4 files changed, 23 insertions, 57 deletions

diff --git a/robot/io.c b/robot/io.c
index f98c87a..8b34aba 100644
--- a/robot/io.c
+++ b/robot/io.c
@@ -1,9 +1,11 @@
-#include "io.h"
+#include <string.h>
+
 #include "../shared/consts.h"
+#include "io.h"
 #include "modes.h"
 #include "orangutan_shim.h"
 
-w2_io_all g_w2_io;
+w2_s_io_all g_w2_io;
 
 void w2_io_main() {
 	g_w2_io.button[0].pressed = get_single_debounced_button_press(BUTTON_A);
@@ -11,11 +13,11 @@ void w2_io_main() {
 	g_w2_io.button[2].pressed = get_single_debounced_button_press(BUTTON_C);
 	g_w2_io.button[3].pressed = get_single_debounced_button_press(TOP_BUTTON);
 	g_w2_io.button[4].pressed = get_single_debounced_button_press(BOTTOM_BUTTON);
+
 	unsigned int sensor_values[5];
 	qtr_read(sensor_values, QTR_EMITTERS_ON);
-	for (int i = 0; i < 5; i++) {
-		g_w2_io.qtr[i].range = sensor_values[i];
-	}
+	for (int i = 0; i < 5; i++) g_w2_io.qtr[i].range = sensor_values[i];
+
 	// TODO average voltage over mutiple samples sensor
 	g_w2_io.battery.charge_level	 = analog_read(W2_BATTERY_PIN);
 	g_w2_io.front_distance.detection = analog_read(W2_FRONT_SENSOR_PIN);
@@ -24,6 +26,10 @@ void w2_io_main() {
 	set_motors(g_w2_io.motor_left.speed, g_w2_io.motor_right.speed);
 	red_led(g_w2_io.led_red.on);
 	green_led(g_w2_io.led_green.on);
-	print(g_w2_io.lcd.text);
-};
 
+	// TODO don't do this every cycle
+	char text_copy[17];
+	memcpy((char *)text_copy, g_w2_io.lcd.text, 16);
+	text_copy[16] = 0x00;
+	print(text_copy);
+};
diff --git a/robot/io.h b/robot/io.h
index ce67c73..3d91799 100644
--- a/robot/io.h
+++ b/robot/io.h
@@ -1,48 +1,9 @@
 #pragma once
-#include <stdbool.h>
-#include <stdint.h>
-#include <stdlib.h>
 
-void w2_io_main();
-
-typedef struct {
-	bool pressed;
-} w2_s_i_push;
-
-typedef struct {
-	uint16_t range;
-} w2_s_i_contrast;
-
-typedef struct {
-	uint16_t detection;
-} w2_s_i_distance;
-
-typedef struct {
-	uint16_t charge_level;
-} w2_s_i_battery;
+#include "../shared/protocol.h"
 
-typedef struct {
-	int speed;
-} w2_s_o_motor;
-
-typedef struct {
-	bool on;
-} w2_s_o_led;
-
-typedef struct {
-	char text[17]; // 16 chars + '\0'
-} w2_s_o_display;
-
-typedef struct {
-	w2_s_i_push button[5];
-	w2_s_i_contrast qtr[5];
-	w2_s_i_distance front_distance;
-	w2_s_i_distance side_distance;
-	w2_s_i_battery battery;
+/** i/o module main */
+void w2_io_main();
 
-	w2_s_o_motor motor_left;
-	w2_s_o_motor motor_right;
-	w2_s_o_led led_red;
-	w2_s_o_led led_green;
-	w2_s_o_display lcd;
-} w2_io_all;
+/** global struct containing all i/o */
+extern w2_s_io_all g_w2_io;
diff --git a/robot/mode_dirc.c b/robot/mode_dirc.c
index 0bbf3cb..9ed9fef 100644
--- a/robot/mode_dirc.c
+++ b/robot/mode_dirc.c
@@ -1,7 +1,10 @@
 #include "mode_dirc.h"
-#include "orangutan_shim.h"
+#include "io.h"
 
 int16_t g_w2_mode_dirc_motor_l = 0;
 int16_t g_w2_mode_dirc_motor_r = 0;
 
-void w2_mode_dirc() { set_motors(g_w2_mode_dirc_motor_l, g_w2_mode_dirc_motor_r); }
+void w2_mode_dirc() {
+	g_w2_io.motor_left.speed  = g_w2_mode_dirc_motor_l;
+	g_w2_io.motor_right.speed = g_w2_mode_dirc_motor_r;
+}
diff --git a/robot/setup.c b/robot/setup.c
index 06c8fa4..2c426a3 100644
--- a/robot/setup.c
+++ b/robot/setup.c
@@ -16,10 +16,6 @@ void w2_setup_main() {
 	// check endianness
 	g_w2_endianness = *_ptest;
 
-	// reset underside leds
-	red_led(0);
-	green_led(0);
-
 	// clear lcd
 	clear();