added cablights

RC excavator/FW/src/controller.cpp

@@ -7,42 +7,43 @@ uint16_t joymax = 0;
 uint16_t trgmax = 0;
 #define deadband 20000
 #define trgdeadband 200
+bool cablights = false;
 
 direction getdirectionJoy(int setpoint)
 {
-  if(setpoint > (joymax/2 +deadband))
+  if (setpoint > (joymax / 2 + deadband))
   {
     return direction::right;
   }
-  else if(setpoint < (joymax/2 -deadband))
+  else if (setpoint < (joymax / 2 - deadband))
   {
     return direction::left;
   }
-  //else
+  // else
   return direction::stop;
 }
 
 direction getdirecion2Button(uint8_t button0, uint8_t button1)
 {
-  if(button0 & !button1)
+  if (button0 & !button1)
   {
     return direction::left;
   }
-  if(!button0 & button1)
+  if (!button0 & button1)
   {
     return direction::right;
   }
-  //else
+  // else
   return direction::stop;
 }
 
 direction getTrackDirection(int trigger, uint8_t shoulder)
 {
-  if(trigger > (trgmax/2 + trgdeadband) & !shoulder)
+  if (trigger > (trgmax / 2 + trgdeadband) & !shoulder)
   {
     return direction::right;
   }
-  if((trigger == 0) & shoulder)
+  if ((trigger == 0) & shoulder)
   {
     return direction::left;
   }
@@ -58,8 +59,24 @@ void setup_controller()
   Serial.printf("Waiting for controller");
 }
 
-void loop_controller()
+void handleCabLights(uint8_t button)
 {
+  if(!button)  return;
+  
+  if (cablights)
+  {
+    digitalWrite(cabLights, HIGH);
+    cablights = true;
+  }
+  else
+  {
+    digitalWrite(cabLights, LOW);
+    cablights = false;
+  }
+}
+
+  void loop_controller()
+  {
     xboxController.onLoop();
     if (xboxController.isConnected())
     {
@@ -81,7 +98,7 @@ void loop_controller()
           // log_i("joyRHori rate: %u", xboxController.xboxNotif.trigLT);
           // log_i("joyRVert rate: %u", xboxController.xboxNotif.trigRT);
           log_i("battery %d %", xboxController.battery);
-          //log_v("joymax:%d",joymax );
+          // log_v("joymax:%d",joymax );
           lastcontrollernotify = millis();
         }
         controlMotor("Pivot", getdirectionJoy(xboxController.xboxNotif.joyLHori));
@@ -93,21 +110,21 @@ void loop_controller()
 
         controlMotor("TrackLeft", getTrackDirection(xboxController.xboxNotif.trigLT, xboxController.xboxNotif.btnLB));
         controlMotor("TrackRight", getTrackDirection(xboxController.xboxNotif.trigRT, xboxController.xboxNotif.btnRB));
-
-
+        handleCabLights(xboxController.xboxNotif.btnShare);
       }
     }
-    else  
+    else
     {
-        if (millis() - lastcontrollernotify > CONTROLLERNOTIFY)
-        {
-          log_w("not connected");
-          lastcontrollernotify = millis();
-        }
+      if (millis() - lastcontrollernotify > CONTROLLERNOTIFY)
+      {
+        log_w("not connected");
+        lastcontrollernotify = millis();
+        handleCabLights(1);
+      }
       if (xboxController.getCountFailedConnection() > 10)
       {
         log_e("restarting");
         ESP.restart();
       }
     }
-}
+  }