VESC_Example.ino

#include <RF24.h>
#include <SPI.h>
#include <VESC.h>

//#define DEBUG

typedef struct {
  uint8_t x;
  uint8_t y;
  bool c;
  bool z;
  uint8_t vBat;
} RemoteData;

RemoteData remotedata;
mc_values values;
chuck_data chuckdata;
const byte addresses[][6] = {"PB001","PR001"};
unsigned long now, lastTransmission = 0;

RF24 radio(PA3, PA4);

void bldc_val_received(mc_values *val) {
  //main_printf("Duty cycle:    %.1f %%\r\n", val->duty_now * 100.0);
  //main_printf("Fault Code:    %s\r\n", bldc_interface_fault_to_string(val->fault_code));
}

void vescSetup() {
  VESC_init();
  VESC_setRxValueFunc(bldc_val_received);
  chuckdata.js_x = 127;
  chuckdata.js_y = 127;
  chuckdata.bt_c = false;
  chuckdata.bt_z = false;
  chuckdata.acc_x = 0;
  chuckdata.acc_y = 0;
  chuckdata.acc_z = 0;
}

void setup() {
  #ifdef DEBUG
  // Serial Setup (Debug only)
  Serial.begin(115200);
  #endif

  // Radio Setup
  radio.begin();
  radio.setPALevel(RF24_PA_MAX);
  radio.openWritingPipe(addresses[1]);
  radio.openReadingPipe(1,addresses[0]);
  radio.startListening();

  // Initialise Data
  remotedata.x = 127;
  remotedata.y = 127;
  remotedata.c = false;
  remotedata.z = false;
  remotedata.vBat = 0.0;

  vescSetup();
}

void loop() {
  now = millis();
  if (radio.available()){
    radio.read(&remotedata, sizeof(RemoteData));
    lastTransmission = now;
  }
  
  if (now - lastTransmission > 1000) {
    remotedata.x = 127;
    remotedata.y = 128;
    remotedata.c = false;
    remotedata.z = false;
    remotedata.vBat = 0.0;
  }

  chuckdata.js_x = remotedata.x;
  chuckdata.js_y = remotedata.y;
  chuckdata.bt_c - remotedata.c;
  chuckdata.bt_z = remotedata.z;
  VESC_setChuckData(&chuckdata);
  //VESC_getValues();

  #ifdef DEBUG
  Serial.print("x: ");
  Serial.print(remotedata.x);
  Serial.print(" y: ");
  Serial.print(remotedata.y);
  Serial.print(" c: ");
  Serial.print(remotedata.c);
  Serial.print(" z: ");
  Serial.print(remotedata.z);
  Serial.print(" vBat: ");
  Serial.println(remotedata.vBat*5.0/255.0);
  #endif
}