- ARM_STEP_DEG 8 -> 3 and a dedicated ARM_MIN_GAP_MS of 60, so the arm
tracks the trigger instead of jumping between targets. Speed and spans
left as they were.
- hub1 port B is the tilt motor, C is the turn motor - swapped from what
the first build assumed.
- Zero the arm encoders once per boot rather than on every reconnect. The
hub keeps its preset, and re-zeroing mid-session would redefine zero at
whatever position the arms were in when the link dropped.
Trigger position now sets arm ANGLE rather than power, via
setAbsoluteMotorPosition with BrakingStyle::HOLD. Encoders are zeroed on
hub1 connect, so both arms must be down at that moment.
Spans measured with tools/arm_calibrate: roughly +280 left, -275 right,
both comfortably under one motor revolution so the absolute encoder is
unambiguous. Set to +/-250 to keep backlash clear of the end stop.
L3/R3 are no longer bound - releasing the trigger is lowering.
Also documents the async-init trap in serviceHub.
- Correct hub1 port map: A is the left arm, C is the head tilt.
- Arms: L2/R2 raise proportionally, L3/R3 lower at reduced power.
- Head turn onto L1/R1, head tilt onto d-pad left/right, body lift onto
d-pad up/down. All move while held.
- Square is now the panic stop; Cross toggles 50/100% track speed.
- Circle and Triangle toggle two GPIO LED circuits on pins 25 and 26.
- Latching controls are edge-detected; frames arrive at ~50Hz so a held
button would otherwise toggle continuously.
- Swap HUB0/HUB1 addresses; they were the wrong way round.
- Add DIR_* constants for all seven motors, with DIR_RIGHT_TRACK at -1.
- Swap the right arm buttons: Cross raises, Triangle lowers.
- Move struct Frame into the types block - the Arduino prototype
generator needs it declared above the first function definition.
- Pin core 2.0.17 in the header; 3.x will not build Legoino.
- Parse the extended frame (d-pad and analog triggers).
- Drive both hubs across all seven ports, one input per motor.
- Add a per-hub rate limit alongside the per-port one; hub1 has four
motors and the per-port throttle alone floods it.
- DEBUG_MOTORS flag to log which port each command lands on.
jessikitty