remove failchecks for controller power

controller/controller.ino

@@ -76,8 +76,7 @@ long last_send = 0;
 
 boolean board1Enabled=false;
 boolean board2Enabled=false;
-#define EXPECT_FEEDBACK_ABOVE_SPEED 250 //for error checking
+
-#define SERIALACTIVECHECKTIME 3000 //time to say a board is online/active when last message received in the last x ms
 
 // Global variables for serial communication
 uint8_t idx1 = 0;                        // Index for new data pointer
@@ -86,8 +85,6 @@ byte *p1;                                // Pointer declaration for the new rece
 byte incomingByte1;
 byte incomingBytePrev1;
 long lastValidDataSerial1_time;
-long lastSendSerial1expectFeedback; //to check time difference between last >0 speed send and last received feedback
-long lastBoard1PowerChange;
 
 //Same for Serial2
 uint8_t idx2 = 0;                        // Index for new data pointer
@@ -96,8 +93,6 @@ byte *p2;                                // Pointer declaration for the new rece
 byte incomingByte2;
 byte incomingBytePrev2;
 long lastValidDataSerial2_time;
-long lastSendSerial2expectFeedback; //to check time difference between last >0 speed send and last received feedback
-long lastBoard2PowerChange;
 
 typedef struct{
    uint16_t start;
@@ -209,13 +204,6 @@ void loop() {
     }
   }
 
-  //for lastValidSerialData calculation
-  if (abs(out_speedRL)>EXPECT_FEEDBACK_ABOVE_SPEED || abs(out_speedRR)>EXPECT_FEEDBACK_ABOVE_SPEED) { //Rear is serial 1
-    lastSendSerial1expectFeedback=loopmillis;
-  }
-  if (abs(out_speedFL)>EXPECT_FEEDBACK_ABOVE_SPEED || abs(out_speedFR)>EXPECT_FEEDBACK_ABOVE_SPEED) { //Front is serial 2
-    lastSendSerial2expectFeedback=loopmillis;
-  }
   
 
   if (currentmode!=error) { //keep last errormessage
@@ -367,21 +355,11 @@ void handleModeChange() {
                   state_modechange++;
                   board1Enabled=true; //assume board is online
                   board2Enabled=true; //assume board is online
-                  lastBoard1PowerChange=loopmillis;
-                  lastBoard2PowerChange=loopmillis;
-                  lastSendSerial1expectFeedback=loopmillis; //expect maybe feedback on power on
-                  lastSendSerial2expectFeedback=loopmillis;
-                  lastValidDataSerial1_time=loopmillis; //assume a feedback was received (boards do not send feedback on poweron)
-                  lastValidDataSerial2_time=loopmillis; //assume a feedback was received (boards do not send feedback on poweron)
                 // ### Request Idle or Off (both power boards off) ###
                 }else if(requestmode==idle || requestmode==off) {
                   state_modechange++;
                   board1Enabled=false; //assume board is offline
                   board2Enabled=false; //assume board is offline
-                  lastBoard1PowerChange=loopmillis;
-                  lastBoard2PowerChange=loopmillis;
-                  lastSendSerial1expectFeedback=loopmillis; //expect maybe feedback on power on
-                  lastSendSerial2expectFeedback=loopmillis;
                 }else{ //if changed off from error mode
                   state_modechange++;
                 }
@@ -411,30 +389,6 @@ void handleModeChange() {
 }
 
 
-boolean serial1Active() {
-  if (loopmillis-lastBoard1PowerChange<=SERIALACTIVECHECKTIME) {
-    return board1Enabled; //unclear if mcu just started or board is just starting up. reply with exprected answer
-  }
-  if (lastValidDataSerial1_time==0 && lastSendSerial1expectFeedback==0) { //no valid data received and send ever
-    return false;
-  }
-  if (loopmillis-lastSendSerial1expectFeedback <= SERIALACTIVECHECKTIME){ //enough time passed since last exprected feedback
-    return board1Enabled; //unclear, return exprected value
-  }
-  return loopmillis-lastValidDataSerial1_time < SERIALACTIVECHECKTIME;
-}
-boolean serial2Active() {
-  if (loopmillis-lastBoard2PowerChange<=SERIALACTIVECHECKTIME) {
-    return board2Enabled; //unclear if mcu just started or board is just starting up. reply with exprected answer
-  }
-  if (lastValidDataSerial2_time==0 && lastSendSerial2expectFeedback==0) { //no valid data received and send ever
-    return false;
-  }
-  if (loopmillis-lastSendSerial2expectFeedback <= SERIALACTIVECHECKTIME){ //enough time passed since last exprected feedback
-    return board2Enabled; //unclear, return exprected value
-  }
-  return loopmillis-lastValidDataSerial2_time < SERIALACTIVECHECKTIME;
-}
 
 void modeloops() {
   if (loopmillis - last_looptime >= LOOPTIME) {
@@ -494,34 +448,7 @@ boolean boardsPowered()
 
 void failChecks() 
 {
-  if (serial1Active() && !board1Enabled){ //serial is active and board should be offline
+  
-    errormessage="Board 1 is online but shouldnt";
-    requestmode=error;
-  }
-  if (serial2Active() && !board2Enabled){ //serial is active and board should be offline
-    errormessage="Board 2 is online but shouldnt";
-    requestmode=error;
-    Serial.print("loopmillis="); Serial.println(loopmillis);
-      Serial.print("lastBoard2PowerChange="); Serial.println(lastBoard2PowerChange);
-      Serial.print("lastSendSerial2expectFeedback="); Serial.println(lastSendSerial2expectFeedback);
-      Serial.print("lastValidDataSerial2_time="); Serial.println(lastValidDataSerial2_time);
-  }
-  if (out_speedRL != 0 || out_speedRR != 0) { //Rear is Serial1
-    if (!serial1Active() && board1Enabled){ //serial is not active and board should be online.  only check this if feedback can be exprected (out_speedFL/R > 0)
-      errormessage="Board 1 is offline but should be online";
-      requestmode=error;
-    }
-  }
-  if (out_speedFL != 0 || out_speedFR != 0) { //Front is Serial2
-    if (!serial2Active() && board2Enabled){ //serial is not active and board should be online.  only check this if feedback can be exprected (out_speedFL/R > 0)
-      errormessage="Board 2 is offline but should be online";
-      requestmode=error;
-      Serial.print("loopmillis="); Serial.println(loopmillis);
-      Serial.print("lastBoard2PowerChange="); Serial.println(lastBoard2PowerChange);
-      Serial.print("lastSendSerial2expectFeedback="); Serial.println(lastSendSerial2expectFeedback);
-      Serial.print("lastValidDataSerial2_time="); Serial.println(lastValidDataSerial2_time);
-    }
-  }
   
 }