osiu97
63 lines
1.6 KiB
C++
63 lines
1.6 KiB
C++
/**
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* WijiBoard – BLE Stepper Controller Firmware
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* src/main.cpp
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*
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* Refactored modular architecture.
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*/
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#include <Arduino.h>
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#include "Config.h"
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#include "BleManager.h"
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#include "MotorController.h"
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#include "StatusLed.h"
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#include "CommandParser.h"
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BleManager bleManager;
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MotorController motorController;
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StatusLed statusLed;
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CommandParser commandParser(motorController, bleManager);
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unsigned long lastNotify = 0;
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void onCommandReceived(const String &cmd) {
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commandParser.parse(cmd);
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}
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void onIdleTimeout() {
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bleManager.notifyMessage("SYS:IDLE_TIMEOUT");
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}
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void setup() {
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Serial.setTxTimeoutMs(0);
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Serial.begin(115200);
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delay(1000); // Wait for USB CDC to enumerate
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Serial.println("\n[BOOT] WijiBoard Stepper Controller");
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statusLed.init();
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motorController.init();
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motorController.setOnTimeoutCallback(onIdleTimeout);
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bleManager.init(onCommandReceived);
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}
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void loop() {
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static bool wasMoving = false;
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motorController.update();
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bool isMoving = motorController.isMoving();
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statusLed.update(bleManager.isConnected(), isMoving);
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if (bleManager.isConnected()) {
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unsigned long now = millis();
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// Notify periodically while moving, or once when stopping
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if (isMoving && (now - lastNotify >= NOTIFY_INTERVAL_MS)) {
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lastNotify = now;
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bleManager.notifyPosition(motorController.getPositionString());
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} else if (wasMoving && !isMoving) {
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// Just stopped moving
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bleManager.notifyPosition(motorController.getPositionString());
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}
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}
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wasMoving = isMoving;
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}
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