From 20caba3c826cc2223493baddec7b20c9dae8fd68 Mon Sep 17 00:00:00 2001
From: joshua-8 <joshua_phelps@brown.edu>
Date: Tue, 24 Sep 2024 23:09:06 -0700
Subject: [PATCH] esp32

---
 gbg_program/_Save_Recall.ino | 18 ++++++------------
 gbg_program/gbg_program.ino  | 16 ++++++++--------
 2 files changed, 14 insertions(+), 20 deletions(-)

diff --git a/gbg_program/_Save_Recall.ino b/gbg_program/_Save_Recall.ino
index 57939a2..d179e72 100644
--- a/gbg_program/_Save_Recall.ino
+++ b/gbg_program/_Save_Recall.ino
@@ -310,9 +310,15 @@ void settingsSerial() {
         EEPROMwrite(settingsMemoryKeyAddr, settings_memory_key + 1);  // so that on reset the arduino discards EEPROM
 #if defined(ARDUINO_ARCH_MBED_RP2040)|| defined(ARDUINO_ARCH_RP2040) || defined(ESP32)
         EEPROM.commit();
+#endif
+#ifdef ESP32
+        ESP.restart();
 #endif
         delay(5000); // trigger wdt
       } else if (strcmp(k, "REBOOT") == 0) {
+#ifdef ESP32
+        ESP.restart();
+#endif
         delay(5000); // trigger wdt
       } else if (strcmp(k, "G") == 0) {
         changedSomething = false;
@@ -509,8 +515,6 @@ void recallSettings()
       Serial.println(F("{\"error\": \"eeprom failure\"}"));
 #if defined(ARDUINO_ARCH_MBED_RP2040)|| defined(ARDUINO_ARCH_RP2040)
       rp2040.wdt_reset();
-#elif defined(ESP32)
-      //TODO: WDT
 #endif
       digitalWrite(LED_BUILTIN, HIGH);
       delay(200);
@@ -527,8 +531,6 @@ void recallSettings()
       delay(400);
 #if defined(ARDUINO_ARCH_MBED_RP2040)|| defined(ARDUINO_ARCH_RP2040)
       rp2040.wdt_reset();
-#elif defined(ESP32)
-      //TODO: WDT
 #endif
       digitalWrite(LED_BUILTIN, HIGH);
       delay(500);
@@ -539,8 +541,6 @@ void recallSettings()
 
 #if defined(ARDUINO_ARCH_MBED_RP2040)|| defined(ARDUINO_ARCH_RP2040)
       rp2040.wdt_reset();
-#elif defined(ESP32)
-      //TODO: WDT
 #endif
       digitalWrite(LED_BUILTIN, LOW);
       delay(400);
@@ -551,8 +551,6 @@ void recallSettings()
 
 #if defined(ARDUINO_ARCH_MBED_RP2040)|| defined(ARDUINO_ARCH_RP2040)
       rp2040.wdt_reset();
-#elif defined(ESP32)
-      //TODO: WDT
 #endif
       delay(400);
       digitalWrite(LED_BUILTIN, HIGH);
@@ -569,8 +567,6 @@ void recallSettings()
       delay(200);
 #if defined(ARDUINO_ARCH_MBED_RP2040)|| defined(ARDUINO_ARCH_RP2040)
       rp2040.wdt_reset();
-#elif defined(ESP32)
-      //TODO: WDT
 #endif
       delay(1000);
     }
@@ -625,8 +621,6 @@ void EEPROMread(unsigned int& address, T & value)
       wdt_reset();
 #elif defined(ARDUINO_ARCH_MBED_RP2040)|| defined(ARDUINO_ARCH_RP2040)
       rp2040.wdt_reset();
-#elif defined(ESP32)
-      //TODO: WDT
 #endif
 
     }
diff --git a/gbg_program/gbg_program.ino b/gbg_program/gbg_program.ino
index 3b01b5e..b4d6a36 100644
--- a/gbg_program/gbg_program.ino
+++ b/gbg_program/gbg_program.ino
@@ -276,7 +276,6 @@ void setup() {
   EEPROM.begin(1024);
 #elif defined(ESP32)
   EEPROM.begin(1024);
-  //TODO: WDT
 #endif
   //initialize variables
   joyXVal = 512;
@@ -346,8 +345,6 @@ void loop()
   wdt_reset();
 #elif defined(ARDUINO_ARCH_MBED_RP2040)|| defined(ARDUINO_ARCH_RP2040)
   rp2040.wdt_reset();
-#elif defined(ESP32)
-  //TODO: WDT
 #endif
 
 #if defined(ARDUINO_RASPBERRY_PI_PICO_W) || defined(ESP32)
@@ -464,11 +461,14 @@ void loop()
       leftMotorController.writeMicroseconds(LEFT_MOTOR_CENTER);
       rightMotorController.writeMicroseconds(RIGHT_MOTOR_CENTER);
     }
-  }
-
-  if (movementAllowed) {
-    leftMotorController.writeMicroseconds(leftMotorWriteVal);
-    rightMotorController.writeMicroseconds(rightMotorWriteVal);
+  } else {
+    if (movementAllowed) {
+      leftMotorController.writeMicroseconds(leftMotorWriteVal);
+      rightMotorController.writeMicroseconds(rightMotorWriteVal);
+    } else {
+      leftMotorController.writeMicroseconds(LEFT_MOTOR_CENTER);
+      rightMotorController.writeMicroseconds(RIGHT_MOTOR_CENTER);
+    }
   }
   //////////////////////////////////////////////////////////////////////////////////