Merge pull request #1 from IngeniumTeam/commProtocol

Comm protocol
IngeniumTeam · Feb 10, 2024 · af4b404 · af4b404
2 parents 62132cf + f145163
commit af4b404
Showing 1 changed file with 35 additions and 23 deletions.
diff --git a/src/Bull/Bull.ino b/src/Bull/Bull.ino
@@ -1,16 +1,32 @@
+#include <SoftwareSerial.h>
 #include <Bluetooth.h>
 #include <Joystick.h>
 #include <Led.h>
 #include <Keypad.h>
 
-#define loopTime 20
 #define DEBUG false
+#define LOOP_TIME 20
+
+#define SWITCH 0
+#define KEYPAD 1
+#define ESTIMATION 2
+#define JOYSTICK_LEFT_X 3
+#define JOYSTICK_LEFT_Y 4
+#define JOYSTICK_LEFT_CLCK 5
+#define JOYSTICK_RIGHT_X 6
+#define JOYSTICK_RIGHT_Y 7
+#define JOYSTICK_RIGHT_CLCK 8
+
+#define NUM_VALUES 9
 
 //                    RX  TX
-SoftwareSerial Serial1(2, 4);
-Bluetooth bluetooth(&Serial1);
-Joystick leftJoystick(A1, A0, A2, true, false, 512, 512, 50, 50);
-Joystick rightJoystick(A4, A3, A5, true, false, 512, 512, 50, 50);
+SoftwareSerial Serial1(2, 3);
+
+int sizes[NUM_VALUES] = { 1, 4, 8, 9, 9, 1, 9, 9, 1 };
+Bluetooth bluetooth(&Serial1, sizes, NUM_VALUES, '.');
+Joystick leftJoystick(A1, A0, A2, true, false, 512, 512, 50, 50, 0, 511);
+Joystick rightJoystick(A4, A3, A5, true, false, 512, 512, 50, 50, 0, 511);
+
 Button switcher(A6);
 Led blueLed(12);
 Led whiteLed(11);
@@ -30,8 +46,8 @@ void setup ()
 {
   // Serial setup //
   {
-    Serial.begin(9600);
     Serial1.begin(9600);
+    Serial.begin(9600);
 #if DEBUG
     Serial.println("Serial communication's on...");
     Serial.println("Bluetooth communication's on...");
@@ -47,18 +63,17 @@ void loop ()
 {
   // Fetch data to json and send it via bluetooth //
   {
-    bluetooth.json["switch"] = switcher.getAnalogValue() > 512;
-    if (bluetooth.json["switch"].as<bool>()) {
+    bluetooth.message.set(SWITCH, switcher.getAnalogValue() > 512);
+    if (bluetooth.message.get(SWITCH) == 1) {
       whiteLed.on();
     }
     else {
       whiteLed.off();
     }
-    const int keypadValue = keypad.getKey();
-    bluetooth.json["keypad"] = keypadValue;
-    if (keypadValue == 12) {
+    bluetooth.message.set(KEYPAD, keypad.getKey());
+    if (bluetooth.message.get(KEYPAD) == 12) {
       redLed.on();
-      bluetooth.json["keypad"] = 0;
+      bluetooth.message.set(KEYPAD, 0);
       int key = keypad.getKey();
       estimation = 0;
       while (key != 12 && ((int)log10(estimation) + 1) < 3) {
@@ -73,24 +88,21 @@ void loop ()
       }
       redLed.off();
     }
-    bluetooth.json["estimation"] = estimation;
+    bluetooth.message.set(ESTIMATION, estimation);
     {
       {
-        bluetooth.json["joysticks"]["left"]["x"] = leftJoystick.x.getValue();
-        bluetooth.json["joysticks"]["left"]["y"] = leftJoystick.y.getValue();
-        bluetooth.json["joysticks"]["left"]["clck"] = leftJoystick.clck.getValue();
+        bluetooth.message.set(JOYSTICK_LEFT_X, leftJoystick.x.getValue());
+        bluetooth.message.set(JOYSTICK_LEFT_Y, leftJoystick.y.getValue());
+        bluetooth.message.set(JOYSTICK_LEFT_CLCK, leftJoystick.clck.getValue());
       }
       {
-        bluetooth.json["joysticks"]["right"]["x"] = rightJoystick.x.getValue();
-        bluetooth.json["joysticks"]["right"]["y"] = rightJoystick.y.getValue();
-        bluetooth.json["joysticks"]["right"]["clck"] = rightJoystick.clck.getValue();
+        bluetooth.message.set(JOYSTICK_RIGHT_X, rightJoystick.x.getValue());
+        bluetooth.message.set(JOYSTICK_RIGHT_Y, rightJoystick.y.getValue());
+        bluetooth.message.set(JOYSTICK_RIGHT_CLCK, rightJoystick.clck.getValue());
       }
     }
     bluetooth.send();
-#if DEBUG
-    serializeJsonPretty(bluetooth.json, Serial);
-#endif
     blueLed.on();
   }
-  delay(loopTime);
+  delay(LOOP_TIME);
 }