🎓 Expand servo buffers to Int16

app/src/components/Model/ModelView.svelte

@@ -37,8 +37,8 @@ let canvas: HTMLCanvasElement, streamCanvas: HTMLCanvasElement, stream: HTMLImag
 
 let context: CanvasRenderingContext2D, texture: CanvasTexture
 
-let modelAngles:number[] | Int8Array = new Array(12).fill(0)
-let modelTargetAngles:number[] | Int8Array = new Array(12).fill(0)
+let modelAngles:number[] | Int16Array = new Array(12).fill(0)
+let modelTargetAngles:number[] | Int16Array = new Array(12).fill(0)
 
 let modelBodyAngles:EulerAngle = {omega: 0, phi: 0, psi: 0 }
 let modelTargeBodyAngles:EulerAngle = {omega: 0, phi: 0, psi: 0 }

app/src/lib/socket.ts

@@ -6,7 +6,7 @@ export const isConnected = writable(false)
 
 export const dataBuffer = writable(new Float32Array(13))
 
-export const servoBuffer:Writable<Int8Array|number[]> = writable(new Int8Array(12))
+export const servoBuffer:Writable<Int16Array|number[]> = writable(new Int16Array(12))
 
 export const data = writable();
 
@@ -28,7 +28,7 @@ export const connect = (url:string) => {
         const buffer = []
         buffer[0] = 1
         buffer.push(...data)
-        _socket.send(new Int8Array(buffer))
+        _socket.send(new Int16Array(buffer))
     })
 }
 

include/servo.h

@@ -24,7 +24,7 @@ class Servo : public Adafruit_PWMServoDriver {
     
     Servo() : Adafruit_PWMServoDriver() {}
 
-    void SetAngles(int8_t* angle) {
+    void SetAngles(int16_t* angle) {
         for(size_t i = 0; i < 12; i++)
             servo_angles[i] = angle[i];
         updateServos();
@@ -108,7 +108,7 @@ class Servo : public Adafruit_PWMServoDriver {
 
     position_t spot_position = {.omega=0,.phi=0,.psi=0,.xm=-40,.ym=-170, .zm=0, .set=1};
     position_t goal_position = {0,};
-    int8_t servo_angles[12]{0,};
+    int16_t servo_angles[12]{0,};
 };
 
 extern DRAM_ATTR std::unique_ptr<Servo> g_ptrServo;

src/webserver.cpp

@@ -321,7 +321,7 @@ void handleWebSocketBuffer(uint8_t* data) {
     if(data[0] == 0) g_ptrServo->setBody(data[1], data[2], data[3], data[4], data[5], data[6]);
     else if(data[0] == 1) {
         log_i("About to update all servos");
-        int8_t* angles = (int8_t*)data+1;  
+        int16_t* angles = (int16_t*)data+1;  
 
         g_ptrServo->SetAngles(angles);
     }