From 6032952cf22005bbeaaf98b7e516573e239cdf97 Mon Sep 17 00:00:00 2001
From: EnricoGuccii <partyka.003@proton.me>
Date: Sat, 13 Jun 2026 21:49:51 +0200
Subject: added cool yellow rgb blinking effect when moving backwards

---
 src/main.cpp | 81 ++++++++++++++++++++++++++++++++++++------------------------
 1 file changed, 49 insertions(+), 32 deletions(-)

(limited to 'src')

diff --git a/src/main.cpp b/src/main.cpp
index 2298f4d..2e9aa7c 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -36,6 +36,7 @@ enum RobotEmotion {
 volatile RobotEmotion currentState = E_NEUTRAL;
 
 volatile char manualMotors = '0';
+volatile char manualRGB = '0';
 
 String ipRobot = "Connection error"; 
 WiFiUDP udp;
@@ -95,6 +96,7 @@ void wifiTask(void * pvParameters) {
       if (millis() - emotionStartTime >= EMOTION_DURATION_MS) {
         currentState = MANUAL;
         manualMotors = '0'; 
+        manualRGB = '0'; 
       }
     }
 
@@ -109,15 +111,15 @@ void oledSetup(){
   display.begin(SSD1306_SWITCHCAPVCC, OLED_ADDR);
   roboEyes.begin(OLED_WIDTH, OLED_HEIGHT, 50);
 
-  display.clearDisplay();
-  display.setTextSize(1);
-  display.setTextColor(SSD1306_WHITE);
-  display.setCursor(0, 10);
-  display.println("Connected:");
-  display.print("IP: ");
-  display.println(ipRobot);
-  display.display();
-  delay(5000); 
+  // display.clearDisplay();
+  // display.setTextSize(1);
+  // display.setTextColor(SSD1306_WHITE);
+  // display.setCursor(0, 10);
+  // display.println("Connected:");
+  // display.print("IP: ");
+  // display.println(ipRobot);
+  // display.display();
+  // delay(5000); 
 
   roboEyes.setAutoblinker(ON, 3, 2);
   roboEyes.setIdleMode(ON, 2, 2);
@@ -154,37 +156,52 @@ void oledTask(void * pvParameters) {
 
 /*================================= RGB =================================*/
 void rgbTask(void * pvParameters) {
-  RobotEmotion lastEmotion = E_NEUTRAL; 
+  RobotEmotion lastAction = E_NEUTRAL; 
   
   rgb.setColorRGB(0, 0, 0, true);
 
   for(;;) {
-    if (currentState != lastEmotion) {
+    if (currentState != lastAction) {
       switch(currentState) {
         case E_HAPPY: rgb.fadeColor(255, 250, 0, 500); break;
         case E_SAD: rgb.fadeColor(118, 116, 237, 500); break;
         case E_ANGRY: rgb.fadeColor(255, 0, 0, 500); break;
-        case E_NEUTRAL:
         default: rgb.fadeColor(0, 0, 0, 500); break;
       }
-      lastEmotion = currentState;
+      lastAction = currentState;
     }
 
-    switch(currentState) {
-      case E_HAPPY:
-        rgb.setBrightness(40);
-        rgb.rainbowCycle(1000, 2);
-        break;
-      case E_SAD:
-        rgb.setBrightness(40);
-        break;
-      case E_ANGRY:
-        rgb.setBrightness(100);
-        rgb.blink(1, 300);
-        break;
-      case E_NEUTRAL:
-      default:
-        break;
+    if (currentState == MANUAL) {
+      switch(manualMotors) {
+        case 'F': 
+          break;
+        case 'B': 
+          rgb.setBrightness(50);
+          rgb.setColorRGB(255, 100, 0);
+          rgb.blink(1, 300);
+          rgb.setColorRGB(0, 0, 0, 0);
+          break;
+        case 'L': ; break;
+        case 'R': ; break;
+        default:; break;
+      }
+    } else {
+      switch(currentState) {
+        case E_HAPPY:
+          rgb.setBrightness(40);
+          rgb.rainbowCycle(1000, 2);
+          break;
+        case E_SAD:
+          rgb.setBrightness(40);
+          break;
+        case E_ANGRY:
+          rgb.setBrightness(100);
+          rgb.blink(1, 300);
+          break;
+        case E_NEUTRAL:
+        default:
+          break;
+      }
     }
     vTaskDelay(20 / portTICK_PERIOD_MS);
   }
@@ -206,12 +223,12 @@ void motorsTask(void * pvParameters) {
     } else {
       switch(currentState) {
         case E_HAPPY:
-          motors.leftTurn(100, 1000);
-          motors.rightTurn(100, 1000);
+          motors.leftTurn(100, 130);
+          motors.rightTurn(100, 130);
           break;
         case E_ANGRY:
-          motors.forward(100, 1000);
-          motors.backward(100, 1000);
+          motors.forward(100, 130);
+          motors.backward(100, 130);
           break;
         default:
           motors.stop();
-- 
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