code
