vesc control

platformio.ini

@@ -85,6 +85,7 @@ build_flags =
   -DDEVICE_PREFIX=bobbyquad
   -DFEATURE_WEBSERVER
   -DFEATURE_3WIRESW
+  -DGLUMP_CONTROLLER
   -DPINS_3WIRESW_OUT=0
   -DPINS_3WIRESW_IN1=16
   -DPINS_3WIRESW_IN2=27
@@ -198,6 +199,7 @@ build_flags =
   ${peters_platine.build_flags}
   ${default_limits.build_flags}
   -DDEVICE_PREFIX=bobbyquad
+  -DVESC_CONTROLLER
   -DFEATURE_WEBSERVER
 ;  -DFEATURE_3WIRESW
 ;  -DPINS_3WIRESW_OUT=0

src/changevaluedisplay.h

@@ -137,8 +137,10 @@ void ChangeValueDisplay<Tvalue>::confirm()
 
 #include "changevaluedisplay_bool.h"
 #include "changevaluedisplay_bluetoothmode.h"
+#ifdef GLUMP_CONTROLLER
 #include "changevaluedisplay_controlmode.h"
 #include "changevaluedisplay_controltype.h"
 #include "changevaluedisplay_larsmmode_mode.h"
+#endif
 #include "changevaluedisplay_wifi_mode_t.h"
 #include "changevaluedisplay_wifi_power_t.h"

src/changevaluedisplay_controlmode.h

@@ -8,6 +8,7 @@
 #include "icons/back.h"
 #include "texts.h"
 
+#ifdef GLUMP_CONTROLLER
 namespace {
 template<>
 class ChangeValueDisplay<ControlMode> :
@@ -62,3 +63,4 @@ void ChangeValueDisplay<ControlMode>::itemPressed(int index)
     triggered();
 }
 }
+#endif

src/changevaluedisplay_controltype.h

@@ -8,6 +8,7 @@
 #include "icons/back.h"
 #include "texts.h"
 
+#ifdef GLUMP_CONTROLLER
 namespace {
 template<>
 class ChangeValueDisplay<ControlType> :
@@ -58,3 +59,4 @@ void ChangeValueDisplay<ControlType>::itemPressed(int index)
     triggered();
 }
 }
+#endif

src/changevaluedisplay_larsmmode_mode.h

@@ -9,6 +9,7 @@
 #include "texts.h"
 #include "modes/larsmmode.h"
 
+#ifdef GLUMP_CONTROLLER
 namespace {
 template<>
 class ChangeValueDisplay<LarsmModeMode> :
@@ -63,3 +64,4 @@ void ChangeValueDisplay<LarsmModeMode>::itemPressed(int index)
     triggered();
 }
 }
+#endif

src/controller.h

@@ -2,13 +2,19 @@
 
 #include <functional>
 
+#include <Arduino.h>
+#include <WString.h>
+
 #include "bobbycar-protocol/protocol.h"
 
 #include "feedbackparser.h"
+#include "VescUartControl-VESC6/VescUart.h"
 
 class HardwareSerial;
 
 namespace {
+#ifdef GLUMP_CONTROLLER
+
 struct Controller {
     Controller(HardwareSerial &serial, bool &enableLeft, bool &enableRight, bool &invertLeft, bool &invertRight) :
         serial{serial}, enableLeft{enableLeft}, enableRight{enableRight}, invertLeft{invertLeft}, invertRight{invertRight}
@@ -25,4 +31,37 @@ struct Controller {
 
     FeedbackParser parser{serial, feedbackValid, feedback};
 };
+#endif
+
+#ifdef VESC_CONTROLLER
+struct VescController {
+  VescController(HardwareSerial &serial, bool &enable) :
+        serial{serial}, enable{enable}
+    {
+    }
+
+    std::reference_wrapper<HardwareSerial> serial;
+    bool &enable;
+
+    bldcMeasure values;
+
+    float pwm = 0;
+
+//    Command command{};
+//
+//    bool feedbackValid{};
+//    Feedback feedback{};
+//
+//    FeedbackParser parser{serial, feedbackValid, feedback};
+
+    void update() {
+      SetSerialPort(&serial.get());
+      SetDebugSerialPort(NULL);
+
+      VescUartGetValue(values);
+
+      Serial.println(String{"Duty now "} + values.dutyNow);
+    }
+};
+#endif
 }

src/debugcolorhelpers.h

@@ -3,6 +3,7 @@
 #include "colorinterface.h"
 #include "globals.h"
 
+#ifdef GLUMP_CONTROLLER
 namespace {
 template<Controller &Tcontroller, int TsuccessColor>
 class FeedbackColor : public virtual ColorInterface { public: int color() const { return Tcontroller.feedbackValid ? TsuccessColor : TFT_RED; } };
@@ -13,3 +14,4 @@ using FrontFeedbackColor = FeedbackColor<front, TsuccessColor>;
 template<int TsuccessColor>
 using BackFeedbackColor = FeedbackColor<back, TsuccessColor>;
 }
+#endif

src/debugtexthelpers.h

@@ -4,6 +4,7 @@
 #include "globals.h"
 #include "utils.h"
 
+#ifdef GLUMP_CONTROLLER
 namespace {
 template<Controller &controller>
 struct ControllerTexts
@@ -88,3 +89,4 @@ struct ControllerTexts
 using FrontTexts = ControllerTexts<front>;
 using BackTexts = ControllerTexts<back>;
 }
+#endif

src/displays/calibratedisplay.h

@@ -38,7 +38,13 @@ public:
 private:
     const bool m_bootup{false};
     ModeInterface *m_oldMode;
-    IgnoreInputMode m_mode{0, ControlType::FieldOrientedControl, ControlMode::Torque};
+    IgnoreInputMode m_mode{
+      0,
+#ifdef GLUMP_CONTROLLER
+      ControlType::FieldOrientedControl,
+      ControlMode::Torque
+#endif
+    };
 
     std::array<Label, 4> m_labels {{
         Label{25, 50}, // 100, 23
@@ -104,14 +110,24 @@ void CalibrateDisplay::stop()
 void CalibrateDisplay::back()
 {
     if (!m_bootup)
+#ifdef GLUMP_CONTROLLER
         switchScreen<BoardcomputerHardwareSettingsMenu>();
+#endif
+#ifdef VESC_CONTROLLER
+        switchScreen<StatusDisplay>();
+#endif
 }
 
 void CalibrateDisplay::triggered()
 {
+#ifdef GLUMP_CONTROLLER
     if (m_bootup)
         switchScreen<StatusDisplay>();
     else
         switchScreen<BoardcomputerHardwareSettingsMenu>();
+#endif
+#ifdef VESC_CONTROLLER
+    switchScreen<StatusDisplay>();
+#endif
 }
 }

src/displays/lockscreen.h

@@ -50,7 +50,13 @@ private:
     int m_rotated;
 
     ModeInterface *m_oldMode;
-    IgnoreInputMode m_mode{0, ControlType::FieldOrientedControl, ControlMode::Speed};
+    IgnoreInputMode m_mode{
+      0,
+#ifdef GLUMP_CONTROLLER
+      ControlType::FieldOrientedControl,
+      ControlMode::Speed
+#endif
+    };
 };
 
 void Lockscreen::start()

src/displays/menus/buzzermenu.h

@@ -13,6 +13,7 @@
 #include "globals.h"
 #include "settingsaccessors.h"
 
+#ifdef GLUMP_CONTROLLER
 namespace {
 class BuzzerMenu;
 class SettingsMenu;
@@ -102,3 +103,4 @@ class BuzzerMenu :
     >
 {};
 }
+#endif

src/displays/menus/commanddebugmenu.h

@@ -10,6 +10,7 @@
 #include "texts.h"
 #include "debugtexthelpers.h"
 
+#ifdef GLUMP_CONTROLLER
 namespace {
 class DebugMenu;
 }
@@ -32,3 +33,4 @@ class CommandDebugMenu :
 class FrontCommandDebugMenu : public CommandDebugMenu<TEXT_FRONTCOMMAND, FrontTexts> {};
 class BackCommandDebugMenu : public CommandDebugMenu<TEXT_BACKCOMMAND, BackTexts> {};
 }
+#endif

src/displays/menus/controllerhardwaresettingsmenu.h

@@ -56,7 +56,9 @@ class ControllerHardwareSettingsMenu :
         makeComponent<MenuItem, StaticText<TEXT_WHEELDIAMETERMM>,   SwitchScreenAction<WheelDiameterMmChangeScreen>>,
         makeComponent<MenuItem, StaticText<TEXT_WHEELDIAMETERINCH>, SwitchScreenAction<WheelDiameterInchChangeScreen>>,
         makeComponent<MenuItem, StaticText<TEXT_NUMMAGNETPOLES>,    SwitchScreenAction<NumMagnetPolesChangeScreen>>,
+#ifdef GLUMP_CONTROLLER
         makeComponent<MenuItem, StaticText<TEXT_SWAPFRONTBACK>,     ToggleBoolAction, CheckboxIcon, SwapFrontBackAccessor>,
+#endif
         makeComponent<MenuItem, StaticText<TEXT_BACK>,              SwitchScreenAction<SettingsMenu>, StaticMenuItemIcon<&icons::back>>
     >
 {};

src/displays/menus/debugmenu.h

@@ -17,6 +17,7 @@
 
 namespace {
 class MainMenu;
+#ifdef GLUMP_CONTROLLER
 class FrontCommandDebugMenu;
 class BackCommandDebugMenu;
 class FrontLeftMotorStateDebugMenu;
@@ -29,6 +30,7 @@ class FrontLeftMotorFeedbackDebugMenu;
 class FrontRightMotorFeedbackDebugMenu;
 class BackLeftMotorFeedbackDebugMenu;
 class BackRightMotorFeedbackDebugMenu;
+#endif
 class DynamicDebugMenu;
 }
 
@@ -41,6 +43,7 @@ class DebugMenu :
         makeComponent<MenuItem, StaticText<TEXT_LOADSETTINGS>,         LoadSettingsAction>,
         makeComponent<MenuItem, StaticText<TEXT_SAVESETTINGS>,         SaveSettingsAction>,
         makeComponent<MenuItem, StaticText<nullptr>,                   DummyAction>,
+#ifdef GLUMP_CONTROLLER
         makeComponent<MenuItem, StaticText<TEXT_FRONTCOMMAND>,         SwitchScreenAction<FrontCommandDebugMenu>>,
         makeComponent<MenuItem, StaticText<TEXT_BACKCOMMAND>,          SwitchScreenAction<BackCommandDebugMenu>>,
         makeComponent<MenuItem, StaticText<nullptr>,                   DummyAction>,
@@ -56,6 +59,7 @@ class DebugMenu :
         makeComponent<MenuItem, StaticText<TEXT_FRONTRIGHTFEEDBACK>,   SwitchScreenAction<FrontRightMotorFeedbackDebugMenu>, FrontFeedbackColor<TFT_WHITE>>,
         makeComponent<MenuItem, StaticText<TEXT_BACKLEFTFEEDBACK>,     SwitchScreenAction<BackLeftMotorFeedbackDebugMenu>, BackFeedbackColor<TFT_WHITE>>,
         makeComponent<MenuItem, StaticText<TEXT_BACKRIGHTFEEDBACK>,    SwitchScreenAction<BackRightMotorFeedbackDebugMenu>, BackFeedbackColor<TFT_WHITE>>,
+#endif
         makeComponent<MenuItem, StaticText<nullptr>,                   DummyAction>,
         makeComponent<MenuItem, StaticText<TEXT_DYNAMICMENU>,          SwitchScreenAction<DynamicDebugMenu>>,
         makeComponent<MenuItem, StaticText<TEXT_BACK>,                 SwitchScreenAction<MainMenu>, StaticMenuItemIcon<&icons::back>>

src/displays/menus/defaultmodesettingsmenu.h

@@ -18,6 +18,7 @@ class ModesSettingsMenu;
 }
 
 namespace {
+#ifdef GLUMP_CONTROLLER
 using DefaultModeCtrlTypChangeDisplay = makeComponent<
     ChangeValueDisplay<ControlType>,
     StaticText<TEXT_SETCONTROLTYPE>,
@@ -32,6 +33,7 @@ using DefaultModeCtrlModChangeDisplay = makeComponent<
     BackActionInterface<SwitchScreenAction<DefaultModeSettingsMenu>>,
     SwitchScreenAction<DefaultModeSettingsMenu>
 >;
+#endif
 using DefaultModeSmoothingChangeDisplay = makeComponent<
     ChangeValueDisplay<int16_t>,
     StaticText<TEXT_SETSMOOTHING>,
@@ -39,6 +41,7 @@ using DefaultModeSmoothingChangeDisplay = makeComponent<
     BackActionInterface<SwitchScreenAction<DefaultModeSettingsMenu>>,
     SwitchScreenAction<DefaultModeSettingsMenu>
 >;
+#ifdef GLUMP_CONTROLLER
 using DefaultModeFrontPercentageChangeDisplay = makeComponent<
     ChangeValueDisplay<int16_t>,
     StaticText<TEXT_SETFRONTPERCENTAGE>,
@@ -53,6 +56,7 @@ using DefaultModeBackPercentageChangeDisplay = makeComponent<
     BackActionInterface<SwitchScreenAction<DefaultModeSettingsMenu>>,
     SwitchScreenAction<DefaultModeSettingsMenu>
 >;
+#endif
 using DefaultModeAddSchwelleChangeDisplay = makeComponent<
     ChangeValueDisplay<int16_t>,
     StaticText<TEXT_SETADDSCHWELLE>,
@@ -94,12 +98,16 @@ class DefaultModeSettingsMenu :
     public StaticText<TEXT_DEFAULTMODESETTIGNS>,
     public BackActionInterface<SwitchScreenAction<ModesSettingsMenu>>,
     public StaticMenuDefinition<
+#ifdef GLUMP_CONTROLLER
         makeComponent<MenuItem, StaticText<TEXT_SETCONTROLTYPE>,     SwitchScreenAction<DefaultModeCtrlTypChangeDisplay>>,
         makeComponent<MenuItem, StaticText<TEXT_SETCONTROLMODE>,     SwitchScreenAction<DefaultModeCtrlModChangeDisplay>>,
+#endif
         makeComponent<MenuItem, StaticText<TEXT_ENABLESMOOTHING>,     ToggleBoolAction, CheckboxIcon, DefaultModeEnableSmoothingAccessor>,
         makeComponent<MenuItem, StaticText<TEXT_SETSMOOTHING>,       SwitchScreenAction<DefaultModeSmoothingChangeDisplay>>,
+#ifdef GLUMP_CONTROLLER
         makeComponent<MenuItem, StaticText<TEXT_SETFRONTPERCENTAGE>, SwitchScreenAction<DefaultModeFrontPercentageChangeDisplay>>,
         makeComponent<MenuItem, StaticText<TEXT_SETBACKPERCENTAGE>,  SwitchScreenAction<DefaultModeBackPercentageChangeDisplay>>,
+#endif
         makeComponent<MenuItem, StaticText<TEXT_SETADDSCHWELLE>,     SwitchScreenAction<DefaultModeAddSchwelleChangeDisplay>>,
         makeComponent<MenuItem, StaticText<TEXT_SETGAS1WERT>,        SwitchScreenAction<DefaultModeGas1WertChangeDisplay>>,
         makeComponent<MenuItem, StaticText<TEXT_SETGAS2WERT>,        SwitchScreenAction<DefaultModeGas2WertChangeDisplay>>,

src/displays/menus/enablemenu.h

@@ -21,11 +21,17 @@ class EnableMenu :
     public StaticText<TEXT_SETENABLED>,
     public BackActionInterface<SwitchScreenAction<ControllerHardwareSettingsMenu>>,
     public StaticMenuDefinition<
+#ifdef GLUMP_CONTROLLER
         makeComponent<MenuItem, StaticText<TEXT_ENABLEFRONTLEFT>,  ToggleBoolAction, CheckboxIcon, FrontLeftEnabledAccessor>,
         makeComponent<MenuItem, StaticText<TEXT_ENABLEFRONTRIGHT>, ToggleBoolAction, CheckboxIcon, FrontRightEnabledAccessor>,
         makeComponent<MenuItem, StaticText<TEXT_ENABLEBACKLEFT>,   ToggleBoolAction, CheckboxIcon, BackLeftEnabledAccessor>,
         makeComponent<MenuItem, StaticText<TEXT_ENABLEBACKRIGHT>,  ToggleBoolAction, CheckboxIcon, BackRightEnabledAccessor>,
+#endif
+#ifdef VESC_CONTROLLER
+        makeComponent<MenuItem, StaticText<TEXT_ENABLEBACKRIGHT>,  ToggleBoolAction, CheckboxIcon, OneEnabledAccessor>,
+        makeComponent<MenuItem, StaticText<TEXT_ENABLEBACKRIGHT>,  ToggleBoolAction, CheckboxIcon, TwoEnabledAccessor>,
+#endif
         makeComponent<MenuItem, StaticText<TEXT_BACK>,             SwitchScreenAction<ControllerHardwareSettingsMenu>, StaticMenuItemIcon<&icons::back>>
     >
 {};
-}
+}

src/displays/menus/feedbackdebugmenu.h

@@ -11,6 +11,7 @@
 #include "debugtexthelpers.h"
 #include "debugcolorhelpers.h"
 
+#ifdef GLUMP_CONTROLLER
 namespace {
 class DebugMenu;
 }
@@ -33,3 +34,4 @@ class FeedbackDebugMenu :
 
 class FrontFeedbackDebugMenu : public FeedbackDebugMenu<TEXT_FRONTFEEDBACK, FrontTexts, FrontFeedbackColor> {};
 class BackFeedbackDebugMenu : public FeedbackDebugMenu<TEXT_BACKFEEDBACK, BackTexts, FrontFeedbackColor> {}; }
+#endif

src/displays/menus/graphsmenu.h

@@ -21,8 +21,12 @@ using AvgSpeedGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_AVGS
 using AvgSpeedKmhGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_AVGSPEEDKMH>, MultiStatisticsSingleImpl, AvgSpeedKmhStatistics>;
 using SumCurrentGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_SUMCURRENT>, MultiStatisticsSingleImpl, SumCurrentStatistics>;
 using SumAbsoluteCurrentGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_SUMABSOLUTECURRENT>, MultiStatisticsSingleImpl, SumAbsoluteCurrentStatistics>;
+
+#ifdef GLUMP_CONTROLLER
 using FrontVoltageGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_FRONTVOLTAGE>, MultiStatisticsSingleImpl, FrontVoltageStatistics>;
 using BackVoltageGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_BACKVOLTAGE>, MultiStatisticsSingleImpl, BackVoltageStatistics>;
+#endif
+
 #ifdef FEATURE_BMS
 using BmsVoltageGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_BMSVOLTAGE>, MultiStatisticsSingleImpl, BmsVoltageStatistics>;
 using BmsCurrentGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_BMSCURRENT>, MultiStatisticsSingleImpl, BmsCurrentStatistics>;
@@ -37,7 +41,7 @@ class SumCurrentsComparisonStatistics : public virtual MultiStatisticsInterface<
 };
 using SumCurrentsComparisonGraphDisplay = makeComponent<GraphDisplay<2>, StaticText<TEXT_SUMCURRENTSCOMPARISON>, SumCurrentsComparisonStatistics>;
 #endif
-
+#ifdef GLUMP_CONTROLLER
 class MotorCurrentsStatistics : public virtual MultiStatisticsInterface<4>
 {
     std::array<std::reference_wrapper<const statistics::ContainerType>, 4> getBuffers() const override
@@ -46,6 +50,7 @@ class MotorCurrentsStatistics : public virtual MultiStatisticsInterface<4>
     }
 };
 using MotorCurrentsGraphDisplay = makeComponent<GraphDisplay<4>, StaticText<TEXT_MOTORCURRENTS>, MotorCurrentsStatistics>;
+#endif
 
 class GraphsMenu :
     public MenuDisplay,
@@ -58,15 +63,19 @@ class GraphsMenu :
         makeComponent<MenuItem, StaticText<TEXT_AVGSPEEDKMH>,           SwitchScreenAction<AvgSpeedKmhGraphDisplay>>,
         makeComponent<MenuItem, StaticText<TEXT_SUMCURRENT>,            SwitchScreenAction<SumCurrentGraphDisplay>>,
         makeComponent<MenuItem, StaticText<TEXT_SUMABSOLUTECURRENT>,    SwitchScreenAction<SumAbsoluteCurrentGraphDisplay>>,
+#ifdef GLUMP_CONTROLLER
         makeComponent<MenuItem, StaticText<TEXT_FRONTVOLTAGE>,          SwitchScreenAction<FrontVoltageGraphDisplay>>,
         makeComponent<MenuItem, StaticText<TEXT_BACKVOLTAGE>,           SwitchScreenAction<BackVoltageGraphDisplay>>,
+#endif
 #ifdef FEATURE_BMS
         makeComponent<MenuItem, StaticText<TEXT_BMSVOLTAGE>,            SwitchScreenAction<BmsVoltageGraphDisplay>>,
         makeComponent<MenuItem, StaticText<TEXT_BMSCURRENT>,            SwitchScreenAction<BmsCurrentGraphDisplay>>,
         makeComponent<MenuItem, StaticText<TEXT_BMSPOWER>,              SwitchScreenAction<BmsPowerGraphDisplay>>,
         makeComponent<MenuItem, StaticText<TEXT_SUMCURRENTSCOMPARISON>, SwitchScreenAction<SumCurrentsComparisonGraphDisplay>>,
 #endif
+#ifdef GLUMP_CONTROLLER
         makeComponent<MenuItem, StaticText<TEXT_MOTORCURRENTS>,         SwitchScreenAction<MotorCurrentsGraphDisplay>>,
+#endif
         makeComponent<MenuItem, StaticText<TEXT_DUALGRAPHS>,            SwitchScreenAction<DualGraphDisplay>>,
         makeComponent<MenuItem, StaticText<TEXT_BACK>,                  SwitchScreenAction<MainMenu>, StaticMenuItemIcon<&icons::back>>
     >

src/displays/menus/invertmenu.h

@@ -21,11 +21,17 @@ class InvertMenu :
     public StaticText<TEXT_SETINVERTED>,
     public BackActionInterface<SwitchScreenAction<ControllerHardwareSettingsMenu>>,
     public StaticMenuDefinition<
+#ifdef GLUMP_CONTROLLER
         makeComponent<MenuItem, StaticText<TEXT_INVERTFRONTLEFT>,  ToggleBoolAction, CheckboxIcon, FrontLeftInvertedAccessor>,
         makeComponent<MenuItem, StaticText<TEXT_INVERTFRONTRIGHT>, ToggleBoolAction, CheckboxIcon, FrontRightInvertedAccessor>,
         makeComponent<MenuItem, StaticText<TEXT_INVERTBACKLEFT>,   ToggleBoolAction, CheckboxIcon, BackLeftInvertedAccessor>,
         makeComponent<MenuItem, StaticText<TEXT_INVERTBACKRIGHT>,  ToggleBoolAction, CheckboxIcon, BackRightInvertedAccessor>,
+#endif
+#ifdef VESC_CONTROLLER
+        makeComponent<MenuItem, StaticText<TEXT_INVERTFRONTLEFT>,  ToggleBoolAction, CheckboxIcon, OneInvertedAccessor>,
+        makeComponent<MenuItem, StaticText<TEXT_INVERTFRONTRIGHT>, ToggleBoolAction, CheckboxIcon, TwoInvertedAccessor>,
+#endif
         makeComponent<MenuItem, StaticText<TEXT_BACK>,             SwitchScreenAction<ControllerHardwareSettingsMenu>, StaticMenuItemIcon<&icons::back>>
     >
 {};
-}
+}

src/displays/menus/larsmmodesettingsmenu.h

@@ -10,6 +10,7 @@
 #include "texts.h"
 #include "settingsaccessors.h"
 
+#ifdef GLUMP_CONTROLLER
 namespace {
 class LarsmModeSettingsMenu;
 class ModesSettingsMenu;
@@ -42,3 +43,4 @@ class LarsmModeSettingsMenu :
     >
 {};
 }
+#endif

src/displays/menus/mainmenu.h

@@ -38,7 +38,9 @@ class MainMenu :
     public BackActionInterface<SwitchScreenAction<StatusDisplay>>,
     public StaticMenuDefinition<
         makeComponent<MenuItem, StaticText<TEXT_STATUS>,      SwitchScreenAction<StatusDisplay>, StaticMenuItemIcon<&icons::back>>,
+#ifdef GLUMP_CONTROLLER
         makeComponent<MenuItem, StaticText<TEXT_SELECTMODE>,  SwitchScreenAction<SelectModeMenu>, StaticMenuItemIcon<&icons::modes>>,
+#endif
         makeComponent<MenuItem, StaticText<TEXT_PRESETS>,     SwitchScreenAction<PresetsMenu>, StaticMenuItemIcon<&icons::presets>>,
         makeComponent<MenuItem, StaticText<TEXT_GRAPHS>,      SwitchScreenAction<GraphsMenu>, StaticMenuItemIcon<&icons::graph>>,
 #ifdef FEATURE_BMS
@@ -50,7 +52,9 @@ class MainMenu :
         makeComponent<MenuItem, StaticText<TEXT_MOSFETS>,     SwitchScreenAction<MosfetsMenu>, StaticMenuItemIcon<&icons::lock>>, // TODO icon
 #endif
         makeComponent<MenuItem, StaticText<TEXT_DEMOS>,       SwitchScreenAction<DemosMenu>, StaticMenuItemIcon<&icons::demos>>,
+#ifdef GLUMP_CONTROLLER
         makeComponent<MenuItem, StaticText<TEXT_POWEROFF>,    SwitchScreenAction<PoweroffDisplay>, StaticMenuItemIcon<&icons::poweroff>>,
+#endif
         makeComponent<MenuItem, StaticText<TEXT_REBOOT>,      RebootAction, StaticMenuItemIcon<&icons::reboot>>,
         makeComponent<MenuItem, StaticText<TEXT_DEBUG>,       SwitchScreenAction<DebugMenu>>
     >

src/displays/menus/modessettingsmenu.h

@@ -10,7 +10,9 @@
 namespace {
 class DefaultModeSettingsMenu;
 class TempomatModeSettingsMenu;
+#ifdef GLUMP_CONTROLLER
 class LarsmModeSettingsMenu;
+#endif
 class GametrakModeSettingsMenu;
 class SettingsMenu;
 }
@@ -23,7 +25,9 @@ class ModesSettingsMenu :
     public StaticMenuDefinition<
         makeComponent<MenuItem, StaticText<TEXT_DEFAULTMODESETTIGNS>,   SwitchScreenAction<DefaultModeSettingsMenu>>,
         makeComponent<MenuItem, StaticText<TEXT_TEMPOMATMODESETTINGS>,  SwitchScreenAction<TempomatModeSettingsMenu>>,
+#ifdef GLUMP_CONTROLLER
         makeComponent<MenuItem, StaticText<TEXT_LARSMMODESETTINGS>,     SwitchScreenAction<LarsmModeSettingsMenu>>,
+#endif
 #ifdef FEATURE_GAMETRAK
         makeComponent<MenuItem, StaticText<TEXT_GAMETRAKMODESETTINGS>,  SwitchScreenAction<GametrakModeSettingsMenu>>,
 #endif

src/displays/menus/motorfeedbackdebugmenu.h

@@ -11,6 +11,7 @@
 #include "debugtexthelpers.h"
 #include "debugcolorhelpers.h"
 
+#ifdef GLUMP_CONTROLLER
 namespace {
 class DebugMenu;
 }
@@ -39,3 +40,4 @@ class FrontRightMotorFeedbackDebugMenu : public MotorFeedbackDebugMenu<TEXT_FRON
 class BackLeftMotorFeedbackDebugMenu : public MotorFeedbackDebugMenu<TEXT_BACKLEFTFEEDBACK, BackTexts::LeftFeedback, BackFeedbackColor> {};
 class BackRightMotorFeedbackDebugMenu : public MotorFeedbackDebugMenu<TEXT_BACKRIGHTFEEDBACK, BackTexts::RightFeedback, BackFeedbackColor> {};
 }
+#endif

src/displays/menus/motorstatedebugmenu.h

@@ -10,6 +10,7 @@
 #include "texts.h"
 #include "debugtexthelpers.h"
 
+#ifdef GLUMP_CONTROLLER
 namespace {
 class DebugMenu;
 }
@@ -39,3 +40,4 @@ class FrontRightMotorStateDebugMenu : public MotorStateDebugMenu<TEXT_FRONTRIGHT
 class BackLeftMotorStateDebugMenu : public MotorStateDebugMenu<TEXT_BACKLEFTCOMMAND, BackTexts::LeftCommand> {};
 class BackRightMotorStateDebugMenu : public MotorStateDebugMenu<TEXT_BACKRIGHTCOMMAND, BackTexts::RightCommand> {};
 }
+#endif

src/displays/menus/presetsmenu.h

@@ -55,7 +55,9 @@ class PresetsMenu :
         makeComponent<MenuItem, StaticText<TEXT_KIDSLIMITS>,                   ApplyLimitsPresetAction<&presets::kidsLimits>>,
         makeComponent<MenuItem, StaticText<TEXT_DEFAULTCONTROLLERHARDWARE>,    ApplyControllerHardwarePresetAction<&presets::defaultControllerHardware>>,
         makeComponent<MenuItem, StaticText<TEXT_MOSFETSOFFCONTROLLERHARDWARE>, ApplyControllerHardwarePresetAction<&presets::mosfetsOffControllerHardware>>,
+#ifdef GLUMP_CONTROLLER
         makeComponent<MenuItem, StaticText<TEXT_SPINNERCONTROLLERHARDWARE>,    ApplyControllerHardwarePresetAction<&presets::spinnerControllerHardware>>,
+#endif
         makeComponent<MenuItem, StaticText<TEXT_DEFAULTBOARDCOMPUTERHARDWARE>, ApplyBoardcomputerHardwarePresetAction<&presets::defaultBoardcomputerHardware>>,
         makeComponent<MenuItem, StaticText<TEXT_STREET>,                       DisabledColor, DummyAction>,
         makeComponent<MenuItem, StaticText<TEXT_SIDEWALK>,                     DisabledColor, DummyAction>,

src/displays/menus/selectmodemenu.h

@@ -14,6 +14,7 @@
 #include "modes/larsmmode.h"
 #include "modes/gametrakmode.h"
 
+#ifdef GLUMP_CONTROLLER
 namespace {
 class MainMenu;
 }
@@ -69,3 +70,4 @@ void SelectModeMenu::start()
     }
 }
 }
+#endif

src/displays/menus/settingsmenu.h

@@ -32,6 +32,7 @@ class MainMenu;
 }
 
 namespace {
+#ifdef GLUMP_CONTROLLER
 class SettingsMenu;
 using BluetoothModeChangeDisplay = makeComponent<
     ChangeValueDisplay<BluetoothMode>,
@@ -43,6 +44,7 @@ using BluetoothModeChangeDisplay = makeComponent<
 
 struct FrontLedAccessor : public RefAccessor<bool> { bool &getRef() const override { return front.command.led; } };
 struct BackLedAccessor : public RefAccessor<bool> { bool &getRef() const override { return back.command.led; } };
+#endif
 
 class SettingsMenu :
     public MenuDisplay,
@@ -52,16 +54,20 @@ class SettingsMenu :
         makeComponent<MenuItem, StaticText<TEXT_LIMITSSETTINGS>,                SwitchScreenAction<LimitsSettingsMenu>>,
         makeComponent<MenuItem, StaticText<TEXT_WIFISETTINGS>,                  SwitchScreenAction<WifiSettingsMenu>, StaticMenuItemIcon<&icons::wifi>>,
         makeComponent<MenuItem, StaticText<TEXT_BLUETOOTHSETTINGS>,             SwitchScreenAction<BluetoothSettingsMenu>, StaticMenuItemIcon<&icons::bluetooth>>,
+#ifdef GLUMP_CONTROLLER
         makeComponent<MenuItem, StaticText<TEXT_MODESSETTINGS>,                 SwitchScreenAction<ModesSettingsMenu>>,
         makeComponent<MenuItem, StaticText<TEXT_CONTROLLERHARDWARESETTINGS>,    SwitchScreenAction<ControllerHardwareSettingsMenu>, StaticMenuItemIcon<&icons::hardware>>,
         makeComponent<MenuItem, StaticText<TEXT_BOARDCOMPUTERHARDWARESETTINGS>, SwitchScreenAction<BoardcomputerHardwareSettingsMenu>, StaticMenuItemIcon<&icons::hardware>>,
+#endif
         makeComponent<MenuItem, StaticText<TEXT_BLUETOOTHMODE>,                 SwitchScreenAction<BluetoothModeChangeDisplay>>,
 #ifdef FEATURE_BMS
         makeComponent<MenuItem, StaticText<TEXT_AUTOCONNECTBMS>,                ToggleBoolAction, CheckboxIcon, AutoConnectBmsAccessor>,
 #endif
+#ifdef GLUMP_CONTROLLER
         makeComponent<MenuItem, StaticText<TEXT_BUZZER>,                        SwitchScreenAction<BuzzerMenu>, StaticMenuItemIcon<&icons::buzzer>>,
         makeComponent<MenuItem, StaticText<TEXT_FRONTLED>,                      ToggleBoolAction, CheckboxIcon, FrontLedAccessor>,
         makeComponent<MenuItem, StaticText<TEXT_BACKLED>,                       ToggleBoolAction, CheckboxIcon, BackLedAccessor>,
+#endif
         makeComponent<MenuItem, StaticText<TEXT_ABOUT>,                         SwitchScreenAction<AboutMenu>, StaticMenuItemIcon<&icons::info>>,
         makeComponent<MenuItem, StaticText<TEXT_BACK>,                          SwitchScreenAction<MainMenu>, StaticMenuItemIcon<&icons::back>>
     >

src/displays/menus/tempomatmodesettingsmenu.h

@@ -10,6 +10,7 @@
 #include "texts.h"
 #include "settingsaccessors.h"
 
+#ifdef GLUMP_CONTROLLER
 namespace {
 class TempomatModeSettingsMenu;
 class ModesSettingsMenu;
@@ -42,3 +43,4 @@ class TempomatModeSettingsMenu :
     >
 {};
 }
+#endif

src/displays/poweroffdisplay.h

@@ -7,6 +7,7 @@
 #include "globals.h"
 #include "texts.h"
 
+#ifdef GLUMP_CONTROLLER
 namespace {
 class MainMenu;
 }
@@ -60,3 +61,4 @@ void PoweroffDisplay::stop()
         controller.command.poweroff = false;
 }
 }
+#endif

src/displays/statusdisplay.h

@@ -35,21 +35,34 @@ private:
     {
     public:
         BoardStatus(int y) :
-            m_y{y},
+            m_y{y}
-            m_labelLeftPwm{65, y}, // 80, 22
+#ifdef GLUMP_CONTROLLER
+            ,m_labelLeftPwm{65, y}, // 80, 22
             m_labelRightPwm{155, y}, // 80, 22
             m_labelVoltage{30, y+25}, // 85, 22
             m_labelTemperature{150, y+25}, // 85, 22
             m_leftMotor{y+50},
             m_rightMotor{y+75}
+#endif
+#ifdef VESC_CONTROLLER
+            ,m_labelPwm{65, y}, // 80, 22
+            m_labelSpeed{135, y+50}
+#endif
         {}
 
         void start();
+#ifdef GLUMP_CONTROLLER
         void redraw(const Controller &controller);
+#endif
+
+#ifdef VESC_CONTROLLER
+        void redraw(const VescController &controller);
+#endif
 
     private:
         void drawWarning();
 
+#ifdef GLUMP_CONTROLLER
         class MotorStatus
         {
         public:
@@ -69,9 +82,16 @@ private:
             Label m_labelSpeed;
             Label m_labelHallSensors;
         };
+#endif
 
         const int m_y;
 
+#ifdef VESC_CONTROLLER
+        Label m_labelPwm;
+        Label m_labelSpeed;
+#endif
+
+#ifdef GLUMP_CONTROLLER
         bool m_lastFeedbackValid{};
 
         Label m_labelLeftPwm;
@@ -82,6 +102,7 @@ private:
 
         MotorStatus m_leftMotor;
         MotorStatus m_rightMotor;
+#endif
     };
 
     Label m_labelRawGas{45, 0}; // 40, 15
@@ -92,18 +113,27 @@ private:
     Label m_labelBrems{90, 15}; // 60, 15
     ProgressBar m_progressBarBrems{150, 15, 90, 15, 0, 1000};
 
+#ifdef GLUMP_CONTROLLER
     BoardStatus m_frontStatus{42};
     BoardStatus m_backStatus{142};
+#endif
+
+#ifdef VESC_CONTROLLER
+    BoardStatus m_one{42};
+    BoardStatus m_two{142};
+#endif
+
+    static const constexpr int bottomLines[4] { 251, 266, 281, 296 };
 
     Label m_labelWifiStatus{35, bottomLines[0]}; // 120, 15
     Label m_labelLimit0{205, bottomLines[0]}; // 35, 15
     Label m_labelIpAddress{25, bottomLines[1]}; // 130, 15
+#ifdef GLUMP_CONTROLLER
     Label m_labelLimit1{205, bottomLines[1]}; // 35, 15
+#endif
     Label m_labelPerformance{85, bottomLines[2]}; // 40, 15
     Label m_labelMode{165, bottomLines[2]}; // 75, 15
     Label m_labelName{40, bottomLines[3]}; // 40, 15
-
-    static const constexpr int bottomLines[4] { 251, 266, 281, 296 };
 };
 
 void StatusDisplay::initScreen()
@@ -121,8 +151,15 @@ void StatusDisplay::initScreen()
     m_labelBrems.start();
     m_progressBarBrems.start();
 
+#ifdef GLUMP_CONTROLLER
     m_frontStatus.start();
     m_backStatus.start();
+#endif
+
+#ifdef VESC_CONTROLLER
+    m_one.start();
+    m_two.start();
+#endif
 
     tft.setTextFont(2);
     tft.drawString("WiFi:", 0, bottomLines[0]);
@@ -131,9 +168,17 @@ void StatusDisplay::initScreen()
     m_labelLimit0.start();
     tft.drawString("IP:", 0, bottomLines[1]);
     m_labelIpAddress.start();
+<<<<<<< HEAD
     tft.drawString("Limit1:", 160, bottomLines[1]);
     m_labelLimit1.start();
     tft.drawString("Performance:", 0, bottomLines[2]);
+=======
+#ifdef GLUMP_CONTROLLER
+    tft.drawString("Limit1:", 160, 281);
+    m_labelLimit1.start();
+#endif
+    tft.drawString("Performance:", 0, 296);
+>>>>>>> b343056... vesc control
     m_labelPerformance.start();
     tft.drawString("Mode:", 125, bottomLines[2]);
     m_labelMode.start();
@@ -153,14 +198,28 @@ void StatusDisplay::redraw()
     m_labelBrems.redraw(String{brems});
     m_progressBarBrems.redraw(brems);
 
+#ifdef GLUMP_CONTROLLER
     m_frontStatus.redraw(::front);
     m_backStatus.redraw(::back);
+#endif
+
+#ifdef VESC_CONTROLLER
+    m_one.redraw(::one);
+    m_two.redraw(::two);
+#endif
 
     tft.setTextFont(2);
     m_labelWifiStatus.redraw(toString(WiFi.status()));
+#ifdef GLUMP_CONTROLLER
     m_labelLimit0.redraw(String{front.command.left.iMotMax} + "A");
+#endif
+#ifdef VESC_CONTROLLER
+    m_labelLimit0.redraw(String{settings.limits.iMotMax} + "A");
+#endif
     m_labelIpAddress.redraw(WiFi.localIP().toString());
+#ifdef GLUMP_CONTROLLER
     m_labelLimit1.redraw(String{front.command.left.iDcMax} + "A");
+#endif
     m_labelPerformance.redraw(String{performance.last});
     m_labelMode.redraw(currentMode->displayName());
     m_labelName.redraw(&deviceName[0]);
@@ -181,12 +240,15 @@ void StatusDisplay::rotate(int offset)
 void StatusDisplay::BoardStatus::start()
 {
     tft.setTextFont(4);
+#ifdef GLUMP_CONTROLLER
     tft.drawString("pwm:", 0, m_y);
     m_labelLeftPwm.start();
     m_labelRightPwm.start();
     drawWarning();
+#endif
 }
 
+#ifdef GLUMP_CONTROLLER
 void StatusDisplay::BoardStatus::redraw(const Controller &controller)
 {
     tft.setTextFont(4);
@@ -227,6 +289,24 @@ void StatusDisplay::BoardStatus::redraw(const Controller &controller)
         m_rightMotor.redraw(controller.feedback.right);
     }
 }
+#endif
+
+#ifdef VESC_CONTROLLER
+void StatusDisplay::BoardStatus::redraw(const VescController &controller) {
+  tft.setTextFont(4);
+
+  m_labelPwm.redraw(String{controller.pwm});
+
+  tft.fillRect(0, m_y+25, tft.width(), 75, TFT_BLACK);
+
+  tft.setTextColor(TFT_WHITE);
+
+  m_labelSpeed.redraw(String{convertToKmh(controller.values.rpm)});
+
+  tft.setTextColor(TFT_WHITE, TFT_BLACK);
+}
+
+#endif
 
 void StatusDisplay::BoardStatus::drawWarning()
 {
@@ -239,6 +319,7 @@ void StatusDisplay::BoardStatus::drawWarning()
     tft.setSwapBytes(settings.boardcomputerHardware.swapScreenBytes);
 }
 
+#ifdef GLUMP_CONTROLLER
 void StatusDisplay::BoardStatus::MotorStatus::start()
 {
     m_labelError.start();
@@ -262,4 +343,5 @@ void StatusDisplay::BoardStatus::MotorStatus::redraw(const MotorFeedback &motor)
 
     tft.setTextColor(TFT_WHITE, TFT_BLACK);
 }
+#endif
 }

src/feedbackparser.h

@@ -7,6 +7,7 @@
 
 #include "bobbycar-protocol/protocol.h"
 
+#ifdef GLUMP_CONTROLLER
 namespace {
 class FeedbackParser
 {
@@ -84,3 +85,4 @@ private:
     Feedback &m_feedback, m_newFeedback;
 };
 }
+#endif

src/globals.h

@@ -29,8 +29,15 @@ char deviceName[32];
 Settings settings;
 SettingsSaver settingsSaver;
 
+#ifdef GLUMP_CONTROLLER
 Controller front{Serial1, settings.controllerHardware.enableFrontLeft, settings.controllerHardware.enableFrontRight, settings.controllerHardware.invertFrontLeft, settings.controllerHardware.invertFrontRight};
 Controller back{Serial2, settings.controllerHardware.enableBackLeft, settings.controllerHardware.enableBackRight, settings.controllerHardware.invertBackLeft, settings.controllerHardware.invertBackRight};
+#endif
+
+#ifdef VESC_CONTROLLER
+VescController one{Serial1, settings.controllerHardware.enableOne};
+VescController two{Serial2, settings.controllerHardware.enableTwo};
+#endif
 
 struct {
     unsigned long lastTime = millis();

src/main.cpp

@@ -72,7 +72,9 @@ void setup()
     if (settingsSaver.init())
         loadSettings();
 
+#ifdef GLUMP_CONTROLLER
     updateSwapFrontBack();
+#endif
 
     {
         uint8_t macAddress[6];
@@ -107,16 +109,26 @@ void setup()
     } else if (settings.bluetoothMode == BluetoothMode::Slave)
         BluetoothBeginAction{}.triggered();
 
+#ifdef GLUMP_CONTROLLER
     front.serial.get().begin(38400, SERIAL_8N1, PINS_RX1, PINS_TX1);
     back.serial.get().begin(38400, SERIAL_8N1, PINS_RX2, PINS_TX2);
+#endif
+
+#ifdef VESC_CONTROLLER
+    one.serial.get().begin(57600, SERIAL_8N1, PINS_RX1, PINS_TX1);
+    two.serial.get().begin(57600, SERIAL_8N1, PINS_RX2, PINS_TX2);
+    Serial.println("vesc begin");
+#endif
 
     raw_gas = 0;
     raw_brems = 0;
     gas = 0;
     brems = 0;
 
+#ifdef GLUMP_CONTROLLER
     for (Controller &controller : controllers())
         controller.command.buzzer = {};
+#endif
 
     currentMode = &modes::defaultMode;
 
@@ -194,8 +206,15 @@ void loop()
         performance.lastTime = now;
     }
 
+#ifdef GLUMP_CONTROLLER
     for (Controller &controller : controllers())
         controller.parser.update();
+#endif
+
+#ifdef VESC_CONTROLLER
+    for (VescController &controller : controllers())
+        controller.update();
+#endif
 
     handleSerial();
 

src/modes/defaultmode.h

@@ -75,6 +75,7 @@ void DefaultMode::update()
     lastPwm = pwm;
     lastTime = now;
 
+#ifdef GLUMP_CONTROLLER
     for (Controller &controller : controllers())
         for (MotorState &motor : motorsInController(controller))
         {
@@ -82,8 +83,18 @@ void DefaultMode::update()
             motor.ctrlMod = settings.defaultMode.ctrlMod;
             motor.pwm = pwm / 100. * (&controller == &front ? settings.defaultMode.frontPercentage : settings.defaultMode.backPercentage);
         }
+#endif
 
+#ifdef VESC_CONTROLLER
+    for (VescController &controller : controllers()) {
+        controller.pwm = pwm;
+      Serial.println(String{"new pwm "} + pwm);
+    }
+#endif
+
+#ifdef GLUMP_CONTROLLER
     fixCommonParams();
+#endif
 
     sendCommands();
 }

src/modes/ignoreinputmode.h

@@ -5,15 +5,26 @@
 #include "utils.h"
 
 #include "bobbycar-protocol/protocol.h"
+#include "../controller.h"
+#include "../utils.h"
 
 namespace {
 class IgnoreInputMode : public ModeInterface
 {
 public:
+#ifdef GLUMP_CONTROLLER
     IgnoreInputMode(int16_t pwm, ControlType ctrlTyp, ControlMode ctrlMod) :
         m_pwm{pwm}, m_ctrlTyp{ctrlTyp}, m_ctrlMod{ctrlMod}
     {
     }
+#endif
+
+#ifdef VESC_CONTROLLER
+  IgnoreInputMode(int16_t pwm) :
+      m_pwm{pwm}
+  {
+  }
+#endif
 
     void update() override;
 
@@ -21,12 +32,15 @@ public:
 
 private:
     const int16_t m_pwm;
+#ifdef GLUMP_CONTROLLER
     const ControlType m_ctrlTyp;
     const ControlMode m_ctrlMod;
+#endif
 };
 
 void IgnoreInputMode::update()
 {
+#ifdef GLUMP_CONTROLLER
     for (MotorState &motor : motors())
     {
         motor.ctrlTyp = m_ctrlTyp;
@@ -35,6 +49,13 @@ void IgnoreInputMode::update()
     }
 
     fixCommonParams();
+#endif
+
+#ifdef VESC_CONTROLLER
+  for (VescController &controller : controllers()) {
+    controller.pwm = m_pwm;
+  }
+#endif
 
     sendCommands();
 }

src/modes/larsmmode.h

@@ -6,6 +6,7 @@
 
 #include "bobbycar-protocol/protocol.h"
 
+#ifdef GLUMP_CONTROLLER
 namespace {
 class LarsmMode : public ModeInterface
 {
@@ -108,3 +109,4 @@ void LarsmMode::update()
     sendCommands();
 }
 }
+#endif

src/modes/tempomatmode.h

@@ -42,7 +42,7 @@ void TempomatMode::update()
     }
 
     pwm += (gas/1000.) - (brems/1000.);
-
+#ifdef GLUMP_CONTROLLER
     for (MotorState &motor : motors())
     {
         motor.ctrlTyp = settings.tempomatMode.ctrlTyp;
@@ -51,6 +51,13 @@ void TempomatMode::update()
     }
 
     fixCommonParams();
+#endif
+
+#ifdef VESC_CONTROLLER
+    for (VescController &controller : controllers()) {
+      controller.pwm = pwm;
+    }
+#endif
 
     sendCommands();
 }

src/presets.h

@@ -20,6 +20,7 @@ constexpr Settings::Limits kidsLimits {
 };
 
 constexpr Settings::ControllerHardware defaultControllerHardware {
+  #ifdef GLUMP_CONTROLLER
     .enableFrontLeft = true,
     .enableFrontRight = true,
     .enableBackLeft = true,
@@ -30,12 +31,23 @@ constexpr Settings::ControllerHardware defaultControllerHardware {
     .invertBackLeft = false,
     .invertBackRight = true,
 
+    .swapFrontBack = false,
+  #endif
+
+#ifdef VESC_CONTROLLER
+    .enableOne = true,
+    .enableTwo = true,
+
+    .invertOne = true,
+    .invertTwo = true,
+#endif
+
     .wheelDiameter = 165,
     .numMagnetPoles = 15,
-    .swapFrontBack = false
 };
 
 constexpr Settings::ControllerHardware mosfetsOffControllerHardware {
+  #ifdef GLUMP_CONTROLLER
     .enableFrontLeft = false,
     .enableFrontRight = false,
     .enableBackLeft = false,
@@ -46,11 +58,22 @@ constexpr Settings::ControllerHardware mosfetsOffControllerHardware {
     .invertBackLeft = false,
     .invertBackRight = true,
 
+    .swapFrontBack = false,
+  #endif
+
+#ifdef VESC_CONTROLLER
+    .enableOne = false,
+    .enableTwo = false,
+
+    .invertOne = false,
+    .invertTwo = false,
+#endif
+
     .wheelDiameter = 165,
     .numMagnetPoles = 15,
-    .swapFrontBack = false
 };
 
+#ifdef GLUMP_CONTROLLER
 constexpr Settings::ControllerHardware spinnerControllerHardware {
     .enableFrontLeft = true,
     .enableFrontRight = true,
@@ -62,10 +85,12 @@ constexpr Settings::ControllerHardware spinnerControllerHardware {
     .invertBackLeft = false,
     .invertBackRight = false,
 
+    .swapFrontBack = false,
+
     .wheelDiameter = 165,
     .numMagnetPoles = 15,
-    .swapFrontBack = false
 };
+#endif
 
 constexpr Settings::BoardcomputerHardware defaultBoardcomputerHardware {
     .sampleCount = 100,
@@ -85,8 +110,10 @@ constexpr Settings::BoardcomputerHardware defaultBoardcomputerHardware {
 };
 
 constexpr Settings::DefaultMode defaultDefaultMode {
+#ifdef GLUMP_CONTROLLER
     .ctrlTyp = ControlType::FieldOrientedControl,
     .ctrlMod = ControlMode::Torque,
+#endif
     .enableSmoothing = true,
     .smoothing = 20,
     .frontPercentage = 100,
@@ -98,6 +125,7 @@ constexpr Settings::DefaultMode defaultDefaultMode {
     .brems2_wert = 750
 };
 
+#ifdef GLUMP_CONTROLLER
 constexpr Settings::TempomatMode defaultTempomatMode {
     .ctrlTyp = ControlType::FieldOrientedControl,
     .ctrlMod = ControlMode::Speed
@@ -107,6 +135,7 @@ constexpr Settings::LarsmMode defaultLarsmMode {
     .mode = LarsmModeMode::Mode4,
     .iterations = 100
 };
+#endif
 
 constexpr Settings defaultSettings{
 #ifdef FEATURE_BMS
@@ -122,7 +151,10 @@ constexpr Settings defaultSettings{
     .controllerHardware = defaultControllerHardware,
     .boardcomputerHardware = defaultBoardcomputerHardware,
     .defaultMode = defaultDefaultMode,
+
+#ifdef GLUMP_CONTROLLER
     .tempomatMode = defaultTempomatMode,
     .larsmMode = defaultLarsmMode
+#endif
 };
 }

src/screens.h

@@ -61,26 +61,35 @@ union X {
 #ifdef FEATURE_BMS
     BmsMenu bmsMenu;
 #endif
+#ifdef GLUMP_CONTROLLER
     BuzzerMenu buzzerMenu;
     FrontCommandDebugMenu frontCommandDebugMenu;
     BackCommandDebugMenu backCommandDebugMenu;
+#endif
     ControllerHardwareSettingsMenu controllerHardwareSettingsMenu;
     DebugMenu debugMenu;
     DefaultModeSettingsMenu defaultModeSettingsMenu;
     DemosMenu demosMenu;
     DynamicDebugMenu dynamicDebugMenu;
     EnableMenu enableMenu;
+#ifdef GLUMP_CONTROLLER
     FrontFeedbackDebugMenu frontFeedbackDebugMenu;
     BackFeedbackDebugMenu backFeedbackDebugMenu;
+#endif
 #ifdef FEATURE_GAMETRAK
     GametrakModeSettingsMenu gametrakModeSettingsMenu;
 #endif
     GenericWifiSettingsMenu genericWifiSettingsMenu;
     GraphsMenu graphsMenu;
     InvertMenu invertMenu;
+
+#ifdef GLUMP_CONTROLLER
     LarsmModeSettingsMenu larsmModeSettingsMenu;
+#endif
+
     LimitsSettingsMenu limitsSettingsMenu;
     MainMenu mainMenu;
+#ifdef GLUMP_CONTROLLER
     TempomatModeSettingsMenu tempomatModeSettingsMenu;
     ModesSettingsMenu modesSettingsMenu;
 #ifdef FEATURE_MOSFETS
@@ -95,8 +104,13 @@ union X {
     BackLeftMotorFeedbackDebugMenu backLeftMotorFeedbackDebugMenu;
     BackRightMotorFeedbackDebugMenu backRightMotorFeedbackDebugMenu;
     BoardcomputerHardwareSettingsMenu boardcomputerHardwareSettingsMenu;
+#endif
     PresetsMenu presetsMenu;
+
+#ifdef GLUMP_CONTROLLER
     SelectModeMenu selectModeMenu;
+#endif
+
     SettingsMenu settingsMenu;
     StationWifiSettingsMenu stationWifiSettingsMenu;
     WifiScanMenu wifiScanMenu;
@@ -114,7 +128,9 @@ union X {
     Lockscreen lockScreen;
     MetersDisplay metersDisplay;
     PingPongDisplay pingPongDisplay;
+#ifdef GLUMP_CONTROLLER
     PoweroffDisplay poweroffDisplay;
+#endif
     SpiroDisplay spiroDisplay;
     StarfieldDisplay starFieldDisplay;
     StatusDisplay statusDisplay;
@@ -124,6 +140,7 @@ union X {
 
     BluetoothModeChangeDisplay bluetoothModeChangeDisplay;
 
+#ifdef GLUMP_CONTROLLER
     FrontFreqChangeScreen changeFrontFreq;
     FrontPatternChangeScreen changeFrontPattern;
     BackFreqChangeScreen changeBackFreq;
@@ -132,6 +149,7 @@ union X {
     ReverseBeepFreq1ChangeScreen changeReverseBeepFreq1;
     ReverseBeepDuration0ChangeScreen changeReverseBeepDuration0;
     ReverseBeepDuration1ChangeScreen changeReverseBeepDuration1;
+#endif
 
     IMotMaxChangeScreen changeIMotMax;
     IDcMaxChangeScreen changeIDcMax;
@@ -144,22 +162,28 @@ union X {
     WheelDiameterInchChangeScreen wheelDiameterInchChangeScreen;
     NumMagnetPolesChangeScreen numMagnetPolesChangeScreen;
 
+#ifdef GLUMP_CONTROLLER
     DefaultModeCtrlTypChangeDisplay changeDefaultModeCtrlTyp;
     DefaultModeCtrlModChangeDisplay changeDefaultModeCtrlMod;
+#endif
     DefaultModeSmoothingChangeDisplay changeDefaultModeSmoothing;
+#ifdef GLUMP_CONTROLLER
     DefaultModeFrontPercentageChangeDisplay changeDefaultModeFrontPercentage;
     DefaultModeBackPercentageChangeDisplay changeDefaultModeBackPercentage;
+#endif
     DefaultModeAddSchwelleChangeDisplay changeDefaultModeAddSchwelle;
     DefaultModeGas1WertChangeDisplay changeDefaultModeGas1Wert;
     DefaultModeGas2WertChangeDisplay changeDefaultModeGas2Wert;
     DefaultModeBrems1WertChangeDisplay changeDefaultModeBrems1Wert;
     DefaultModeBrems2WertChangeDisplay changeDefaultModeBrems2Wert;
 
+#ifdef GLUMP_CONTROLLER
     TempomatModeCtrlTypChangeScreen changeManualModeCtrlTyp;
     TempomatModeCtrlModChangeScreen changeManualModeCtrlMod;
 
     LarsmModeModeChangeDisplay larsmModeModeChangeDisplay;
     LarsmModeIterationsChangeDisplay larsmModeIterationsChangeDisplay;
+#endif
 
     SampleCountChangeScreen sampleCountChangeScreen;
     GasMinChangeScreen changeGasMin;
@@ -184,15 +208,19 @@ union X {
     AvgSpeedKmhGraphDisplay avgSpeedKmhGraphDisplay;
     SumCurrentGraphDisplay sumCurrentGraphDisplay;
     SumAbsoluteCurrentGraphDisplay sumAbsoluteCurrentGraphDisplay;
+#ifdef GLUMP_CONTROLLER
     FrontVoltageGraphDisplay frontVoltageGraphDisplay;
     BackVoltageGraphDisplay backVoltageGraphDisplay;
+#endif
 #ifdef FEATURE_BMS
     BmsVoltageGraphDisplay bmsVoltageGraphDisplay;
     BmsCurrentGraphDisplay bmsCurrentGraphDisplay;
     BmsPowerGraphDisplay bmsPowerGraphDisplay;
     SumCurrentsComparisonGraphDisplay sumCurrentsComparisonGraphDisplay;
 #endif
+#ifdef GLUMP_CONTROLLER
     MotorCurrentsGraphDisplay motorCurrentsGraphDisplay;
+#endif
 } displays;
 
 template<typename T> T &getRefByType() = delete;
@@ -202,27 +230,35 @@ template<> decltype(displays.bluetoothSettingsMenu)                            &
 #ifdef FEATURE_BMS
 template<> decltype(displays.bmsMenu)                                          &getRefByType<decltype(displays.bmsMenu)>()                                          { return displays.bmsMenu; }
 #endif
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.buzzerMenu)                                       &getRefByType<decltype(displays.buzzerMenu)>()                                       { return displays.buzzerMenu; }
 template<> decltype(displays.boardcomputerHardwareSettingsMenu)                &getRefByType<decltype(displays.boardcomputerHardwareSettingsMenu)>()                { return displays.boardcomputerHardwareSettingsMenu; }
 template<> decltype(displays.controllerHardwareSettingsMenu)                   &getRefByType<decltype(displays.controllerHardwareSettingsMenu)>()                   { return displays.controllerHardwareSettingsMenu; }
 template<> decltype(displays.frontCommandDebugMenu)                            &getRefByType<decltype(displays.frontCommandDebugMenu)>()                            { return displays.frontCommandDebugMenu; }
 template<> decltype(displays.backCommandDebugMenu)                             &getRefByType<decltype(displays.backCommandDebugMenu)>()                             { return displays.backCommandDebugMenu; }
+#endif
 template<> decltype(displays.debugMenu)                                        &getRefByType<decltype(displays.debugMenu)>()                                        { return displays.debugMenu; }
 template<> decltype(displays.defaultModeSettingsMenu)                          &getRefByType<decltype(displays.defaultModeSettingsMenu)>()                          { return displays.defaultModeSettingsMenu; }
 template<> decltype(displays.demosMenu)                                        &getRefByType<decltype(displays.demosMenu)>()                                        { return displays.demosMenu; }
 template<> decltype(displays.dynamicDebugMenu)                                 &getRefByType<decltype(displays.dynamicDebugMenu)>()                                 { return displays.dynamicDebugMenu; }
 template<> decltype(displays.enableMenu)                                       &getRefByType<decltype(displays.enableMenu)>()                                       { return displays.enableMenu; }
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.frontFeedbackDebugMenu)                           &getRefByType<decltype(displays.frontFeedbackDebugMenu)>()                           { return displays.frontFeedbackDebugMenu; }
 template<> decltype(displays.backFeedbackDebugMenu)                            &getRefByType<decltype(displays.backFeedbackDebugMenu)>()                            { return displays.backFeedbackDebugMenu; }
+#endif
+
 #ifdef FEATURE_GAMETRAK
 template<> decltype(displays.gametrakModeSettingsMenu)                         &getRefByType<decltype(displays.gametrakModeSettingsMenu)>()                         { return displays.gametrakModeSettingsMenu; }
 #endif
 template<> decltype(displays.genericWifiSettingsMenu)                          &getRefByType<decltype(displays.genericWifiSettingsMenu)>()                          { return displays.genericWifiSettingsMenu; }
 template<> decltype(displays.graphsMenu)                                       &getRefByType<decltype(displays.graphsMenu)>()                                       { return displays.graphsMenu; }
 template<> decltype(displays.invertMenu)                                       &getRefByType<decltype(displays.invertMenu)>()                                       { return displays.invertMenu; }
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.larsmModeSettingsMenu)                            &getRefByType<decltype(displays.larsmModeSettingsMenu)>()                            { return displays.larsmModeSettingsMenu; }
+#endif
 template<> decltype(displays.limitsSettingsMenu)                               &getRefByType<decltype(displays.limitsSettingsMenu)>()                               { return displays.limitsSettingsMenu; }
 template<> decltype(displays.mainMenu)                                         &getRefByType<decltype(displays.mainMenu)>()                                         { return displays.mainMenu; }
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.tempomatModeSettingsMenu)                         &getRefByType<decltype(displays.tempomatModeSettingsMenu)>()                         { return displays.tempomatModeSettingsMenu; }
 template<> decltype(displays.modesSettingsMenu)                                &getRefByType<decltype(displays.modesSettingsMenu)>()                                { return displays.modesSettingsMenu; }
 #ifdef FEATURE_MOSFETS
@@ -236,8 +272,11 @@ template<> decltype(displays.frontLeftMotorFeedbackDebugMenu)                  &
 template<> decltype(displays.frontRightMotorFeedbackDebugMenu)                 &getRefByType<decltype(displays.frontRightMotorFeedbackDebugMenu)>()                 { return displays.frontRightMotorFeedbackDebugMenu; }
 template<> decltype(displays.backLeftMotorFeedbackDebugMenu)                   &getRefByType<decltype(displays.backLeftMotorFeedbackDebugMenu)>()                   { return displays.backLeftMotorFeedbackDebugMenu; }
 template<> decltype(displays.backRightMotorFeedbackDebugMenu)                  &getRefByType<decltype(displays.backRightMotorFeedbackDebugMenu)>()                  { return displays.backRightMotorFeedbackDebugMenu; }
+#endif
 template<> decltype(displays.presetsMenu)                                      &getRefByType<decltype(displays.presetsMenu)>()                                      { return displays.presetsMenu; }
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.selectModeMenu)                                   &getRefByType<decltype(displays.selectModeMenu)>()                                   { return displays.selectModeMenu; }
+#endif
 template<> decltype(displays.settingsMenu)                                     &getRefByType<decltype(displays.settingsMenu)>()                                     { return displays.settingsMenu; }
 template<> decltype(displays.stationWifiSettingsMenu)                          &getRefByType<decltype(displays.stationWifiSettingsMenu)>()                          { return displays.stationWifiSettingsMenu; }
 template<> decltype(displays.wifiScanMenu)                                     &getRefByType<decltype(displays.wifiScanMenu)>()                                     { return displays.wifiScanMenu; }
@@ -255,7 +294,9 @@ template<> decltype(displays.gametrakCalibrateDisplay)                         &
 template<> decltype(displays.lockScreen)                                       &getRefByType<decltype(displays.lockScreen)>()                                       { return displays.lockScreen; }
 template<> decltype(displays.metersDisplay)                                    &getRefByType<decltype(displays.metersDisplay)>()                                    { return displays.metersDisplay; }
 template<> decltype(displays.pingPongDisplay)                                  &getRefByType<decltype(displays.pingPongDisplay)>()                                  { return displays.pingPongDisplay; }
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.poweroffDisplay)                                  &getRefByType<decltype(displays.poweroffDisplay)>()                                  { return displays.poweroffDisplay; }
+#endif
 template<> decltype(displays.spiroDisplay)                                     &getRefByType<decltype(displays.spiroDisplay)>()                                     { return displays.spiroDisplay; }
 template<> decltype(displays.starFieldDisplay)                                 &getRefByType<decltype(displays.starFieldDisplay)>()                                 { return displays.starFieldDisplay; }
 template<> decltype(displays.statusDisplay)                                    &getRefByType<decltype(displays.statusDisplay)>()                                    { return displays.statusDisplay; }
@@ -265,6 +306,7 @@ template<> decltype(displays.updateDisplay)                                    &
 
 template<> decltype(displays.bluetoothModeChangeDisplay)                       &getRefByType<decltype(displays.bluetoothModeChangeDisplay)>()                       { return displays.bluetoothModeChangeDisplay; }
 
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.changeFrontFreq)                                  &getRefByType<decltype(displays.changeFrontFreq)>()                                  { return displays.changeFrontFreq; }
 template<> decltype(displays.changeFrontPattern)                               &getRefByType<decltype(displays.changeFrontPattern)>()                               { return displays.changeFrontPattern; }
 template<> decltype(displays.changeBackFreq)                                   &getRefByType<decltype(displays.changeBackFreq)>()                                   { return displays.changeBackFreq; }
@@ -273,6 +315,7 @@ template<> decltype(displays.changeReverseBeepFreq0)                           &
 template<> decltype(displays.changeReverseBeepFreq1)                           &getRefByType<decltype(displays.changeReverseBeepFreq1)>()                           { return displays.changeReverseBeepFreq1; }
 template<> decltype(displays.changeReverseBeepDuration0)                       &getRefByType<decltype(displays.changeReverseBeepDuration0)>()                       { return displays.changeReverseBeepDuration0; }
 template<> decltype(displays.changeReverseBeepDuration1)                       &getRefByType<decltype(displays.changeReverseBeepDuration1)>()                       { return displays.changeReverseBeepDuration1; }
+#endif
 
 template<> decltype(displays.changeIMotMax)                                    &getRefByType<decltype(displays.changeIMotMax)>()                                    { return displays.changeIMotMax; }
 template<> decltype(displays.changeIDcMax)                                     &getRefByType<decltype(displays.changeIDcMax)>()                                     { return displays.changeIDcMax; }
@@ -285,6 +328,7 @@ template<> decltype(displays.wheelDiameterMmChangeScreen)                      &
 template<> decltype(displays.wheelDiameterInchChangeScreen)                    &getRefByType<decltype(displays.wheelDiameterInchChangeScreen)>()                    { return displays.wheelDiameterInchChangeScreen; }
 template<> decltype(displays.numMagnetPolesChangeScreen)                       &getRefByType<decltype(displays.numMagnetPolesChangeScreen)>()                       { return displays.numMagnetPolesChangeScreen; }
 
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.changeDefaultModeCtrlTyp)                         &getRefByType<decltype(displays.changeDefaultModeCtrlTyp)>()                         { return displays.changeDefaultModeCtrlTyp; }
 template<> decltype(displays.changeDefaultModeCtrlMod)                         &getRefByType<decltype(displays.changeDefaultModeCtrlMod)>()                         { return displays.changeDefaultModeCtrlMod; }
 template<> decltype(displays.changeDefaultModeSmoothing)                       &getRefByType<decltype(displays.changeDefaultModeSmoothing)>()                       { return displays.changeDefaultModeSmoothing; }
@@ -301,7 +345,7 @@ template<> decltype(displays.changeManualModeCtrlMod)                          &
 
 template<> decltype(displays.larsmModeModeChangeDisplay)                       &getRefByType<decltype(displays.larsmModeModeChangeDisplay)>()                       { return displays.larsmModeModeChangeDisplay; }
 template<> decltype(displays.larsmModeIterationsChangeDisplay)                 &getRefByType<decltype(displays.larsmModeIterationsChangeDisplay)>()                 { return displays.larsmModeIterationsChangeDisplay; }
-
+#endif
 template<> decltype(displays.sampleCountChangeScreen)                          &getRefByType<decltype(displays.sampleCountChangeScreen)>()                          { return displays.sampleCountChangeScreen; }
 template<> decltype(displays.changeGasMin)                                     &getRefByType<decltype(displays.changeGasMin)>()                                     { return displays.changeGasMin; }
 template<> decltype(displays.changeGasMax)                                     &getRefByType<decltype(displays.changeGasMax)>()                                     { return displays.changeGasMax; }
@@ -325,15 +369,19 @@ template<> decltype(displays.avgSpeedGraphDisplay)                             &
 template<> decltype(displays.avgSpeedKmhGraphDisplay)                          &getRefByType<decltype(displays.avgSpeedKmhGraphDisplay)>()                          { return displays.avgSpeedKmhGraphDisplay; }
 template<> decltype(displays.sumCurrentGraphDisplay)                           &getRefByType<decltype(displays.sumCurrentGraphDisplay)>()                           { return displays.sumCurrentGraphDisplay; }
 template<> decltype(displays.sumAbsoluteCurrentGraphDisplay)                   &getRefByType<decltype(displays.sumAbsoluteCurrentGraphDisplay)>()                   { return displays.sumAbsoluteCurrentGraphDisplay; }
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.frontVoltageGraphDisplay)                         &getRefByType<decltype(displays.frontVoltageGraphDisplay)>()                         { return displays.frontVoltageGraphDisplay; }
 template<> decltype(displays.backVoltageGraphDisplay)                          &getRefByType<decltype(displays.backVoltageGraphDisplay)>()                          { return displays.backVoltageGraphDisplay; }
+#endif
 #ifdef FEATURE_BMS
 template<> decltype(displays.bmsVoltageGraphDisplay)                           &getRefByType<decltype(displays.bmsVoltageGraphDisplay)>()                           { return displays.bmsVoltageGraphDisplay; }
 template<> decltype(displays.bmsCurrentGraphDisplay)                           &getRefByType<decltype(displays.bmsCurrentGraphDisplay)>()                           { return displays.bmsCurrentGraphDisplay; }
 template<> decltype(displays.bmsPowerGraphDisplay)                             &getRefByType<decltype(displays.bmsPowerGraphDisplay)>()                             { return displays.bmsPowerGraphDisplay; }
 template<> decltype(displays.sumCurrentsComparisonGraphDisplay)                &getRefByType<decltype(displays.sumCurrentsComparisonGraphDisplay)>()                { return displays.sumCurrentsComparisonGraphDisplay; }
 #endif
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.motorCurrentsGraphDisplay)                        &getRefByType<decltype(displays.motorCurrentsGraphDisplay)>()                        { return displays.motorCurrentsGraphDisplay; }
+#endif
 
 
 void deconstructScreen()

src/serialhandler.h

@@ -39,6 +39,7 @@ void handleSerial()
         case 'I':
             tft.init();
             break;
+#ifdef GLUMP_CONTROLLER
         case 'p':
         case 'P':
         {
@@ -55,6 +56,7 @@ void handleSerial()
                 controller.command.led = !firstLed;
             break;
         }
+#endif
         case 'r':
         case 'R':
             loadSettings();
@@ -63,6 +65,7 @@ void handleSerial()
         case 'S':
             saveSettings();
             break;
+#ifdef GLUMP_CONTROLLER
         case '0':
         case '1':
         case '2':
@@ -76,6 +79,7 @@ void handleSerial()
             for (Controller &controller : controllers())
                 controller.command.buzzer.freq = c-'0';
             break;
+#endif
         case 'A':
             InputDispatcher::rotate(-1);
             break;

src/settings.h

@@ -7,7 +7,9 @@
 #include "bluetoothmode.h"
 
 namespace {
+#ifdef GLUMP_CONTROLLER
 enum class LarsmModeMode : uint8_t { Mode1, Mode2, Mode3, Mode4 };
+#endif
 
 struct Settings
 {
@@ -32,12 +34,19 @@ struct Settings
     } limits;
 
     struct ControllerHardware {
+#ifdef GLUMP_CONTROLLER
         bool enableFrontLeft, enableFrontRight, enableBackLeft, enableBackRight;
         bool invertFrontLeft, invertFrontRight, invertBackLeft, invertBackRight;
+        bool swapFrontBack;
+#endif
+
+#ifdef VESC_CONTROLLER
+        bool enableOne, enableTwo;
+        bool invertOne, invertTwo;
+#endif
 
         int16_t wheelDiameter; // in mm
         int16_t numMagnetPoles; // virtual RPM per one real RPM
-        bool swapFrontBack;
     } controllerHardware;
 
     struct BoardcomputerHardware {
@@ -50,8 +59,10 @@ struct Settings
     } boardcomputerHardware;
 
     struct DefaultMode {
+#ifdef GLUMP_CONTROLLER
         ControlType ctrlTyp;
         ControlMode ctrlMod;
+#endif
         bool enableSmoothing;
         int16_t smoothing;
         int16_t frontPercentage;
@@ -64,15 +75,18 @@ struct Settings
     } defaultMode;
 
     struct TempomatMode {
+#ifdef GLUMP_CONTROLLER
         ControlType ctrlTyp;
         ControlMode ctrlMod;
+#endif
     } tempomatMode;
 
+#ifdef GLUMP_CONTROLLER
     struct LarsmMode {
         LarsmModeMode mode;
         uint8_t iterations;
     } larsmMode;
-
+#endif
 
     template<typename T>
     void executeForEverySetting(T &&callable);
@@ -99,6 +113,7 @@ void Settings::executeForEverySetting(T &&callable)
     callable("fieldWeakMax", limits.fieldWeakMax);
     callable("phaseAdvMax", limits.phaseAdvMax);
 
+#ifdef GLUMP_CONTROLLER
     callable("enableFrontLeft", controllerHardware.enableFrontLeft);
     callable("enableFrontRigh", controllerHardware.enableFrontRight);
     callable("enableBackLeft", controllerHardware.enableBackLeft);
@@ -110,6 +125,12 @@ void Settings::executeForEverySetting(T &&callable)
     callable("invertBackRight", controllerHardware.invertBackRight);
 
     callable("swapFrontBack", controllerHardware.swapFrontBack);
+#endif
+
+#ifdef VESC_CONTROLLER
+    callable("enableOne", controllerHardware.enableOne);
+    callable("enableTwo", controllerHardware.enableTwo);
+#endif
 
     callable("sampleCount", boardcomputerHardware.sampleCount);
     callable("gasMin", boardcomputerHardware.gasMin);
@@ -126,6 +147,7 @@ void Settings::executeForEverySetting(T &&callable)
 #endif
     callable("swapScreenBytes", boardcomputerHardware.swapScreenBytes);
 
+#ifdef GLUMP_CONTROLLER
     callable("default.ctrlTyp", defaultMode.ctrlTyp);
     callable("default.ctrlMod", defaultMode.ctrlMod);
     callable("default.enableS", defaultMode.enableSmoothing);
@@ -143,5 +165,6 @@ void Settings::executeForEverySetting(T &&callable)
 
     callable("larsm.mode", larsmMode.mode);
     callable("larsm.iters", larsmMode.iterations);
+#endif
 }
 }

src/settingsaccessors.h

@@ -33,6 +33,7 @@ struct NMotMaxRpmAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &g
 struct FieldWeakMaxAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.limits.fieldWeakMax; } };
 struct PhaseAdvMaxAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.limits.phaseAdvMax; } };
 
+#ifdef GLUMP_CONTROLLER
 struct FrontLeftEnabledAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.enableFrontLeft; } };
 struct FrontRightEnabledAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.enableFrontRight; } };
 struct BackLeftEnabledAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.enableBackLeft; } };
@@ -42,6 +43,14 @@ struct FrontLeftInvertedAccessor : public RefAccessorSaveSettings<bool> { bool &
 struct FrontRightInvertedAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.invertFrontRight; } };
 struct BackLeftInvertedAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.invertBackLeft; } };
 struct BackRightInvertedAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.invertBackRight; } };
+#endif
+#ifdef VESC_CONTROLLER
+struct OneEnabledAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.enableOne; } };
+struct TwoEnabledAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.enableTwo; } };
+
+struct OneInvertedAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.invertOne; } };
+struct TwoInvertedAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.invertTwo; } };
+#endif
 
 struct WheelDiameterMmAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.controllerHardware.wheelDiameter; } };
 struct WheelDiameterInchAccessor : public virtual AccessorInterface<float>
@@ -50,10 +59,13 @@ struct WheelDiameterInchAccessor : public virtual AccessorInterface<float>
     void setValue(float value) override { settings.controllerHardware.wheelDiameter = convertFromInch(value); saveSettings(); }
 };
 struct NumMagnetPolesAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.controllerHardware.numMagnetPoles; } };
+
+#ifdef GLUMP_CONTROLLER
 struct SwapFrontBackAccessor : public RefAccessorSaveSettings<bool> {
     bool &getRef() const override { return settings.controllerHardware.swapFrontBack; }
     void setValue(bool value) override { RefAccessorSaveSettings<bool>::setValue(value); updateSwapFrontBack(); };
 };
+#endif
 
 struct SampleCountAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.boardcomputerHardware.sampleCount; } };
 struct GasMinAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.boardcomputerHardware.gasMin; } };
@@ -70,8 +82,10 @@ struct GametrakDistMaxAccessor : public RefAccessorSaveSettings<int16_t> { int16
 #endif
 struct SwapScreenBytesAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.boardcomputerHardware.swapScreenBytes; } };
 
+#ifdef GLUMP_CONTROLLER
 struct DefaultModeCtrlTypAccessor : public RefAccessorSaveSettings<ControlType> { ControlType &getRef() const override { return settings.defaultMode.ctrlTyp; } };
 struct DefaultModeCtrlModAccessor : public RefAccessorSaveSettings<ControlMode> { ControlMode &getRef() const override { return settings.defaultMode.ctrlMod; } };
+#endif
 struct DefaultModeEnableSmoothingAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.defaultMode.enableSmoothing; } };
 struct DefaultModeSmoothingAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.defaultMode.smoothing; } };
 struct DefaultModeFrontPercentageAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.defaultMode.frontPercentage; } };
@@ -82,9 +96,11 @@ struct DefaultModeGas2WertAccessor : public RefAccessorSaveSettings<int16_t> { i
 struct DefaultModeBrems1WertAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.defaultMode.brems1_wert; } };
 struct DefaultModeBrems2WertAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.defaultMode.brems2_wert; } };
 
+#ifdef GLUMP_CONTROLLER
 struct TempomatModeCtrlTypAccessor : public RefAccessorSaveSettings<ControlType> { ControlType &getRef() const override { return settings.tempomatMode.ctrlTyp; } };
 struct TempomatModeCtrlModAccessor : public RefAccessorSaveSettings<ControlMode> { ControlMode &getRef() const override { return settings.tempomatMode.ctrlMod; } };
 
 struct LarsmModeModeAccessor : public RefAccessorSaveSettings<LarsmModeMode> { LarsmModeMode &getRef() const override { return settings.larsmMode.mode; } };
 struct LarsmModeIterationsAccessor : public RefAccessorSaveSettings<uint8_t> { uint8_t &getRef() const override { return settings.larsmMode.iterations; } };
+#endif
 }

src/settingssaver.h

@@ -68,6 +68,7 @@ template<> struct nvsGetterHelper<bool> { static esp_err_t nvs_get(nvs_handle ha
             *out_value = tempValue;
         return err;
     }};
+#ifdef GLUMP_CONTROLLER
 template<> struct nvsGetterHelper<ControlType> { static esp_err_t nvs_get(nvs_handle handle, const char* key, ControlType* out_value)
     {
         uint8_t tempValue;
@@ -92,6 +93,7 @@ template<> struct nvsGetterHelper<LarsmModeMode> { static esp_err_t nvs_get(nvs_
             *out_value = LarsmModeMode(tempValue);
         return err;
     }};
+#endif
 template<> struct nvsGetterHelper<BluetoothMode> { static esp_err_t nvs_get(nvs_handle handle, const char* key, BluetoothMode* out_value)
     {
         uint8_t tempValue;
@@ -126,6 +128,7 @@ template<> struct nvsSetterHelper<uint16_t> { static constexpr auto nvs_set = &n
 template<> struct nvsSetterHelper<int32_t> { static constexpr auto nvs_set = &nvs_set_i32; };
 template<> struct nvsSetterHelper<uint32_t> { static constexpr auto nvs_set = &nvs_set_u32; };
 template<> struct nvsSetterHelper<bool> { static constexpr auto nvs_set = &nvs_set_u8; };
+#ifdef GLUMP_CONTROLLER
 template<> struct nvsSetterHelper<ControlType> { static esp_err_t nvs_set(nvs_handle handle, const char* key, ControlType value)
     {
         return nvs_set_u8(handle, key, uint8_t(value));
@@ -138,6 +141,7 @@ template<> struct nvsSetterHelper<LarsmModeMode> { static esp_err_t nvs_set(nvs_
     {
         return nvs_set_u8(handle, key, uint8_t(value));
     }};
+#endif
 template<> struct nvsSetterHelper<BluetoothMode> { static esp_err_t nvs_set(nvs_handle handle, const char* key, BluetoothMode value)
     {
         return nvs_set_u8(handle, key, uint8_t(value));

src/statistics.h

@@ -9,7 +9,11 @@
 namespace {
 namespace statistics {
 using ContainerType = ring_buffer<float, 200>;
-ContainerType gas, brems, avgSpeed, avgSpeedKmh, sumCurrent, sumAbsoluteCurrent, frontVoltage, backVoltage, frontLeftCurrent, frontRightCurrent, backLeftCurrent, backRightCurrent
+ContainerType gas, brems, avgSpeed, avgSpeedKmh, sumCurrent, sumAbsoluteCurrent
+#ifdef GLUMP_CONTROLLER
+  , frontVoltage, backVoltage, frontLeftCurrent, frontRightCurrent, backLeftCurrent, backRightCurrent
+#endif
+
 #ifdef FEATURE_BMS
 , bmsVoltage, bmsCurrent, bmsPower
 #endif
@@ -24,6 +28,7 @@ void pushStats()
     statistics::avgSpeedKmh.push_back(avgSpeedKmh);
     statistics::sumCurrent.push_back(sumCurrent);
     statistics::sumAbsoluteCurrent.push_back(sumAbsoluteCurrent);
+#ifdef GLUMP_CONTROLLER
     if (front.feedbackValid)
     {
         statistics::frontVoltage.push_back(fixBatVoltage(front.feedback.batVoltage));
@@ -36,6 +41,7 @@ void pushStats()
         statistics::backLeftCurrent.push_back(fixCurrent(back.feedback.left.current));
         statistics::backRightCurrent.push_back(fixCurrent(back.feedback.right.current));
     }
+#endif
 #ifdef FEATURE_BMS
     statistics::bmsVoltage.push_back(bms::voltage);
     statistics::bmsCurrent.push_back(bms::current);
@@ -62,15 +68,19 @@ using AvgSpeedStatistics = BufferAccessorImpl<statistics::avgSpeed>;
 using AvgSpeedKmhStatistics = BufferAccessorImpl<statistics::avgSpeedKmh>;
 using SumCurrentStatistics = BufferAccessorImpl<statistics::sumCurrent>;
 using SumAbsoluteCurrentStatistics = BufferAccessorImpl<statistics::sumAbsoluteCurrent>;
+#ifdef GLUMP_CONTROLLER
 using FrontVoltageStatistics = BufferAccessorImpl<statistics::frontVoltage>;
 using BackVoltageStatistics = BufferAccessorImpl<statistics::backVoltage>;
+#endif
 #ifdef FEATURE_BMS
 using BmsVoltageStatistics = BufferAccessorImpl<statistics::bmsVoltage>;
 using BmsCurrentStatistics = BufferAccessorImpl<statistics::bmsCurrent>;
 using BmsPowerStatistics = BufferAccessorImpl<statistics::bmsPower>;
 #endif
+#ifdef GLUMP_CONTROLLER
 using FrontLeftCurrentStatistics = BufferAccessorImpl<statistics::frontLeftCurrent>;
 using FrontRightCurrentStatistics = BufferAccessorImpl<statistics::frontRightCurrent>;
 using BackLeftCurrentStatistics = BufferAccessorImpl<statistics::backLeftCurrent>;
 using BackRightCurrentStatistics = BufferAccessorImpl<statistics::backRightCurrent>;
+#endif
 }

src/utils.h

@@ -8,6 +8,7 @@
 
 #include "display.h"
 #include "globals.h"
+#include "VescUartControl-VESC6/VescUart.h"
 
 namespace {
 bool currentlyReverseBeeping;
@@ -63,10 +64,12 @@ float fixBoardTemp(int16_t value)
     return value/10.;
 }
 
+#ifdef GLUMP_CONTROLLER
 String hallString(const MotorFeedback &motor)
 {
     return String{} + (motor.hallA ? '1' : '0') + (motor.hallB ? '1' : '0') + (motor.hallC ? '1' : '0');
 }
+#endif
 
 template<typename T>
 String toString(T value)
@@ -80,6 +83,7 @@ String toString<bool>(bool value)
     return value ? "true" : "false";
 }
 
+#ifdef GLUMP_CONTROLLER
 template<>
 String toString<ControlType>(ControlType value)
 {
@@ -104,6 +108,7 @@ String toString<ControlMode>(ControlMode value)
     }
     return String("Unknown: ") + int(value);
 }
+#endif
 
 template<>
 String toString<wl_status_t>(wl_status_t value)
@@ -138,6 +143,7 @@ String toString<ota_error_t>(ota_error_t value)
     return String("Unknown: ") + int(value);
 }
 
+#ifdef GLUMP_CONTROLLER
 std::array<std::reference_wrapper<Controller>, 2> controllers()
 {
     return {front, back};
@@ -245,25 +251,44 @@ void sendCommands()
     }
 }
 
-template<typename T, typename... Args>
-void switchScreen(Args&&... args);
-
 void updateSwapFrontBack()
 {
     front.serial = settings.controllerHardware.swapFrontBack ? Serial2 : Serial1;
     back.serial = settings.controllerHardware.swapFrontBack ? Serial1 : Serial2;
 }
+#endif
 
-void loadSettings()
+#ifdef VESC_CONTROLLER
+
+std::array<std::reference_wrapper<VescController>, 2> controllers()
 {
-    settingsSaver.load(settings);
+  return {one, two};
 }
 
-void saveSettings()
+float mapfloat(float x, float in_min, float in_max, float out_min, float out_max) {
-{
+  float r = (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
-    settingsSaver.save(settings);
+  if (r < out_min)r = out_min;
+  if (r > out_max)r = out_max;
+  return r;
 }
 
+void sendCommands()
+{
+  for (VescController &controller : controllers())
+  {
+    SetSerialPort(&controller.serial.get());
+    SetDebugSerialPort(NULL);
+
+    float current = mapfloat(controller.pwm, -1000, 1000, -settings.limits.iMotMax, settings.limits.iMotMax);
+
+    Serial.println(String{"New current "} + current);
+
+    VescUartSetCurrent(current);
+  }
+}
+
+#endif
+
 void updateAccumulators()
 {
     avgSpeed = 0.f;
@@ -271,6 +296,7 @@ void updateAccumulators()
     sumAbsoluteCurrent = 0.f;
     uint8_t count{0};
 
+#ifdef GLUMP_CONTROLLER
     for (const Controller &controller : controllers())
     {
         if (!controller.feedbackValid)
@@ -290,6 +316,17 @@ void updateAccumulators()
 
         count +=2;
     }
+#endif
+
+#ifdef VESC_CONTROLLER
+    for (VescController &controller : controllers()) {
+        avgSpeed += controller.values.rpm;
+        sumCurrent += controller.values.avgMotorCurrent;
+        sumAbsoluteCurrent += std::abs(controller.values.avgMotorCurrent);
+
+        count += 2;
+    }
+#endif
 
     if (count)
         avgSpeed /= count;
@@ -300,6 +337,20 @@ void updateAccumulators()
     avgSpeedKmh = convertToKmh(avgSpeed);
 }
 
+
+template<typename T, typename... Args>
+void switchScreen(Args&&... args);
+
+void loadSettings()
+{
+    settingsSaver.load(settings);
+}
+
+void saveSettings()
+{
+    settingsSaver.save(settings);
+}
+
 void readPotis()
 {
     const auto sampleMultipleTimes = [](int pin){