From b6cbfc7619d9aef35fb6d8fab19b1c815c5fd441 Mon Sep 17 00:00:00 2001
From: Aadi Desai <21363892+supleed2@users.noreply.github.com>
Date: Sun, 13 Jun 2021 21:24:38 +0100
Subject: [PATCH] Add ability to pause rover for a defined time to reference
 doc

---
 Control/ref/command.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/Control/ref/command.cpp b/Control/ref/command.cpp
index 3a014df..570c8aa 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; // Info Command ==> Control
+int command_id, mode, reqHeading, reqDistance, reqCharge, reqTime; // Info Command ==> Control
 float reqSpeed; // Info Command ==> Control
 
 void setup() {}
@@ -36,9 +36,11 @@ void loop()
 							//  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
+							//  3 = Pause command, wait for defined time in seconds, added to end of command cache
 	tdoc["rH"] = reqHeading;
 	tdoc["rD"] = reqDistance;
 	tdoc["rS"] = reqSpeed;
 	tdoc["rC"] = reqCharge;
+	tdoc["pSt"] = reqTime;
 	serializeJson(tdoc, WebSocket, WebSocket); // Build JSON and send on UART1
 }