From ec9431bf6cf8b7ba9aec46267d89481945e58ddb Mon Sep 17 00:00:00 2001
From: Cole Deck <cole@deck.sh>
Date: Sat, 23 Sep 2023 21:07:07 -0500
Subject: [PATCH] Update serialctl packet to include right stick

---
 src/main.cpp | 12 ++++++++++--
 src/packet.h |  2 ++
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index dced0df..214f7a3 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -101,6 +101,7 @@ int left_cooldown = 0;
 int right_cooldown = 0;
 int olddisplay = 99999; // guarantee a change when first value comes in
 
+// motor indeces for set_motor() function
 #define FLSTEER 1
 #define FRSTEER 2
 #define BLSTEER 3
@@ -844,7 +845,14 @@ void loop() {
   } else
     fb = appjoystick->getFeedback();*/
   
-  int zeroed_power =    -1 * ((int)(astate->stickX) - 127);
+  int zeroed_lx =    -1 * ((int)(astate->stickX) - 127);
+  int zeroed_ly =      ((int)(astate->stickY) - 127);
+  int zeroed_rx =    -1 * ((int)(astate->stickRX) - 127);
+  int zeroed_ry =      ((int)(astate->stickRY) - 127);
+
+
+  // Goliath / 2 side arcade tank drive code below
+  /*int zeroed_power =    -1 * ((int)(astate->stickX) - 127);
   int zeroed_turn =      ((int)(astate->stickY) - 127);
   
   
@@ -922,7 +930,7 @@ void loop() {
   //drive_right(right_enabled, right_power);
   //drive_left(left_enabled, -left_power);
   SerComm.println(" L: " + String(left_power) + " LT: " + String(target_left_power) + " R: " + String(right_power) + " RT: " + String(target_right_power) + " MEM FREE: "+ String(rp2040.getFreeHeap()));
-
+  */
   //if(left_power != target_left_power || right_power != target_right_power)
 
   
diff --git a/src/packet.h b/src/packet.h
index 0932e26..becb448 100644
--- a/src/packet.h
+++ b/src/packet.h
@@ -15,4 +15,6 @@ uint8_t stickY;
 uint8_t btnhi;
 uint8_t btnlo;
 uint16_t cksum;
+uint8_t stickRX; // add right stick, without changieng existing var names or ordering
+uint8_t stickRY; 
 } packet_t;