Create Command<->Control reference doc

Control/ref/command.cpp

@@ -0,0 +1,39 @@
+#include <Arduino.h>
+#include <ArduinoJson.h>
+#include <string>
+
+#define WebSocket 0
+int batteryVoltage, totalTripDistance, currentHeading, current_x, current_y, signal_strength, lastCompletedCommand_id; // Info Command ==> Control
+int command_id, mode, reqHeading, reqDistance, reqSpeed, reqCharge; // Info Control ==> Command
+
+void setup() {}
+
+void loop()
+{
+	DynamicJsonDocument rdoc(1024); // receive doc, not sure how big this needs to be
+	deserializeJson(rdoc, WebSocket); // Take JSON input from WebSocket
+	batteryVoltage =  rdoc["bV"];
+	totalTripDistance = rdoc["tD"];
+	currentHeading = rdoc["cH"];
+	current_x = rdoc["pos"][0];
+	current_y = rdoc["pos"][1];
+	signal_strength = rdoc["rssi"];
+	lastCompletedCommand_id = rdoc["LCCid"];
+
+	// ResetTelemetry / STOP / M 0 50 1 / C %
+	// [20] Heading: 0, Distance: 50, Speed: 1 / [20] Charging to: ??%
+	// {"Cid":20,"rH":0,}
+
+	DynamicJsonDocument tdoc(1024); // transmit doc, not sure how big this needs to be
+	tdoc["Cid"] = command_id;
+	tdoc["mode"] = mode;	// Switch (mode):
+							// -1 = Add to queue, reset x/y/odometer (telemetry data)
+							//  0 = Stop immediately, clear command cache
+							//  1 = Normal movement command, added to end of command cache
+							//  2 = Normal charge command, results in no motion, added to end of command cache
+	tdoc["rH"] = reqHeading;
+	tdoc["rD"] = reqDistance;
+	tdoc["rS"] = reqSpeed;
+	tdoc["rC"] = reqCharge;
+	serializeJson(tdoc, WebSocket, WebSocket); // Build JSON and send on UART1
+}