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Add Enable Lock #1

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Add Enable Lock #1

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9 changes: 7 additions & 2 deletions libraries/RobotOpen/RobotOpen.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@ static unsigned int _outgoingPacketSize = 1;

// Robot specific stuff
static boolean _enabled = false; // Tells us if the robot is enabled or disabled
static boolean _enable_lock = false;
static unsigned long _lastPacket = 0; // Keeps track of the last time (ms) we received data
static unsigned long _lastTimedLoop = 0; // Keeps track of the last time the timed loop ran
static unsigned long _lastDSLoop = 0; // Keeps track of the last time we published DS data
Expand Down Expand Up @@ -185,15 +186,15 @@ void RobotOpenClass::syncDS() {
wdt_reset();

// detect disconnect
if ((millis() - _lastPacket) > 200) { // Disable the robot, drop the connection
if ((millis() - _lastPacket) > 200 && !_enable_lock) { // Disable the robot, drop the connection
_enabled = false;
// NO CONNECTION
if (!firstEnableLoop) {
onDisable();
firstEnableLoop = true;
}
}
else if (_enabled == true) {
else if (_enabled == true || _enable_lock) {
// ENABLED
if (firstEnableLoop) {
// 'wakes up' the shields so they show enable state
Expand Down Expand Up @@ -505,6 +506,10 @@ boolean RobotOpenClass::enabled() {
return _enabled;
}

void RobotOpenClass::enableLock(boolean lock) {
_enable_lock = lock;
}

int RobotOpenClass::numJoysticks() {
return _total_joysticks;
}
2 changes: 2 additions & 0 deletions libraries/RobotOpen/RobotOpen.h
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,8 @@ class RobotOpenClass {
// Tells us if the robot is enabled
static boolean enabled();

static void enableLock(boolean lock);

// How many joysticks are being received
static int numJoysticks();

Expand Down