Moved motor controller code out of handheld controller code

lib/Syren50/src/Syren50.cpp

@@ -1,39 +0,0 @@
-#include "Arduino.h"
-#include <stdint.h>
-#include "Syren50.h"
-
-void Syren50::init() {
-    Serial1.begin(9600);
-    delay(1000); // Give about 1 second to boot up, per datasheet
-    Serial.write(0b10101010);
-}
-
-void Syren50::command(uint8_t command, uint8_t data) {
-    Serial1.write(0x80); // Address
-    Serial1.write(command); // Command
-    Serial1.write(data);
-    Serial1.write((0x80 + command + data) & 0b01111111); // Checksum
-    Serial1.flush();
-}
-
-void Syren50::forwards(uint8_t speed) {
-    command(0x00, speed);
-}
-
-void Syren50::reverse(uint8_t speed) {
-    command(0x01, speed);
-}
-
-void Syren50::move(int8_t direction, uint8_t speed) {
-    if (direction == 1) {
-        forwards(speed);
-    } else if (direction == -1) {
-        reverse(speed);
-    } else {
-        forwards(0);
-    }
-}
-
-void Syren50::minInputVoltage(float voltage) {
-    command(0x03, (uint8_t)((voltage - 6.0) * 5.0));
-}

lib/Syren50/src/Syren50.h

@@ -1,18 +0,0 @@
-#ifndef SYREN50_H
-#define SYREN50_H
-
-#include <stdint.h>
-
-class Syren50 {
-public:
-  void init();
-  void forwards(uint8_t speed);
-  void reverse(uint8_t speed);
-  void move(int8_t direction, uint8_t speed);
-  void minInputVoltage(float voltage);
-
-  private:
-    void command(uint8_t command, uint8_t data);
-};
-
-#endif

src/main.cpp

@@ -2,49 +2,28 @@
 #include "screen.h"
 #include "wifi.h"
 #include "controls.h"
-#include "Syren50.h"
 #include <ESP8266WiFi.h>
 #include <ESP8266WebServer.h>
 #include <string>
 using namespace std;
 
-Syren50 motor;
-
 void setup() {
     Serial.begin(9600);
     displayInit();
     controlsInit();
     WiFi.softAP(WIFI_SSID, WIFI_PASS);
     displayWiFiInformation(WIFI_SSID, WIFI_PASS);
-    delay(1000);
-    motor.init();
 }
 
 float throttle = 0.0f;
-int direction = 0;
+uint8_t direction = 0;
 bool horn = false;
 bool bell = false;
 bool lights = false;
 
-int last_direction = 0;
-float last_throttle = 0.0f;
-
-void inertia(float throttle, int direction, float &inertial_throttle, int &inertial_direction) {
-
-    inertial_throttle = throttle;
-    inertial_direction = direction;
-}
-
-
 void loop() {
     getControlsState(throttle, direction, horn, bell, lights);
-
+    displayControlStatus(throttle, direction, horn, bell, lights);
-    float motor_throttle;
+    //sendControlOutputs(throttle, direction, horn, bell, lights);
-    int motor_direction;
-    inertia(throttle, direction, motor_throttle, motor_direction);
-
-    displayControlStatus(motor_throttle, motor_direction, horn, bell, lights);
-    motor.move(motor_direction, motor_throttle * 127.0f);
-
     delay(1);
 }