From 8353103e1ff6183630f6722d9f5dfd2a2755e0a1 Mon Sep 17 00:00:00 2001
From: Aadi Desai <21363892+supleed2@users.noreply.github.com>
Date: Tue, 15 Jun 2021 08:55:42 +0100
Subject: [PATCH] Add colour selection to Command<->Control reference doc

---
 Control/ref/command.cpp | 4 +++-
 Control/src/main.cpp    | 2 +-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/Control/ref/command.cpp b/Control/ref/command.cpp
index 9360b9a..8556faf 100644
--- a/Control/ref/command.cpp
+++ b/Control/ref/command.cpp
@@ -5,7 +5,7 @@
 #define WebSocket 0
 int state, totalTripDistance, currentHeading, current_x, current_y, signal_strength, lastCompletedCommand_id; // Info Control ==> Command
 float batteryVoltage, batteryLevel, batteryCycles; // Info Control ==> Command
-int command_id, mode, reqHeading, reqDistance, reqCharge, reqTime; // Info Command ==> Control
+int command_id, mode, reqHeading, reqDistance, reqCharge, reqTime, reqColour; // Info Command ==> Control
 float reqSpeed; // Info Command ==> Control
 
 void setup() {}
@@ -37,10 +37,12 @@ void loop()
 							//  1 = Normal movement command, added to end of command cache
 							//  2 = Normal charge command, results in no motion, added to end of command cache
 							//  3 = Pause command, wait for defined time in seconds, added to end of command cache
+							//  4 = Change colour tracking using Vision
 	tdoc["rH"] = reqHeading;
 	tdoc["rD"] = reqDistance;
 	tdoc["rS"] = reqSpeed;
 	tdoc["rC"] = reqCharge;
 	tdoc["pSt"] = reqTime;
+	tdoc["col"] = reqColour;
 	serializeJson(tdoc, WebSocket, WebSocket); // Build JSON and send on UART1
 }
diff --git a/Control/src/main.cpp b/Control/src/main.cpp
index 06a9a49..9ab6ba8 100644
--- a/Control/src/main.cpp
+++ b/Control/src/main.cpp
@@ -202,7 +202,7 @@ void loop()
 			case INSTR_COLOUR:
 			{
 				Status = CS_IDLE;
-				colour = instr->colour;
+				colour = (Colour_t)instr->colour;
 			}
 			break;
 			default: