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#include <Zumo32U4.h>
#include <Arduino.h>
#include <Wire.h>
#include "protocol.h"
#include "pid.h"
#define DUI_PINOUT_NICLA_TX 13
#define DUI_PINOUT_NICLA_RX 14
dui_state_t g_dui_target_state = {
.steer = 1.0f,
.speed = 1.0f,
.current_sign = DUI_SIGN_NONE,
.speed_mod = 1.f,
};
dui_state_t g_dui_current_state = {
.steer = 0.f,
.speed = 1.f,
.current_sign = DUI_SIGN_NONE,
.speed_mod = 1.f,
};
void setup() {
pinMode(DUI_PINOUT_NICLA_TX, OUTPUT);
pinMode(DUI_PINOUT_NICLA_RX, INPUT_PULLUP);
}
void loop() {
unsigned char cmd = 0x00;
while ((cmd = uart_read()))
handle_cmd(cmd, &g_dui_target_state);
apply_pid(&g_dui_target_state, &g_dui_current_state);
apply_state(&g_dui_current_state);
}
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