basic function with speed test

.gitignore

@@ -3,3 +3,4 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+lib

data/config.json

@@ -0,0 +1,16 @@
+{
+  "cartname": "TarantlCart_000",
+  "ssid": "TarantlBros",
+  "passwd": "chillfumml",
+  "speedprofile":[
+    {
+      "speed_max":-300,
+      "speed_min":300,
+      "steer_max":200,
+      "steer_min":-200,
+      "accel":200,
+      "boost":100,
+      "symbol":0
+    }
+  ]
+}

platformio.ini

@@ -12,6 +12,6 @@
 platform = espressif32
 board = m5stack-core-esp32
 framework = arduino
-lib_deps = madhephaestus/WiiChuck @ ^0.3.2, siteswapjuggler/Ramp @ ^0.6.0
+lib_deps = madhephaestus/WiiChuck @ ^0.3.2, siteswapjuggler/Ramp @ ^0.6.0, ayushsharma82/AsyncElegantOTA @ ^2.2.6, me-no-dev/AsyncTCP @ ^1.1.1, me-no-dev/ESP Async WebServer @ ^1.2.3, WiFi, bblanchon/ArduinoJson @ ^6.19.4
 ;lib_deps = M5Stack, siteswapjuggler/Ramp @ ^0.6.0
 monitor_speed = 115200

src/buttons.h

@@ -0,0 +1,29 @@
+  if (M5.BtnA.wasReleased()) {
+    //motorOn = true;
+    myDrive = 0;
+    setDisplay(myDrive, true);
+  }
+
+  if (M5.BtnA.pressedFor(1000)) {
+    setDisplay(myDrive, true);
+  }
+
+  if (M5.BtnB.wasReleased()) {
+    //motorOn = false;
+    myDrive = 0;
+    setDisplay(myDrive, true);
+  }
+
+  if (M5.BtnB.pressedFor(1000)) {
+    setDisplay(myDrive, true);
+  }
+
+  if (M5.BtnC.wasReleased()) {
+    //motorOn = true;
+    myDrive = 0;
+    setDisplay(myDrive, true);
+  }
+
+  if (M5.BtnC.pressedFor(1000)) {
+    setDisplay(myDrive, true);
+  }

src/configload.h

@@ -0,0 +1,55 @@
+
+
+// Loads the configuration from a file
+void loadConfiguration(const char *filename, Config &config) {
+  // Open file for reading
+  File file = SPIFFS.open(filename);
+  StaticJsonDocument<1024> doc;
+  DeserializationError error = deserializeJson(doc, file);
+  if (error)
+    Serial.println(F("Failed to read file, using default configuration"));
+
+    strlcpy(config.cartname,                  // <- destination
+            doc["cartname"] | "TarantlCart",  // <- source
+            sizeof(config.cartname));         // <- destination's capacity
+
+    strlcpy(config.ssid,                    // <- destination
+        doc["ssid"] | "TarantlVR",          // <- source
+        sizeof(config.ssid));               // <- destination's capacity
+
+    strlcpy(config.passwd,                    // <- destination
+        doc["passwd"] | "chillfumml",          // <- source
+        sizeof(config.passwd));               // <- destination's capacity
+
+  JsonObject speedprofile_0 = doc["speedprofile"][0];
+
+  config.speed_max = speedprofile_0["speed_max"] | -100;
+  config.speed_min = speedprofile_0["speed_min"] | 100;
+  config.steer_max = speedprofile_0["steer_max"] | -100;
+  config.steer_min = speedprofile_0["steer_min"] | 100;
+  config.accel_min = speedprofile_0["accel_min"] | 200;
+  config.boost_max = speedprofile_0["boost"] | 100;
+
+
+
+  file.close();
+}
+
+// Prints the content of a file to the Serial
+void printFile(const char *filename) {
+  // Open file for reading
+  File file = SPIFFS.open(filename);
+  if (!file) {
+    Serial.println(F("Failed to read file"));
+    return;
+  }
+
+  // Extract each characters by one by one
+  while (file.available()) {
+    Serial.print((char)file.read());
+  }
+  Serial.println();
+
+  // Close the file
+  file.close();
+}

src/display.h

@@ -0,0 +1,13 @@
+void setDisplay(int myDrive, boolean clear){
+    if(clear){M5.Lcd.fillScreen(TFT_BLACK);}
+    M5.Lcd.setCursor(0, 140, 2);
+    M5.Lcd.setTextSize(1);
+    M5.Lcd.print("speed: "); M5.Lcd.println(myDrive);
+    M5.Lcd.print("MAX: "); M5.Lcd.println(config.speed_max);
+    M5.Lcd.print("MIN: "); M5.Lcd.println(config.speed_min);
+    M5.Lcd.print("ST-MAX: "); M5.Lcd.println(config.steer_max);
+    M5.Lcd.print("ST-MIN: "); M5.Lcd.println(config.steer_min);
+    M5.Lcd.print("accel: "); M5.Lcd.println(accel);
+
+    //M5.Lcd.print("boost: "); M5.Lcd.println(boost);
+}

src/hoverboard_telemetry.h

@@ -0,0 +1,69 @@
+// ########################## SEND ##########################
+void Send(int16_t uSteer, int16_t uSpeed)
+{
+  // Create command
+  Command.start    = (uint16_t)START_FRAME;
+  //Command.pitch    = 0;
+  //Command.dpitch   = 0;
+  Command.steer    = (int16_t)uSteer;
+  Command.speed    = (int16_t)uSpeed;
+  //Command.sensors  = ;
+  Command.checksum = (uint16_t)(Command.start ^ Command.steer ^ Command.speed);
+
+  // Write to Serial
+  HoverSerial.write((uint8_t *) &Command, sizeof(Command)); 
+}
+
+// ########################## RECEIVE ##########################
+void Receive()
+{
+    if (HoverSerial.available()) {
+        incomingByte 	  = HoverSerial.read();                                
+        bufStartFrame	= ((uint16_t)(incomingByte) << 8) | incomingBytePrev;      
+    }
+    else {
+        return;
+    }
+
+    #ifdef DEBUG_RX
+        Serial.print(incomingByte);
+        return;
+    #endif
+
+    if (bufStartFrame == START_FRAME) {	                    
+        p       = (byte *)&NewFeedback;
+        *p++    = incomingBytePrev;
+        *p++    = incomingByte;
+        idx     = 2;	
+    } else if (idx >= 2 && idx < sizeof(SerialFeedback)) {  
+        *p++    = incomingByte; 
+        idx++;
+    }	
+
+    if (idx == sizeof(SerialFeedback)) {
+        uint16_t checksum;
+        checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas
+                            ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
+
+        if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
+            memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
+
+            Serial.print("1: ");   Serial.print(Feedback.cmd1);
+            Serial.print(" 2: ");  Serial.print(Feedback.cmd2);
+            Serial.print(" 3: ");  Serial.print(Feedback.speedR_meas);
+            Serial.print(" 4: ");  Serial.print(Feedback.speedL_meas);
+            Serial.print(" 5: ");  Serial.print(Feedback.batVoltage);
+            Serial.print(" 6: ");  Serial.print(Feedback.boardTemp);
+            Serial.print(" 7: ");  Serial.println(Feedback.cmdLed);
+
+            //driveSpeed = 2*3,14*8,255*Feedback.speedR_meas*60/1000;
+            //driveSpeed = 3,11 * Feedback.speedL_meas;
+            driveSpeed = (float)Feedback.speedL_meas;
+        } else {
+          Serial.println("Non-valid data skipped");
+        }
+        idx = 0;
+    }
+
+    incomingBytePrev = incomingByte;
+}