From 2bb9f3d672d3f664dc3f77c3a4cbaecf33f3a915 Mon Sep 17 00:00:00 2001
From: Fisch <interfisch@gmx.net>
Date: Mon, 28 Mar 2022 21:49:19 +0200
Subject: [PATCH] more functions needed for hoverbrett

---
 src/hoverboard-esc-serial-comm.cpp | 14 ++++++++++++++
 src/hoverboard-esc-serial-comm.h   |  5 ++++-
 2 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/src/hoverboard-esc-serial-comm.cpp b/src/hoverboard-esc-serial-comm.cpp
index 60caf07..3b99bab 100644
--- a/src/hoverboard-esc-serial-comm.cpp
+++ b/src/hoverboard-esc-serial-comm.cpp
@@ -7,11 +7,25 @@ ESCSerialComm::ESCSerialComm(HardwareSerial &_serialRef) { //constructor
     wheelcircumference=0.5278; //8.4cm radius -> 0.084m*2*Pi
 }
 
+void ESCSerialComm::init() {
+    serialRef->begin(SERIAL_CONTROL_BAUD);
+}
+
 void ESCSerialComm::setSpeed(int16_t uSpeedLeft, int16_t uSpeedRight)
 {
     Motorparams.cmdL=uSpeedLeft;
     Motorparams.cmdR=uSpeedRight;
 }
+int16_t ESCSerialComm::getCmdL() {
+    return Motorparams.cmdL;
+}
+int16_t ESCSerialComm::getCmdR() {
+    return Motorparams.cmdR;
+}
+
+bool ESCSerialComm::sendPending(long millis) {
+    return (millis - last_send > SENDPERIOD);
+}
 
 bool ESCSerialComm::update(long millis) //returns true if something was sent or received
 {
diff --git a/src/hoverboard-esc-serial-comm.h b/src/hoverboard-esc-serial-comm.h
index bded846..4793be9 100644
--- a/src/hoverboard-esc-serial-comm.h
+++ b/src/hoverboard-esc-serial-comm.h
@@ -8,7 +8,6 @@ int sort_desc(const void *cmp1, const void *cmp2);
 float filterMedian(int16_t* values);
 
 #define SERIAL_CONTROL_BAUD   115200       // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
-#define SERIAL_BAUD         115200      // [-] Baud rate for built-in Serial (used for the Serial Monitor)
 #define START_FRAME         0xABCD       // [-] Start frme definition for reliable serial communication
 
 
@@ -74,9 +73,13 @@ class ESCSerialComm
 {
   public:
     ESCSerialComm(HardwareSerial& _SerialRef); //constructor
+    void init();
     bool update(long millis);
     bool feedbackAvailable();
     void setSpeed(int16_t uSpeedLeft, int16_t uSpeedRight);
+    int16_t getCmdL();
+    int16_t getCmdR();
+    bool sendPending(long millis);
 
   private:
     unsigned long loopmillis;