LED indicator

include/global.h

@@ -33,4 +33,6 @@ struct XBeeSettings
 };
 };
 XBeeSettings xb_settings[6];
 XBeeSettings xb_settings[6];
 
 
+static constexpr uint32_t INDICATOR_INTERVAL_MS = 1000;
+
 #endif // WHILL_GLOBAL_H
 #endif // WHILL_GLOBAL_H

include/main.h

@@ -289,6 +289,7 @@ void sendStatus()
 {
 {
     if (b_streaming)
     if (b_streaming)
     {
     {
+        Serial.println("streaming enabled");
         if (b_motor_active)
         if (b_motor_active)
             packer.pack(HARDWARE_ID, whill.battery(WhillOmni::LR::L), whill.battery(WhillOmni::LR::R), whill.errorCode(WhillOmni::LR::L), whill.errorCode(WhillOmni::LR::R));
             packer.pack(HARDWARE_ID, whill.battery(WhillOmni::LR::L), whill.battery(WhillOmni::LR::R), whill.errorCode(WhillOmni::LR::L), whill.errorCode(WhillOmni::LR::R));
         else
         else
@@ -296,6 +297,10 @@ void sendStatus()
 
 
         XBEE_SERIAL.write(packer.data(), packer.size());
         XBEE_SERIAL.write(packer.data(), packer.size());
     }
     }
+    else
+    {
+        Serial.println("streaming disabled");
+    }
 }
 }
 
 
 void waitReply(uint16_t wait_ms = 0)
 void waitReply(uint16_t wait_ms = 0)

src/main.cpp

@@ -41,6 +41,7 @@ void setup()
     pinMode(PIN_IRLED_OE, OUTPUT);
     pinMode(PIN_IRLED_OE, OUTPUT);
     digitalWrite(PIN_IRLED_OE, LOW); // Output Enable
     digitalWrite(PIN_IRLED_OE, LOW); // Output Enable
 
 
+    pinMode(LED_BUILTIN, OUTPUT);
 
 
     WHILL_SERIAL_L.begin(WHILL_SERIAL_BAUD, SERIAL_8N2); // L
     WHILL_SERIAL_L.begin(WHILL_SERIAL_BAUD, SERIAL_8N2); // L
     WHILL_SERIAL_R.begin(WHILL_SERIAL_BAUD, SERIAL_8N2); // R
     WHILL_SERIAL_R.begin(WHILL_SERIAL_BAUD, SERIAL_8N2); // R
@@ -94,7 +95,17 @@ void loop()
     static uint32_t prev_ms = millis();
     static uint32_t prev_ms = millis();
     if ((millis() - prev_ms) > streaming_interval)
     if ((millis() - prev_ms) > streaming_interval)
     {
     {
+        Serial.println("send status");
         sendStatus();
         sendStatus();
         prev_ms = millis();
         prev_ms = millis();
     }
     }
+
+    static uint32_t prev_indicate = millis();
+    static bool led_state = false;
+    if ((millis() - prev_indicate) > INDICATOR_INTERVAL_MS)
+    {
+        digitalWrite(LED_BUILTIN, led_state);
+        led_state = !led_state;
+        prev_indicate = millis();
+    }
 }
 }