- Implemented SET_ID command

- Set the default robot id to 0 (robots now get their IDS from the controller)

include/communication/CommandRegistry.hpp

@@ -17,8 +17,7 @@ enum class CommandCategory : uint8_t {
  */
 enum GeneralCommand {
     REBOOT = 0,
-    DISCOVER = 1,
-    RESET_ID = 2
+    SET_ID = 1
 };
 
 /**

src/communication/commandcontroller/CommandController_General.cpp

@@ -8,16 +8,15 @@ Response CommandController_General::handle(const Command &cmd, ResponseCallback
         case REBOOT:
             rstc_start_software_reset(RSTC);
             break;
-        case DISCOVER:
-            if(pmsvSettings.robot_id == 0) {
-                return {cmd.message_id, SuccessCode::SUCCESS};
+        case SET_ID:
+            if(pmsvSettings.robot_id != 0) {
+                return {cmd.message_id, SuccessCode::NO_RESPONSE};
             }
-            return {cmd.message_id, SuccessCode::NO_RESPONSE};
-        case RESET_ID:
-            pmsvSettings.robot_id = 0;
+            pmsvSettings.robot_id = cmd.parameters[0];
             configRobotId.store();
+            Response res{cmd.message_id, SuccessCode::SUCCESS};
+            callback(res);
             rstc_start_software_reset(RSTC);
-            break;
     }
     return {cmd.message_id, SuccessCode::UNKNOWN_COMMAND};
 }
@@ -34,9 +33,9 @@ std::pair<uint8_t, uint8_t> CommandController_General::getParameterLimits(uint8_
 
     switch (cmd_id) {
         case REBOOT:
-        case DISCOVER:
-        case RESET_ID:
             return {0, 0};
+        case SET_ID:
+            return {1, 1};
         default:
             return {255, 255};
 

src/main.cpp

@@ -20,7 +20,7 @@
 
 ////##################################################################   Configuration ###################################
 PMSVSettings default_settings{
-        0xE4,
+        0,
         1.434684f,
         1.4545f,
         0,
@@ -37,7 +37,7 @@ auto c_min_speed = registerConfig("MIN_SPEED", default_settings.min_speed);
 auto c_max_speed = registerConfig("MAX_SPEED", default_settings.max_speed);
 
 NRFConfiguration nrf_config{
-        RF24_PA_HIGH,
+        RF24_PA_MAX,
         50,
         0xE0E0F1F1E4LL,
         0xE0E0F1F1E4LL,