#include <fly_sky.hpp>

Inheritance diagram for fang::remote::FlySky:

Collaboration diagram for fang::remote::FlySky:

Public Types
enum class	Channel { rightHorizontal = 0 , rightVertical = 1 , leftVertical = 2 , leftHorizontal = 3 , wheelA = 4 , wheelB = 5 , switchC = 6 , switchD = 7 , switchA = 8 , switchB = 9 }

enum class	Switch { A , B , C , D , wheelA , wheelB }

using	TapRemote = tap::communication::serial::Remote

using	ChannelValues = std::array< double, communication::ibus::kChannelCount >

Public Member Functions
	FlySky (tap::control::CommandMapper &commandMapper, coolSerial::ByteQueue &byteQueue)

void	update ()

void	channelDataFound (const communication::ibus::ChannelData &channelData)

TapRemote::SwitchState	getTaprootSwitch (TapRemote::Switch switchId) const

TapRemote::SwitchState	getSwitch (Switch switchId) const

double	getChannel (Channel channel) const

Detailed Description

Based off of the information here https://github.com/GOFIRST-Robotics/northstar-robomaster/blob/main/northstar-robomaster-project/src/communication/serial/fly_sky.hpp

Note that Switch B updates the commandMappe LEFT_SWICH and Switch C updates the RIGHT_SWITCH WARNING: switch A, B, and D can only be up or down, switch C is the only one that can have a center option.

TODO: Consider combining switch A and B to provide for up, middle, and down, then a 4th default state

Member Typedef Documentation

◆ ChannelValues

using fang::remote::FlySky::ChannelValues = std::array<double, communication::ibus::kChannelCount>

◆ TapRemote

using fang::remote::FlySky::TapRemote = tap::communication::serial::Remote

Member Enumeration Documentation

◆ Channel

enum class fang::remote::FlySky::Channel

strong

Enumerator
rightHorizontal
rightVertical
leftVertical
leftHorizontal
wheelA
wheelB
switchC
switchD
switchA
switchB

◆ Switch

enum class fang::remote::FlySky::Switch

strong

Note: the reason we are breaking away from the normal enum class naming convention is because they are single letters

Switch::A looks clearer than Switch::a

k is not needed for it is an enum class

Switch::switchA just looks redundant

Enumerator
A
B
C
D
wheelA
wheelB

Constructor & Destructor Documentation

◆ FlySky()

fang::remote::FlySky::FlySky	(	tap::control::CommandMapper &	commandMapper,
		coolSerial::ByteQueue &	byteQueue
	)

The commandMapper is what listens for remoteStateChanges in order to know what mappings to trigger generally, you are using the one in the Drivers singleton. (As much as taproot locked some architectural elements to use drivers everywhere, requiring a singleton CommandMaper CommandScheduler, this code is designed to use only what it needs for ease of testing and minimizing coupling.)

Member Function Documentation

◆ channelDataFound()

void fang::remote::FlySky::channelDataFound ( const communication::ibus::ChannelData & channelData )

virtual

Implements fang::communication::ibus::IChannelDataFoundListener.

◆ getChannel()

double fang::remote::FlySky::getChannel ( Channel channel ) const

◆ getSwitch()

FlySky::TapRemote::SwitchState fang::remote::FlySky::getSwitch ( Switch switchId ) const

This can access all switches

◆ getTaprootSwitch()

FlySky::TapRemote::SwitchState fang::remote::FlySky::getTaprootSwitch ( TapRemote::Switch switchId ) const

This is required to inform the command mapper of switch state changes.

It can only access switch B and switch C (LEFT_SWITCH and RIGHT_SWITCH) respectively

◆ update()

void fang::remote::FlySky::update ( )

The documentation for this class was generated from the following files:

fang-mcb-project/src/driver/remote/fly_sky.hpp
fang-mcb-project/src/driver/remote/fly_sky.cpp

Public Types

Public Member Functions