From 6ef931137aa23bc30eee7aaa68de4cf57b76c0dc Mon Sep 17 00:00:00 2001 From: tunapro Date: Thu, 25 Dec 2025 07:36:37 +0300 Subject: [PATCH 01/14] feat: add connection timeouts and fix thread safety issues --- .gitignore | 1 + VERSION | 2 +- examples/AutonomousDemo/AutonomousDemo.ino | 5 ++- examples/JoystickTest/JoystickTest.ino | 3 +- .../MecanumDriveDemo/MecanumDriveDemo.ino | 9 +++-- .../MotorControllerDemo.ino | 3 +- examples/MotorDriverDemo/MotorDriverDemo.ino | 3 +- examples/ShooterDemo/ShooterDemo.ino | 3 +- examples/SliderDemo/SliderDemo.ino | 3 +- examples/TankDriveDemo/TankDriveDemo.ino | 5 ++- examples/TurretDemo/TurretDemo.ino | 3 +- idf_component.yml | 2 +- library.json | 2 +- library.properties | 2 +- src/io/ui_input.cpp | 19 ++++++--- .../esp32s3/web/driver_station_esp32.hpp | 39 +++++++++++++++++-- src/platform/esp32s3/web/index_html.h | 5 +-- src/probot.h | 13 ------- src/probot/chassis/basic_tank_drive.hpp | 1 - src/probot/io/gamepad.hpp | 29 ++++++++++++-- src/probot/io/joystick_mappings/mapping.hpp | 15 +++---- src/probot/robot/state.hpp | 15 ++++++- tests/test_io.cpp | 4 ++ 23 files changed, 131 insertions(+), 55 deletions(-) diff --git a/.gitignore b/.gitignore index e77605f..00aa959 100644 --- a/.gitignore +++ b/.gitignore @@ -1,5 +1,6 @@ # Local scripts liner.py +TODO.md tests/control_tests .build/ review/ diff --git a/VERSION b/VERSION index 845639e..c946ee6 100644 --- a/VERSION +++ b/VERSION @@ -1 +1 @@ -0.1.4 +0.1.6 diff --git a/examples/AutonomousDemo/AutonomousDemo.ino b/examples/AutonomousDemo/AutonomousDemo.ino index 1da665d..b4ac84c 100644 --- a/examples/AutonomousDemo/AutonomousDemo.ino +++ b/examples/AutonomousDemo/AutonomousDemo.ino @@ -1,4 +1,5 @@ #include +#include #include #include #include @@ -20,8 +21,8 @@ static constexpr int R_ENB = -1; static probot::motor::BoardozaVNHMotorDriver leftDriver(L_INA, L_INB, L_PWM, L_ENA, L_ENB); static probot::motor::BoardozaVNHMotorDriver rightDriver(R_INA, R_INB, R_PWM, R_ENA, R_ENB); -static probot::sensors::NullEncoder leftEncoder; -static probot::sensors::NullEncoder rightEncoder; +static probot::test::NullEncoder leftEncoder; +static probot::test::NullEncoder rightEncoder; static const probot::control::PidConfig kPid{.kp = 0.32f, .ki = 0.015f, .kd = 0.0f, .kf = 0.0f, .out_min = -1.0f, .out_max = 1.0f}; diff --git a/examples/JoystickTest/JoystickTest.ino b/examples/JoystickTest/JoystickTest.ino index a932644..296d1d0 100644 --- a/examples/JoystickTest/JoystickTest.ino +++ b/examples/JoystickTest/JoystickTest.ino @@ -1,4 +1,5 @@ #include +#include #include #include #include @@ -13,7 +14,7 @@ static constexpr int PIN_ENB = -1; // Tüm örneklerde aynı temel motor-stub setini kullanıyoruz. static probot::motor::BoardozaVNHMotorDriver motor(PIN_INA, PIN_INB, PIN_PWM, PIN_ENA, PIN_ENB); -static probot::sensors::NullEncoder encoder; +static probot::test::NullEncoder encoder; static const probot::control::PidConfig kPid{.kp = 0.25f, .ki = 0.0f, .kd = 0.0f, .kf = 0.0f, .out_min = -1.0f, .out_max = 1.0f}; static probot::control::PID pid(kPid); diff --git a/examples/MecanumDriveDemo/MecanumDriveDemo.ino b/examples/MecanumDriveDemo/MecanumDriveDemo.ino index d38ce88..f822ea1 100644 --- a/examples/MecanumDriveDemo/MecanumDriveDemo.ino +++ b/examples/MecanumDriveDemo/MecanumDriveDemo.ino @@ -1,4 +1,5 @@ #include +#include #include #include #include @@ -20,10 +21,10 @@ static probot::motor::BoardozaVNHMotorDriver drvFR(PINS_FR.ina, PINS_FR.inb, PIN static probot::motor::BoardozaVNHMotorDriver drvRL(PINS_RL.ina, PINS_RL.inb, PINS_RL.pwm, PINS_RL.ena, PINS_RL.enb); static probot::motor::BoardozaVNHMotorDriver drvRR(PINS_RR.ina, PINS_RR.inb, PINS_RR.pwm, PINS_RR.ena, PINS_RR.enb); -static probot::sensors::NullEncoder encFL; -static probot::sensors::NullEncoder encFR; -static probot::sensors::NullEncoder encRL; -static probot::sensors::NullEncoder encRR; +static probot::test::NullEncoder encFL; +static probot::test::NullEncoder encFR; +static probot::test::NullEncoder encRL; +static probot::test::NullEncoder encRR; static const probot::control::PidConfig kPid{.kp = 0.30f, .ki = 0.01f, .kd = 0.0f, .kf = 0.0f, .out_min = -1.0f, .out_max = 1.0f}; diff --git a/examples/MotorControllerDemo/MotorControllerDemo.ino b/examples/MotorControllerDemo/MotorControllerDemo.ino index e975818..9b6dceb 100644 --- a/examples/MotorControllerDemo/MotorControllerDemo.ino +++ b/examples/MotorControllerDemo/MotorControllerDemo.ino @@ -1,4 +1,5 @@ #include +#include #include #include #include @@ -12,7 +13,7 @@ static constexpr int PIN_ENA = -1; static constexpr int PIN_ENB = -1; static probot::motor::BoardozaVNHMotorDriver motor(PIN_INA, PIN_INB, PIN_PWM, PIN_ENA, PIN_ENB); -static probot::sensors::NullEncoder encoder; +static probot::test::NullEncoder encoder; static const probot::control::PidConfig kVelocityPid{.kp = 0.35f, .ki = 0.02f, .kd = 0.0f, .kf = 0.0f, .out_min = -1.0f, .out_max = 1.0f}; static probot::control::PID pid(kVelocityPid); diff --git a/examples/MotorDriverDemo/MotorDriverDemo.ino b/examples/MotorDriverDemo/MotorDriverDemo.ino index 625166e..1af78c9 100644 --- a/examples/MotorDriverDemo/MotorDriverDemo.ino +++ b/examples/MotorDriverDemo/MotorDriverDemo.ino @@ -1,4 +1,5 @@ #include +#include #include #include #include @@ -12,7 +13,7 @@ static constexpr int PIN_ENA = -1; static constexpr int PIN_ENB = -1; static probot::motor::BoardozaVNHMotorDriver motor(PIN_INA, PIN_INB, PIN_PWM, PIN_ENA, PIN_ENB); -static probot::sensors::NullEncoder encoder; +static probot::test::NullEncoder encoder; static const probot::control::PidConfig kPid{.kp = 0.30f, .ki = 0.0f, .kd = 0.0f, .kf = 0.0f, .out_min = -1.0f, .out_max = 1.0f}; static probot::control::PID pid(kPid); diff --git a/examples/ShooterDemo/ShooterDemo.ino b/examples/ShooterDemo/ShooterDemo.ino index 7a69c92..b120c30 100644 --- a/examples/ShooterDemo/ShooterDemo.ino +++ b/examples/ShooterDemo/ShooterDemo.ino @@ -1,4 +1,5 @@ #include +#include #include #include #include @@ -13,7 +14,7 @@ static constexpr int PIN_ENA = -1; static constexpr int PIN_ENB = -1; static probot::motor::BoardozaVNHMotorDriver motor(PIN_INA, PIN_INB, PIN_PWM, PIN_ENA, PIN_ENB); -static probot::sensors::NullEncoder encoder; +static probot::test::NullEncoder encoder; static const probot::control::PidConfig kVelocityPid{.kp = 0.4f, .ki = 0.02f, .kd = 0.0f, .kf = 0.0f, .out_min = -1.0f, .out_max = 1.0f}; static probot::control::PID pid(kVelocityPid); diff --git a/examples/SliderDemo/SliderDemo.ino b/examples/SliderDemo/SliderDemo.ino index 2263d28..645beea 100644 --- a/examples/SliderDemo/SliderDemo.ino +++ b/examples/SliderDemo/SliderDemo.ino @@ -1,4 +1,5 @@ #include +#include #include #include #include @@ -13,7 +14,7 @@ static constexpr int PIN_ENA = -1; static constexpr int PIN_ENB = -1; static probot::motor::BoardozaVNHMotorDriver motor(PIN_INA, PIN_INB, PIN_PWM, PIN_ENA, PIN_ENB); -static probot::sensors::NullEncoder encoder; +static probot::test::NullEncoder encoder; static const probot::control::PidConfig kPositionPid{.kp = 0.5f, .ki = 0.0f, .kd = 0.0f, .kf = 0.0f, .out_min = -1.0f, .out_max = 1.0f}; static probot::control::PID pid(kPositionPid); diff --git a/examples/TankDriveDemo/TankDriveDemo.ino b/examples/TankDriveDemo/TankDriveDemo.ino index 9225314..2093225 100644 --- a/examples/TankDriveDemo/TankDriveDemo.ino +++ b/examples/TankDriveDemo/TankDriveDemo.ino @@ -1,4 +1,5 @@ #include +#include #include #include #include @@ -20,8 +21,8 @@ static constexpr int RIGHT_ENB = -1; static probot::motor::BoardozaVNHMotorDriver leftDriver(LEFT_INA, LEFT_INB, LEFT_PWM, LEFT_ENA, LEFT_ENB); static probot::motor::BoardozaVNHMotorDriver rightDriver(RIGHT_INA, RIGHT_INB, RIGHT_PWM, RIGHT_ENA, RIGHT_ENB); -static probot::sensors::NullEncoder leftEncoder; -static probot::sensors::NullEncoder rightEncoder; +static probot::test::NullEncoder leftEncoder; +static probot::test::NullEncoder rightEncoder; static const probot::control::PidConfig kPidCfg{.kp = 0.28f, .ki = 0.01f, .kd = 0.0f, .kf = 0.0f, .out_min = -1.0f, .out_max = 1.0f}; diff --git a/examples/TurretDemo/TurretDemo.ino b/examples/TurretDemo/TurretDemo.ino index 25e248f..5224212 100644 --- a/examples/TurretDemo/TurretDemo.ino +++ b/examples/TurretDemo/TurretDemo.ino @@ -1,4 +1,5 @@ #include +#include #include #include #include @@ -13,7 +14,7 @@ static constexpr int PIN_ENA = -1; static constexpr int PIN_ENB = -1; static probot::motor::BoardozaVNHMotorDriver motor(PIN_INA, PIN_INB, PIN_PWM, PIN_ENA, PIN_ENB); -static probot::sensors::NullEncoder encoder; +static probot::test::NullEncoder encoder; static const probot::control::PidConfig kPositionPid{.kp = 0.6f, .ki = 0.0f, .kd = 0.0f, .kf = 0.0f, .out_min = -1.0f, .out_max = 1.0f}; static probot::control::PID pid(kPositionPid); diff --git a/idf_component.yml b/idf_component.yml index d0bcdef..d959c47 100644 --- a/idf_component.yml +++ b/idf_component.yml @@ -1,4 +1,4 @@ -version: 0.1.4 +version: 0.1.6 description: ESP32-S3 robotics control library url: https://github.com/nfrproducts/probot-lib dependencies: diff --git a/library.json b/library.json index bd208ee..4241ba0 100644 --- a/library.json +++ b/library.json @@ -26,5 +26,5 @@ "type": "git", "url": "https://github.com/nfrproducts/probot-lib" }, - "version": "0.1.5" + "version": "0.1.6" } diff --git a/library.properties b/library.properties index 2643abc..f821f0a 100644 --- a/library.properties +++ b/library.properties @@ -1,5 +1,5 @@ name=probot -version=0.1.5 +version=0.1.6 author=Tuna Gül maintainer=Tuna Gül sentence=ProBot Library for Robotics Competitions. diff --git a/src/io/ui_input.cpp b/src/io/ui_input.cpp index e30dd21..d2b03cc 100644 --- a/src/io/ui_input.cpp +++ b/src/io/ui_input.cpp @@ -1,6 +1,7 @@ #include #include #include +#include namespace probot { static UiState g_ui_buf[2]; @@ -11,6 +12,11 @@ namespace probot { static inline void atomic_store_u32(volatile uint32_t* p, uint32_t v){ __atomic_store_n(p, v, __ATOMIC_SEQ_CST); } static inline uint32_t atomic_load_u32(volatile uint32_t* p){ return __atomic_load_n(p, __ATOMIC_SEQ_CST); } + static inline int16_t clamp_axis_i16(float v){ + if (v > 1.0f) v = 1.0f; + else if (v < -1.0f) v = -1.0f; + return static_cast(v * 32767.0f); + } UiState read_ui_snapshot(){ uint32_t idx = atomic_load_u32(&g_ui_cur_idx); @@ -41,18 +47,19 @@ namespace probot { } if (now - last_in >= 10){ - uint32_t prev_in = last_in; last_in = now; uint32_t cur = atomic_load_u32(&g_in_cur_idx); uint32_t w = 1u - cur; - static bool btn = false; - if ((now / 1000u) != (prev_in / 1000u)) btn = !btn; + auto snap = probot::io::gamepad().read(); + float x = (snap.axisCount > 0) ? snap.axes[0] : 0.0f; + float y = (snap.axisCount > 1) ? snap.axes[1] : 0.0f; + bool btn = (snap.buttonCount > 0) ? snap.buttons[0] : false; g_in_buf[w].seq = ++in_seq; g_in_buf[w].ms = now; - g_in_buf[w].x = 0; - g_in_buf[w].y = 0; + g_in_buf[w].x = clamp_axis_i16(x); + g_in_buf[w].y = clamp_axis_i16(y); g_in_buf[w].btn = btn ? 1 : 0; __atomic_thread_fence(__ATOMIC_SEQ_CST); atomic_store_u32(&g_in_cur_idx, w); @@ -61,4 +68,4 @@ namespace probot { vTaskDelay(pdMS_TO_TICKS(1)); } } -} \ No newline at end of file +} diff --git a/src/platform/esp32s3/web/driver_station_esp32.hpp b/src/platform/esp32s3/web/driver_station_esp32.hpp index 11886d1..6fb955c 100644 --- a/src/platform/esp32s3/web/driver_station_esp32.hpp +++ b/src/platform/esp32s3/web/driver_station_esp32.hpp @@ -57,17 +57,48 @@ namespace probot::platform::esp32 { _server.begin(); } - void handleClient(){ _server.handleClient(); } + void handleClient(){ + _server.handleClient(); + expireOwnerIfIdle(); + } private: bool enforceOwner(){ + uint32_t now = millis(); IPAddress ip = _server.client().remoteIP(); - if (!_owner_set){ _owner = ip; _owner_set = true; _rs.setClientCount(millis(), 1); return true; } - if (ip == _owner) return true; + if (_owner_set && _owner_timeout_ms > 0 && + (uint32_t)(now - _owner_last_ms) > _owner_timeout_ms){ + releaseOwner(now); + } + if (!_owner_set){ + _owner = ip; + _owner_set = true; + _owner_last_ms = now; + _rs.setClientCount(now, 1); + return true; + } + if (ip == _owner){ + _owner_last_ms = now; + return true; + } _server.send(403, "text/plain", "Another client is already connected."); return false; } + void expireOwnerIfIdle(){ + if (!_owner_set || _owner_timeout_ms == 0) return; + uint32_t now = millis(); + if ((uint32_t)(now - _owner_last_ms) > _owner_timeout_ms){ + releaseOwner(now); + } + } + + void releaseOwner(uint32_t now_ms){ + _owner_set = false; + _owner = IPAddress(); + _rs.setClientCount(now_ms, 0); + } + static bool parseFloatArray(const String& body, const char* key, float* out, uint32_t maxCount, uint32_t& written){ written = 0; int keyPos = body.indexOf(key); if (keyPos < 0) return false; int lb = body.indexOf('[', keyPos); if (lb < 0) return false; int rb = body.indexOf(']', lb); if (rb < 0) return false; @@ -206,6 +237,8 @@ namespace probot::platform::esp32 { const char* _apPass; bool _owner_set=false; IPAddress _owner; + uint32_t _owner_last_ms=0; + uint32_t _owner_timeout_ms=5000; String ap_ssid_; }; } diff --git a/src/platform/esp32s3/web/index_html.h b/src/platform/esp32s3/web/index_html.h index 1b7f63f..03fec49 100644 --- a/src/platform/esp32s3/web/index_html.h +++ b/src/platform/esp32s3/web/index_html.h @@ -10,7 +10,7 @@ const char MAIN_page[] PROGMEM = R"=====( - ProBot Minimal Stack + ProBot DriverStation - - -
ProBot Flight HUD
-
-
-
-
-
-
-
Status: INIT
-
-
-
- -
No Gamepad
-
-
Phase: Standby
-
-
- -
-
- AUTO MODE -
Switch autonomous drive
-
- -
-
- DURATION - -
- -
-
-
-

Joystick Telemetry

-
- -
- 
No gamepad selected.
- 
No axis data...
- 
No button data...
-
-
- - - diff --git a/ui-testing/variants/archive/base.html b/ui-testing/variants/archive/base.html deleted file mode 100644 index 8d32759..0000000 --- a/ui-testing/variants/archive/base.html +++ /dev/null @@ -1,67 +0,0 @@ - - - - - ProBot UI - - - - -
-
-

Main Drive

-

Joystick Status: Not Connected

- -

-

-

-
-
-

Joystick Test

-

Connect one or more controllers, press a button to register them, then pick which to use: - -

-

Selected Gamepad Info

-
No gamepad selected.
-

Axes

-
No data yet...
-

Buttons

-
No data yet...
-
-
- - - diff --git a/ui-testing/variants/archive/circuit_glow.html b/ui-testing/variants/archive/circuit_glow.html deleted file mode 100644 index f4987c0..0000000 --- a/ui-testing/variants/archive/circuit_glow.html +++ /dev/null @@ -1,365 +0,0 @@ - - - - - ProBot Circuit Glow - - - -
-
-

Circuit Glow

- ProBot Control Mesh -
-
Standby
-
-
-
-

Drive Lattice

-
- -
- -
- Mode - -
-
-
- - - Set to match format -
-
- -

Joystick: Awaiting link...

-
-
-

Telemetry Weave

- - 
No gamepad selected.
- 
Axis lines idle...
- 
Button lines idle...
-
-
- - - diff --git a/ui-testing/variants/archive/command_deck.html b/ui-testing/variants/archive/command_deck.html deleted file mode 100644 index 7ceda62..0000000 --- a/ui-testing/variants/archive/command_deck.html +++ /dev/null @@ -1,634 +0,0 @@ - - - - - ProBot Command Deck - - - -
-

ProBot Command Deck

- - -
Phase: Standby
-
-
-
-

- Match Control - - - Not Connected - -

-
00:30
-
- -
- - -
-
- - -
-
- -
-
-

Joystick Console

-
- - -
-
No gamepad selected.
-
No data yet...
-
No data yet...
-
-
- - - diff --git a/ui-testing/variants/archive/control_tower.html b/ui-testing/variants/archive/control_tower.html deleted file mode 100644 index 0ed02c9..0000000 --- a/ui-testing/variants/archive/control_tower.html +++ /dev/null @@ -1,352 +0,0 @@ - - - - - ProBot Control Tower - - - -
ProBot Control Tower
-
- -
-
- Match Operation - Driver Station Control Pane -
-
-
- - -
-
- -
- Enabled - -
-
-
-
-

Input Telemetry

- 
No gamepad selected.
- 
Axis data not streaming...
- 
Button data not streaming...
-
-
-
- - - diff --git a/ui-testing/variants/archive/neon_grid.html b/ui-testing/variants/archive/neon_grid.html deleted file mode 100644 index 40d803b..0000000 --- a/ui-testing/variants/archive/neon_grid.html +++ /dev/null @@ -1,356 +0,0 @@ - - - - - ProBot Neon Grid - - - -
-
-

Neon Grid

- ProBot Control Sphere -
-
INIT
-
-
-
-

Match Vector

-
- -
- -
- Mode - -
-
-
- - - Set per match constraints -
-
- -

Joystick Status: Awaiting link

-
-
-

Input Matrix

- - 
No gamepad selected.
- 
Axis stream idle...
- 
Button stream idle...
-
-
- - - diff --git a/ui-testing/variants/archive/pit_wall.html b/ui-testing/variants/archive/pit_wall.html deleted file mode 100644 index 02cf174..0000000 --- a/ui-testing/variants/archive/pit_wall.html +++ /dev/null @@ -1,433 +0,0 @@ - - - - - ProBot Pit Wall - - - -
-

ProBot Pit Wall

- -
-
- PHASE - Standby -
-
- JOYSTICK - No Link -
-
- BATTERY - --.- V -
-
-
-
-
-

Match Control INIT

-
- -
- - -
-
- - - Match rule default: 30s -
-
- -
-
-

Joystick Telemetry

- - 
No gamepad selected.
- 
No axis data...
- 
No button data...
-
-
- - - diff --git a/ui-testing/variants/archive/retro_terminal.html b/ui-testing/variants/archive/retro_terminal.html deleted file mode 100644 index e2ba12a..0000000 --- a/ui-testing/variants/archive/retro_terminal.html +++ /dev/null @@ -1,287 +0,0 @@ - - - - - ProBot Retro Terminal - - - -
ProBot Retro Terminal
-
-
-

Match Console

-
- PHASE: INIT - JOYSTICK: NONE -
-
-
- - -
-
- - - -
-
- - -
-
-
-
-

Input Feed

- - 
No gamepad selected.
- 
Axis feed idle...
- 
Buttons idle...
-
-
- - - diff --git a/ui-testing/variants/archive/zen_flow.html b/ui-testing/variants/archive/zen_flow.html deleted file mode 100644 index ccaf730..0000000 --- a/ui-testing/variants/archive/zen_flow.html +++ /dev/null @@ -1,359 +0,0 @@ - - - - - ProBot Zen Flow - - - -
-
-

Zen Flow Control

- Balanced driver station -
-
Standby
-
-
-
-

Match Overview

-
-
Robot Command
-
Autonomous
-
Telemetry
-
- -
-
- - - Match default 30s -
-
- -
- Enabled - -
- -
-
-
Joystick Status: Disconnected
-
-
-

Input Telemetry

- - 
No gamepad selected.
- 
Axis data pending...
- 
Button data pending...
-
-
- - - diff --git a/ui-testing/variants/minimal_stack.html b/ui-testing/variants/minimal_stack.html deleted file mode 100644 index d1976b2..0000000 --- a/ui-testing/variants/minimal_stack.html +++ /dev/null @@ -1,1458 +0,0 @@ - - - - - ProBot Driver Station - - - -
-
-

ProBot Driver Station

- by NFR Products · c2025 -
- -
- Status - Standby - Awaiting command -
-
-
-
-
-

Match Control

-
- -
- - - Seconds -
-
- Autonomous - -
-
-
-
- Autonomous Countdown - 00.0 s -
-
-
-
-
-
-
-

Joystick Check

-
-
-
-
-
-
- Axes -
-
-
-
- Not Connected - -
-
-
-
-
-

Wi-Fi Logging

-
- Disconnected - Waiting for Wi-Fi module... -
-
-
- Network - — -
-
- Robot IP - — -
-
- Clients - 0 -
-
- Rate - 0 KB/s -
-
-
- - - -
-
- - - Last sync: never -
-
-
-

System Logs

- - 
No gamepad selected.
- 
No axis data...
- 
No button data...
-
-
- Wi-Fi Log Stream - -
- 
Waiting for log data...
-
-
-
-
- - - From c1a7b30d2b2fb1e2d5332e2243626a7f15370646 Mon Sep 17 00:00:00 2001 From: tunapro Date: Thu, 1 Jan 2026 21:47:40 +0300 Subject: [PATCH 11/14] disable mechanisms --- .../AutonomousDemo/AutonomousDemo.ino | 5 +- .../TankDriveDemo/TankDriveDemo.ino | 5 +- src/probot/command/examples/arm.hpp | 3 + src/probot/command/examples/elevator.hpp | 3 + src/probot/command/examples/mecanum_drive.hpp | 72 ++++++++++++++++++- src/probot/command/examples/slider.hpp | 3 + src/probot/command/examples/tank_drive.hpp | 45 +++++++++++- .../command/examples/telescopic_tube.hpp | 3 + src/probot/command/examples/turret.hpp | 3 + src/probot/command/scheduler.hpp | 12 ++++ tests/test_chassis.cpp | 5 ++ tests/test_mechanisms.cpp | 3 + 12 files changed, 156 insertions(+), 6 deletions(-) diff --git a/examples/command_based/AutonomousDemo/AutonomousDemo.ino b/examples/command_based/AutonomousDemo/AutonomousDemo.ino index f2607d0..9cfb1e4 100644 --- a/examples/command_based/AutonomousDemo/AutonomousDemo.ino +++ b/examples/command_based/AutonomousDemo/AutonomousDemo.ino @@ -115,8 +115,9 @@ void robotInit() { leftMotor.setBrakeMode(true); rightMotor.setBrakeMode(true); - chassis.setWheelRadius(32.0f / (2.0f * 3.1415926535f)); - chassis.setTrackWidth(29.0f); + // NOTE: Closed-loop/odometry helpers are disabled (not tested yet). + // chassis.setWheelRadius(32.0f / (2.0f * 3.1415926535f)); + // chassis.setTrackWidth(29.0f); // Otonom sekansini olustur: Ileri -> Bekle -> Don -> Ileri if (!g_auto_built) { diff --git a/examples/command_based/TankDriveDemo/TankDriveDemo.ino b/examples/command_based/TankDriveDemo/TankDriveDemo.ino index 581a18b..85135ac 100644 --- a/examples/command_based/TankDriveDemo/TankDriveDemo.ino +++ b/examples/command_based/TankDriveDemo/TankDriveDemo.ino @@ -34,8 +34,9 @@ void robotInit() { leftMotor.setBrakeMode(true); rightMotor.setBrakeMode(true); - chassis.setWheelRadius(31.4f / (2.0f * 3.1415926535f)); // cm cinsinden yaricap - chassis.setTrackWidth(28.0f); // cm + // NOTE: Closed-loop/odometry helpers are disabled (not tested yet). + // chassis.setWheelRadius(31.4f / (2.0f * 3.1415926535f)); // cm cinsinden yaricap + // chassis.setTrackWidth(28.0f); // cm // Yeni API: Subsystem'i scheduler'a kaydet Scheduler::instance().registerSubsystem(&chassis); diff --git a/src/probot/command/examples/arm.hpp b/src/probot/command/examples/arm.hpp index f9095e8..4b8b06b 100644 --- a/src/probot/command/examples/arm.hpp +++ b/src/probot/command/examples/arm.hpp @@ -5,6 +5,8 @@ namespace probot::command::examples { + // NOTE: This mechanism example is disabled (not tested yet). +#if 0 struct IArm { virtual void setTargetAngleDeg(float degrees) = 0; virtual float getTargetAngleDeg() const = 0; @@ -71,5 +73,6 @@ namespace probot::command::examples { float max_angle_; bool has_limits_; }; +#endif } // namespace probot::command::examples diff --git a/src/probot/command/examples/elevator.hpp b/src/probot/command/examples/elevator.hpp index feffc7f..880c22d 100644 --- a/src/probot/command/examples/elevator.hpp +++ b/src/probot/command/examples/elevator.hpp @@ -5,6 +5,8 @@ namespace probot::command::examples { + // NOTE: This mechanism example is disabled (not tested yet). +#if 0 struct IElevator { virtual void setTargetHeight(float units) = 0; virtual float getTargetHeight() const = 0; @@ -73,5 +75,6 @@ namespace probot::command::examples { float max_height_; bool has_limits_; }; +#endif } // namespace probot::command::examples diff --git a/src/probot/command/examples/mecanum_drive.hpp b/src/probot/command/examples/mecanum_drive.hpp index 7c065db..37aa789 100644 --- a/src/probot/command/examples/mecanum_drive.hpp +++ b/src/probot/command/examples/mecanum_drive.hpp @@ -4,12 +4,16 @@ #include #include #include -#include #include +#if 0 +#include #include +#endif namespace probot::command::examples { +// NOTE: Closed-loop + odometry helpers are disabled (not tested yet). +#if 0 class MecanumDrive : public probot::command::SubsystemBase { public: enum class DriveMode { @@ -250,5 +254,71 @@ class MecanumDrive : public probot::command::SubsystemBase { probot::control::kinematics::MecanumDriveKinematics kinematics_; probot::control::odometry::MecanumDriveOdometry odometry_; }; +#endif + +class MecanumDrive : public probot::command::SubsystemBase { +public: + MecanumDrive(probot::motor::IMotorController* frontLeft, + probot::motor::IMotorController* frontRight, + probot::motor::IMotorController* rearLeft, + probot::motor::IMotorController* rearRight) + : probot::command::SubsystemBase("MecanumDrive"), + fl_(frontLeft), + fr_(frontRight), + rl_(rearLeft), + rr_(rearRight), + kinematics_(wheel_base_, track_width_) {} + + void setInverted(bool frontLeft, bool frontRight, bool rearLeft, bool rearRight){ + if (fl_) fl_->setInverted(frontLeft); + if (fr_) fr_->setInverted(frontRight); + if (rl_) rl_->setInverted(rearLeft); + if (rr_) rr_->setInverted(rearRight); + } + + void setTrackWidth(float width_units){ + track_width_ = width_units > 0.0f ? width_units : 1.0f; + kinematics_ = probot::control::kinematics::MecanumDriveKinematics(wheel_base_, track_width_); + } + + void setWheelBase(float base_units){ + wheel_base_ = base_units > 0.0f ? base_units : 1.0f; + kinematics_ = probot::control::kinematics::MecanumDriveKinematics(wheel_base_, track_width_); + } + + void drivePower(float vx, float vy, float omega){ + probot::control::ChassisSpeeds speeds(vx, vy, omega); + auto wheel = kinematics_.toWheelSpeeds(speeds); + float maxMag = std::max({std::fabs(wheel.frontLeft), std::fabs(wheel.frontRight), + std::fabs(wheel.rearLeft), std::fabs(wheel.rearRight), 1.0f}); + wheel.frontLeft /= maxMag; + wheel.frontRight /= maxMag; + wheel.rearLeft /= maxMag; + wheel.rearRight /= maxMag; + if (fl_) fl_->setPower(wheel.frontLeft); + if (fr_) fr_->setPower(wheel.frontRight); + if (rl_) rl_->setPower(wheel.rearLeft); + if (rr_) rr_->setPower(wheel.rearRight); + } + + void stop(){ drivePower(0.0f, 0.0f, 0.0f); } + + void periodic(uint32_t now_ms, uint32_t dt_ms) override { + if (fl_) fl_->update(now_ms, dt_ms); + if (fr_) fr_->update(now_ms, dt_ms); + if (rl_) rl_->update(now_ms, dt_ms); + if (rr_) rr_->update(now_ms, dt_ms); + } + +private: + probot::motor::IMotorController* fl_; + probot::motor::IMotorController* fr_; + probot::motor::IMotorController* rl_; + probot::motor::IMotorController* rr_; + + float track_width_ = 1.0f; + float wheel_base_ = 1.0f; + probot::control::kinematics::MecanumDriveKinematics kinematics_; +}; } // namespace probot::command::examples diff --git a/src/probot/command/examples/slider.hpp b/src/probot/command/examples/slider.hpp index 7e94c23..04fa250 100644 --- a/src/probot/command/examples/slider.hpp +++ b/src/probot/command/examples/slider.hpp @@ -4,6 +4,8 @@ #include namespace probot::command::examples { + // NOTE: This mechanism example is disabled (not tested yet). +#if 0 struct ISlider { virtual void setTargetLength(float length_units) = 0; // user units (e.g., cm) virtual float getTargetLength() const = 0; @@ -73,4 +75,5 @@ namespace probot::command::examples { float max_len_; bool has_limits_; }; +#endif } // namespace probot::command::examples diff --git a/src/probot/command/examples/tank_drive.hpp b/src/probot/command/examples/tank_drive.hpp index a8e7b71..afe0b1d 100644 --- a/src/probot/command/examples/tank_drive.hpp +++ b/src/probot/command/examples/tank_drive.hpp @@ -2,14 +2,18 @@ #include #include #include +#include +#if 0 #include #include #include -#include #include +#endif namespace probot::command::examples { +// NOTE: Closed-loop + odometry helpers are disabled (not tested yet). +#if 0 class TankDrive : public probot::command::SubsystemBase { public: enum class DriveMode { @@ -220,5 +224,44 @@ class TankDrive : public probot::command::SubsystemBase { float prev_left_pos_ = 0.0f; float prev_right_pos_ = 0.0f; }; +#endif + +class TankDrive : public probot::command::SubsystemBase { +public: + TankDrive(probot::motor::IMotorController* left, + probot::motor::IMotorController* right) + : probot::command::SubsystemBase("TankDrive"), + left_(left), + right_(right) {} + + void setInverted(bool left, bool right){ + if (left_) left_->setInverted(left); + if (right_) right_->setInverted(right); + } + + void drivePower(float left, float right){ + float l = clampUnit(left); + float r = clampUnit(right); + if (left_) left_->setPower(l); + if (right_) right_->setPower(r); + } + + void stop(){ drivePower(0.0f, 0.0f); } + + void periodic(uint32_t now_ms, uint32_t dt_ms) override { + if (left_) left_->update(now_ms, dt_ms); + if (right_) right_->update(now_ms, dt_ms); + } + +private: + static float clampUnit(float value){ + if (value > 1.0f) return 1.0f; + if (value < -1.0f) return -1.0f; + return value; + } + + probot::motor::IMotorController* left_; + probot::motor::IMotorController* right_; +}; } // namespace probot::command::examples diff --git a/src/probot/command/examples/telescopic_tube.hpp b/src/probot/command/examples/telescopic_tube.hpp index 28be9b2..61ed411 100644 --- a/src/probot/command/examples/telescopic_tube.hpp +++ b/src/probot/command/examples/telescopic_tube.hpp @@ -7,6 +7,8 @@ namespace probot::command::examples { + // NOTE: This mechanism example is disabled (not tested yet). +#if 0 struct ITelescopicTube { virtual void setTargetExtension(float units) = 0; virtual float getTargetExtension() const = 0; @@ -116,5 +118,6 @@ namespace probot::command::examples { probot::control::limiters::SlewRateLimiter slew_limiter_; bool limiter_initialized_; }; +#endif } // namespace probot::command::examples diff --git a/src/probot/command/examples/turret.hpp b/src/probot/command/examples/turret.hpp index ada5c74..c9e3098 100644 --- a/src/probot/command/examples/turret.hpp +++ b/src/probot/command/examples/turret.hpp @@ -7,6 +7,8 @@ namespace probot::command::examples { + // NOTE: This mechanism example is disabled (not tested yet). +#if 0 struct ITurret { virtual void setTargetAngleDeg(float degrees) = 0; virtual float getTargetAngleDeg() const = 0; @@ -119,5 +121,6 @@ namespace probot::command::examples { probot::control::limiters::SlewRateLimiter slew_limiter_; bool limiter_initialized_; }; +#endif } // namespace probot::command::examples diff --git a/src/probot/command/scheduler.hpp b/src/probot/command/scheduler.hpp index e8f0991..bbb7fa3 100644 --- a/src/probot/command/scheduler.hpp +++ b/src/probot/command/scheduler.hpp @@ -8,6 +8,12 @@ #include #include +#ifndef PROBOT_COMMAND_WARNING_SHOWN +#define PROBOT_COMMAND_WARNING_SHOWN +#pragma message("WARNING: Command-based system tests are not complete; use with caution.") +#pragma message("UYARI: Command-based sistem testleri tamamlanmadi; kullanirken dikkatli olun.") +#endif + #ifdef ESP32 #include #include @@ -140,6 +146,12 @@ class Scheduler { if (!queue_) { queue_ = xQueueCreate(kQueueSize, sizeof(Request)); } + static bool warned = false; + if (!warned) { + warned = true; + Serial.println("[WARN] Command-based system tests are not complete; use with caution."); + Serial.println("[UYARI] Command-based sistem testleri tamamlanmadi; kullanirken dikkatli olun."); + } } private: diff --git a/tests/test_chassis.cpp b/tests/test_chassis.cpp index a1e13f0..74a3540 100644 --- a/tests/test_chassis.cpp +++ b/tests/test_chassis.cpp @@ -43,6 +43,8 @@ TEST_CASE(tank_drive_power_clamp_and_invert){ EXPECT_NEAR(right.lastPower, 0.5f, 1e-5f); } +// NOTE: Closed-loop/odometry chassis tests are disabled (not tested yet). +#if 0 TEST_CASE(tank_drive_velocity_normalized){ MotorStub left, right; left.velSupported = true; @@ -89,6 +91,7 @@ TEST_CASE(tank_drive_odometry_updates_pose){ EXPECT_NEAR(tank.pose().x, 2.0f * 3.1415926535f, 1e-4f); EXPECT_NEAR(tank.pose().y, 0.0f, 1e-4f); } +#endif TEST_CASE(mecanum_drive_power_normalizes_outputs){ MotorStub fl, fr, rl, rr; @@ -115,6 +118,7 @@ TEST_CASE(mecanum_drive_power_normalizes_outputs){ EXPECT_NEAR(rr.lastPower, -raw_rr, 1e-5f); } +#if 0 TEST_CASE(mecanum_drive_velocity_uses_controller){ MotorStub fl, fr, rl, rr; fl.velSupported = true; @@ -145,3 +149,4 @@ TEST_CASE(mecanum_drive_velocity_status_unsupported){ EXPECT_TRUE(mech.lastStatus() == probot::command::examples::MecanumDrive::CommandStatus::kVelocityUnsupported); } +#endif diff --git a/tests/test_mechanisms.cpp b/tests/test_mechanisms.cpp index 94ad6c3..6e3fb86 100644 --- a/tests/test_mechanisms.cpp +++ b/tests/test_mechanisms.cpp @@ -1,3 +1,5 @@ +// NOTE: Mechanism examples are disabled (not tested yet). +#if 0 #include "test_harness.hpp" #include @@ -95,3 +97,4 @@ TEST_CASE(telescopic_stage_limits){ tube.periodic(0, 0); EXPECT_NEAR(harness.motor.lastSetpoint(), 120.0f * 80.0f, 1e-5f); } +#endif From 4bef91a5dc39fab17334e1ecdb2ef836a47e894d Mon Sep 17 00:00:00 2001 From: tunapro Date: Fri, 2 Jan 2026 09:27:06 +0300 Subject: [PATCH 12/14] telemetry --- .../esp32s3/driver_station_esp32.hpp | 5 ++ src/driverstation/esp32s3/index_html.h | 22 ++++++ src/probot.h | 1 + src/probot/command/scheduler.hpp | 36 ++++++--- src/probot/telemetry/telemetry.hpp | 73 +++++++++++++++++++ 5 files changed, 125 insertions(+), 12 deletions(-) create mode 100644 src/probot/telemetry/telemetry.hpp diff --git a/src/driverstation/esp32s3/driver_station_esp32.hpp b/src/driverstation/esp32s3/driver_station_esp32.hpp index d1ee557..c9441a7 100644 --- a/src/driverstation/esp32s3/driver_station_esp32.hpp +++ b/src/driverstation/esp32s3/driver_station_esp32.hpp @@ -5,6 +5,7 @@ #include #include #include +#include #include "index_html.h" #ifndef PROBOT_WIFI_AP_PASSWORD @@ -38,6 +39,7 @@ namespace probot::driverstation::esp32 { _server.on("/updateController", HTTP_POST, [this](){ if (!enforceOwner()) return; handleUpdateController(); }); _server.on("/robotControl", HTTP_GET, [this](){ if (!enforceOwner()) return; handleRobotControl(); }); _server.on("/getBattery", HTTP_GET, [this](){ handleGetBattery(); }); + _server.on("/telemetry", HTTP_GET, [this](){ if (!enforceOwner()) return; handleTelemetry(); }); _server.begin(); } @@ -151,6 +153,9 @@ namespace probot::driverstation::esp32 { _server.send(200, "text/plain", "OK"); } + void handleTelemetry(){ + _server.send(200, "text/plain", probot::telemetry::getBuffer()); + } robot::StateService& _rs; io::GamepadService& _gs; diff --git a/src/driverstation/esp32s3/index_html.h b/src/driverstation/esp32s3/index_html.h index 25c4c19..4dae8b7 100644 --- a/src/driverstation/esp32s3/index_html.h +++ b/src/driverstation/esp32s3/index_html.h @@ -710,6 +710,11 @@ const char MAIN_page[] PROGMEM = R"=====( 
No axis data...
No button data...
+
+

Telemetry

+ 

+      
+    

   
 
   
 
 
diff --git a/src/probot.h b/src/probot.h
index 259a53e..93c4185 100644
--- a/src/probot.h
+++ b/src/probot.h
@@ -12,6 +12,7 @@
 #include 
 #include 
 #include 
+#include 
 
 // Optional modules (explicit include):
 // -  (command + subsystem)
diff --git a/src/probot/command/scheduler.hpp b/src/probot/command/scheduler.hpp
index bbb7fa3..4ea0660 100644
--- a/src/probot/command/scheduler.hpp
+++ b/src/probot/command/scheduler.hpp
@@ -286,9 +286,20 @@ class Scheduler {
   }
 
   // Try to schedule a command (conflict resolution)
+  // WPILib behavior: reject commands that don't run when disabled
   void tryScheduleCommand(ICommand* cmd) {
     if (!cmd) return;
 
+    // WPILib: Don't schedule if robot is disabled and command doesn't run when disabled
+    auto snap = probot::robot::state().read();
+    bool is_disabled = (snap.status == probot::robot::Status::STOP);
+    if (is_disabled && !cmd->runsWhenDisabled()) {
+#ifndef PROBOT_SCHED_NOLOG
+      Serial.printf("[SCHED] rejected (disabled): %s\n", cmd->name());
+#endif
+      return;
+    }
+
     // Already scheduled?
     if (findCommandSlot(cmd) >= 0) {
 #ifndef PROBOT_SCHED_NOLOG
@@ -433,13 +444,15 @@ class Scheduler {
   }
 
   // Run all scheduled commands
-  void runCommands(uint32_t now, bool allow_updates) {
+  // WPILib behavior: commands without runsWhenDisabled() are CANCELLED when disabled
+  void runCommands(uint32_t now, bool is_enabled) {
     for (size_t i = 0; i < kMaxCommands; ++i) {
       auto& slot = commands_[i];
       if (slot.state == CommandState::kNone || !slot.cmd) continue;
 
-      // Check runsWhenDisabled
-      if (!allow_updates && !slot.cmd->runsWhenDisabled()) {
+      // WPILib: Cancel commands that don't run when disabled
+      if (!is_enabled && !slot.cmd->runsWhenDisabled()) {
+        cancelCommand(static_cast(i), true);
         continue;
       }
 
@@ -543,7 +556,7 @@ class Scheduler {
 
       // Read robot state
       auto snap = probot::robot::state().read();
-      bool allow_updates = (snap.status != probot::robot::Status::STOP);
+      bool is_enabled = (snap.status != probot::robot::Status::STOP);
 
       // Handle state transitions
       handleTransitions(snap.status, snap.phase);
@@ -551,16 +564,15 @@ class Scheduler {
       // Process queue requests
       processRequests();
 
-      if (allow_updates) {
-        // Run subsystems
-        runSubsystems(now, dt);
-      }
+      // WPILib behavior: Subsystem periodic() ALWAYS runs (even when disabled)
+      // This allows sensor reading, odometry updates, etc. during disabled
+      runSubsystems(now, dt);
 
-      // Run commands
-      runCommands(now, allow_updates);
+      // Run commands (disabled commands are cancelled inside runCommands)
+      runCommands(now, is_enabled);
 
-      // Schedule default commands for idle subsystems
-      if (allow_updates) {
+      // Schedule default commands only when enabled
+      if (is_enabled) {
         scheduleDefaultCommands();
       }
 
diff --git a/src/probot/telemetry/telemetry.hpp b/src/probot/telemetry/telemetry.hpp
new file mode 100644
index 0000000..2edbdfb
--- /dev/null
+++ b/src/probot/telemetry/telemetry.hpp
@@ -0,0 +1,73 @@
+#pragma once
+#include 
+#include 
+#include 
+#include 
+
+namespace probot::telemetry {
+
+namespace detail {
+  constexpr size_t BUFFER_SIZE = 256;
+
+  struct TelemetryBuffer {
+    char data[BUFFER_SIZE];
+    volatile uint16_t len = 0;
+    volatile uint32_t seq = 0;
+  };
+
+  inline TelemetryBuffer g_buffer{};
+}
+
+inline void print(const char* msg) {
+  auto& buf = detail::g_buffer;
+  size_t msgLen = strlen(msg);
+  size_t space = detail::BUFFER_SIZE - 1 - buf.len;
+
+  if (msgLen > space) {
+    // Buffer dolu, baştan yaz
+    buf.len = 0;
+    space = detail::BUFFER_SIZE - 1;
+  }
+
+  size_t toWrite = (msgLen < space) ? msgLen : space;
+  memcpy(buf.data + buf.len, msg, toWrite);
+  uint16_t oldLen = buf.len; buf.len = static_cast(oldLen + toWrite);
+  buf.data[buf.len] = '\0';
+  uint32_t s = buf.seq; buf.seq = s + 1;
+}
+
+inline void println(const char* msg = "") {
+  print(msg);
+  print("\n");
+}
+
+inline void printf(const char* fmt, ...) {
+  char tmp[128];
+  va_list args;
+  va_start(args, fmt);
+  vsnprintf(tmp, sizeof(tmp), fmt, args);
+  va_end(args);
+  print(tmp);
+}
+
+inline void clear() {
+  auto& buf = detail::g_buffer;
+  buf.len = 0;
+  buf.data[0] = '\0';
+  uint32_t s = buf.seq; buf.seq = s + 1;
+}
+
+// Internal: DS tarafından çağrılır
+inline const char* getBuffer() {
+  return detail::g_buffer.data;
+}
+
+inline uint16_t getLength() {
+  return detail::g_buffer.len;
+}
+
+inline uint32_t getSeq() {
+  return detail::g_buffer.seq;
+}
+
+} // namespace probot::telemetry

From 4d77a4e309b171909c35fb1fe3f504feaf233831 Mon Sep 17 00:00:00 2001
From: tunapro 
Date: Fri, 2 Jan 2026 09:27:13 +0300
Subject: [PATCH 13/14] edit examples

---
 Makefile                                      |   2 +-
 examples/IBT2MotorDemo/IBT2MotorDemo.ino      | 152 +++++++++++++
 examples/JoystickTest/JoystickTest.ino        | 215 +++++++++++++++---
 .../MotorControllerDemo.ino                   | 119 ----------
 .../MotorOpenLoopDemo/MotorOpenLoopDemo.ino   | 125 ++++++++--
 examples/ShooterDemo/ShooterDemo.ino          |  67 ------
 examples/SliderDemo/SliderDemo.ino            |  77 -------
 examples/TurretDemo/TurretDemo.ino            |  77 -------
 .../command_based/ShooterDemo/ShooterDemo.ino |  84 +++++++
 .../command_based/SliderDemo/SliderDemo.ino   |  83 +++++++
 .../command_based/TurretDemo/TurretDemo.ino   |  81 +++++++
 src/driverstation/esp32s3/index_html.h        |  10 +-
 12 files changed, 691 insertions(+), 401 deletions(-)
 create mode 100644 examples/IBT2MotorDemo/IBT2MotorDemo.ino
 delete mode 100644 examples/MotorControllerDemo/MotorControllerDemo.ino
 delete mode 100644 examples/ShooterDemo/ShooterDemo.ino
 delete mode 100644 examples/SliderDemo/SliderDemo.ino
 delete mode 100644 examples/TurretDemo/TurretDemo.ino
 create mode 100644 examples/command_based/ShooterDemo/ShooterDemo.ino
 create mode 100644 examples/command_based/SliderDemo/SliderDemo.ino
 create mode 100644 examples/command_based/TurretDemo/TurretDemo.ino

diff --git a/Makefile b/Makefile
index e99c80c..4b64a7b 100644
--- a/Makefile
+++ b/Makefile
@@ -12,7 +12,7 @@ VERSION_SYNC_SCRIPT := $(CURDIR)/tools/sync_version.py
 
 # Examples
 EXAMPLES_DIR   := $(CURDIR)/examples
-EXAMPLE_SKETCHES := $(shell find $(EXAMPLES_DIR) -maxdepth 2 -mindepth 1 -name "*.ino")
+EXAMPLE_SKETCHES := $(shell find $(EXAMPLES_DIR) -maxdepth 3 -mindepth 1 -name "*.ino")
 EXAMPLES_LIST  := $(sort $(patsubst %/,%,$(patsubst $(EXAMPLES_DIR)/%,%,$(dir $(EXAMPLE_SKETCHES)))))
 EXAMPLES_LIST  := $(filter-out __library_impl __library_impl/%,$(EXAMPLES_LIST))
 DEFAULT_EXAMPLE := $(firstword $(EXAMPLES_LIST))
diff --git a/examples/IBT2MotorDemo/IBT2MotorDemo.ino b/examples/IBT2MotorDemo/IBT2MotorDemo.ino
new file mode 100644
index 0000000..508378c
--- /dev/null
+++ b/examples/IBT2MotorDemo/IBT2MotorDemo.ino
@@ -0,0 +1,152 @@
+/**
+ * IBT2MotorDemo - IBT-2 (BTS7960) motor surucu dogrudan kontrol ornegi
+ *
+ * !! UYARI !!
+ * Bu ornek probot driver siniflarini KULLANMAZ.
+ * Dogrudan ESP32 PWM ve GPIO ile motor kontrol eder.
+ * Herhangi bir sorun yasarsaniz probot kutuphanesi sorumluluk almaz.
+ * Kendi riskinizle kullanin.
+ *
+ * ============================================================================
+ * VOLTAJ UYUMSUZLUGU - ONEMLI!
+ * ============================================================================
+ * - IBT-2 modulu 5V mantik seviyesi ile calisir
+ * - ESP32 GPIO cikislari 3.3V seviyesindedir
+ * - Cogu IBT-2 modulu 3.3V sinyali kabul eder, AMA garanti degildir
+ * - Guvenli kullanim icin LOGIC LEVEL CONVERTER (3.3V -> 5V) onerılır
+ * - Logic converter kullanmazsaniz modül duzgun calismayabilir
+ *
+ * ============================================================================
+ * KONTROL MANTIGI
+ * ============================================================================
+ * Bu ornekte kullanilan kontrol sekli:
+ *   - RPWM: Ileri yon PWM (0-255)
+ *   - LPWM: Geri yon PWM (0-255)
+ *   - Ileri gitmek icin: RPWM=PWM, LPWM=0
+ *   - Geri gitmek icin:  RPWM=0, LPWM=PWM
+ *   - Durmak icin:       RPWM=0, LPWM=0
+ *
+ * Bazi motor suruculer farkli mantik kullanir:
+ *   - DIR + PWM (tek PWM, ayri yon pini)
+ *   - IN1 + IN2 + PWM (H-koprusu kontrolu)
+ *   - IN1 + IN2 (PWM dahili)
+ *
+ * Sizin motor surucunuz farkli calisiyorsa setMotorPower() fonksiyonunu
+ * kendi ihtiyaciniza gore degistirin.
+ *
+ * ============================================================================
+ * IBT-2 BAGLANTI SEMASI
+ * ============================================================================
+ *   IBT-2 Pin  |  ESP32 Pin  |  Aciklama
+ *   -----------|-------------|----------------------------------
+ *   RPWM       |  GPIO 5     |  Ileri PWM (veya kendi pininiz)
+ *   LPWM       |  GPIO 6     |  Geri PWM (veya kendi pininiz)
+ *   R_EN       |  3.3V/5V    |  Sag enable (her zaman aktif)
+ *   L_EN       |  3.3V/5V    |  Sol enable (her zaman aktif)
+ *   VCC        |  5V         |  Mantik beslemesi
+ *   GND        |  GND        |  Ortak toprak
+ *   B+/B-      |  Motor      |  Motor baglantisi
+ *   M+/M-      |  Guc kaynagi|  Motor guc beslemesi (12V-24V)
+ *
+ * ============================================================================
+ */
+
+#define PROBOT_WIFI_AP_PASSWORD "ProBot1234"
+
+#include 
+#include 
+
+// ============================================================================
+// PIN KONFIGURASYONU - Kendi kartiniza gore degistirin!
+// ============================================================================
+static constexpr int PIN_RPWM = 5;   // Ileri PWM pini
+static constexpr int PIN_LPWM = 6;   // Geri PWM pini
+
+// ============================================================================
+// PWM KONFIGURASYONU
+// ============================================================================
+static constexpr int PWM_FREQ = 20000;      // 20kHz (motor gurultusu azaltir)
+static constexpr int PWM_RESOLUTION = 8;    // 8-bit (0-255 aralik)
+
+// Motor durumu
+static float g_power = 0.0f;
+
+/**
+ * Motor gucunu ayarla
+ *
+ * @param power -1.0 (tam geri) ile 1.0 (tam ileri) arasinda
+ *
+ * NOT: Bu fonksiyon IBT-2 icin yazilmistir.
+ * Farkli motor surucu kullaniyorsaniz bu fonksiyonu degistirin.
+ */
+void setMotorPower(float power) {
+  // -1.0 ile 1.0 arasinda sinirla
+  power = constrain(power, -1.0f, 1.0f);
+  g_power = power;
+
+  // PWM degerini hesapla (0-255)
+  int pwmValue = abs(power) * 255;
+
+  if (power > 0.01f) {
+    // Ileri: RPWM aktif, LPWM 0
+    ledcWrite(PIN_RPWM, pwmValue);
+    ledcWrite(PIN_LPWM, 0);
+  } else if (power < -0.01f) {
+    // Geri: LPWM aktif, RPWM 0
+    ledcWrite(PIN_RPWM, 0);
+    ledcWrite(PIN_LPWM, pwmValue);
+  } else {
+    // Durdur: Her iki PWM 0
+    ledcWrite(PIN_RPWM, 0);
+    ledcWrite(PIN_LPWM, 0);
+  }
+}
+
+void robotInit() {
+  Serial.begin(115200);
+  delay(100);
+
+  // ESP32 LEDC PWM kurulumu
+  ledcAttach(PIN_RPWM, PWM_FREQ, PWM_RESOLUTION);
+  ledcAttach(PIN_LPWM, PWM_FREQ, PWM_RESOLUTION);
+
+  // Baslangicta durdur
+  setMotorPower(0.0f);
+
+  Serial.println("============================================");
+  Serial.println("[IBT2MotorDemo] UYARI: Driver-siz ornek!");
+  Serial.println("Sorun yasarsaniz probot sorumluluk almaz.");
+  Serial.println("============================================");
+  Serial.printf("  RPWM pin: %d, LPWM pin: %d\n", PIN_RPWM, PIN_LPWM);
+  Serial.printf("  PWM freq: %d Hz, resolution: %d-bit\n", PWM_FREQ, PWM_RESOLUTION);
+  Serial.println("  Logic level converter kullanmaniz onerilir!");
+}
+
+void robotEnd() {
+  setMotorPower(0.0f);
+  Serial.println("[IBT2MotorDemo] Motor durduruldu");
+}
+
+void teleopInit() {
+  Serial.println("[IBT2MotorDemo] Sol stick Y ile motor kontrol");
+}
+
+void teleopLoop() {
+  auto js = probot::io::joystick_api::makeDefault();
+
+  float power = js.getLeftY();
+  setMotorPower(power);
+
+  probot::telemetry::printf("IBT2: %.2f\n", g_power);
+  Serial.printf("[IBT2] power=%.2f\n", g_power);
+
+  delay(50);
+}
+
+void autonomousInit() {
+  setMotorPower(0.0f);
+}
+
+void autonomousLoop() {
+  delay(50);
+}
diff --git a/examples/JoystickTest/JoystickTest.ino b/examples/JoystickTest/JoystickTest.ino
index 955c0ff..3b07e14 100644
--- a/examples/JoystickTest/JoystickTest.ino
+++ b/examples/JoystickTest/JoystickTest.ino
@@ -1,65 +1,206 @@
+/**
+ * JoystickTest - Joystick veri okuma örneği
+ *
+ * Bu örnek DriverStation uygulamasından gelen joystick verilerini
+ * seri port üzerinden yazdırır. Motor veya başka donanım kullanmaz.
+ *
+ * ============================================================================
+ * NE ÖĞRENECEKSINIZ?
+ * ============================================================================
+ * - joystick_api arayüzünün kullanımı
+ * - Analog eksenlerin okunması (stick'ler, tetikler)
+ * - Dijital butonların okunması (A, B, X, Y, bumper'lar)
+ * - D-pad (POV) değerinin okunması
+ * - Sequence numarasıyla veri güncelliğini kontrol etme
+ *
+ * ============================================================================
+ * JOYSTICK API GENEL BAKIŞ
+ * ============================================================================
+ * probot::io::joystick_api::makeDefault() ile varsayılan joystick'e
+ * erişirsiniz. Bu fonksiyon bir JoystickData nesnesi döner.
+ *
+ * ANALOG EKSENLER (float, -1.0 ile 1.0 arası):
+ *   getLeftX()   - Sol stick X ekseni (sola=-1, sağa=+1)
+ *   getLeftY()   - Sol stick Y ekseni (geri=-1, ileri=+1)
+ *   getRightX()  - Sağ stick X ekseni
+ *   getRightY()  - Sağ stick Y ekseni
+ *
+ * TETİKLER (float, 0.0 ile 1.0 arası):
+ *   getLeftTriggerAxis()  - Sol tetik (LT/L2)
+ *   getRightTriggerAxis() - Sağ tetik (RT/R2)
+ *
+ * DİJİTAL BUTONLAR (bool):
+ *   getA(), getB(), getX(), getY()  - Yüz butonları
+ *   getLB(), getRB()                - Omuz butonları (bumper)
+ *   getStart(), getBack()           - Menü butonları
+ *
+ * D-PAD (int, derece cinsinden):
+ *   getPOV() - Yön: 0=yukarı, 90=sağ, 180=aşağı, 270=sol, -1=basılı değil
+ *
+ * SEQUENCE NUMARASI:
+ *   getSeq() - Her yeni veri paketinde artar. Verinin güncel olup
+ *              olmadığını kontrol etmek için kullanılır.
+ *
+ * ============================================================================
+ * İPUÇLARI
+ * ============================================================================
+ * - Stick dead zone: Joystick ortada bile tam 0.0 vermeyebilir.
+ *   Genelde |değer| < 0.1 ise 0 kabul edilir.
+ *
+ * - Veri güncelliği: getSeq() değeri değişmiyorsa DriverStation bağlı
+ *   olmayabilir veya veri göndermiyor olabilir.
+ *
+ * - Teleop modu: Joystick verisi sadece teleop modunda aktif olarak
+ *   güncellenir. Otonom modda joystick okunmaz.
+ *
+ * ============================================================================
+ */
+
 #define PROBOT_WIFI_AP_PASSWORD "ProBot1234"
 
 #include 
 #include 
-#include 
-
-// Pin atamalarını kendi kartınıza göre güncelleyin.
-static constexpr int PIN_INA = 47;
-static constexpr int PIN_INB = 46;
-static constexpr int PIN_PWM = 48;
-static constexpr int PIN_ENA = -1; // EN pinleri 3V3'e bağlıysa -1 bırakmak yeterli.
-static constexpr int PIN_ENB = -1;
-
-// Tüm örneklerde aynı temel motor-stub setini kullanıyoruz.
-static probot::motor::BoardozaVNH5019MotorController motor(PIN_INA, PIN_INB, PIN_PWM, PIN_ENA, PIN_ENB);
-
 
+/**
+ * Robot başlatıldığında çağrılır (bir kez)
+ */
 void robotInit() {
   Serial.begin(115200);
   delay(100);
 
-  // Kart ve motor kontrolcusunu hazirla.
-  motor.begin();
-  motor.setBrakeMode(true);         // boşta tam fren uygula
-  motor.setPower(0.0f);
-
-  Serial.println("[JoystickTest] robotInit: Joystick ve motor izleme başlatıldı");
+  Serial.println("============================================");
+  Serial.println("[JoystickTest] Joystick veri okuma örneği");
+  Serial.println("============================================");
+  Serial.println("DriverStation'dan bağlanın ve joystick kullanın.");
+  Serial.println("");
+  Serial.println("Veri formatı:");
+  Serial.println("  seq   = Paket sıra numarası");
+  Serial.println("  LX/LY = Sol stick X/Y ekseni");
+  Serial.println("  RX/RY = Sağ stick X/Y ekseni");
+  Serial.println("  A/B/X/Y = Yüz butonları (0 veya 1)");
 }
 
+/**
+ * Robot durdurulduğunda çağrılır
+ */
 void robotEnd() {
-  motor.setPower(0.0f);  // çıkışları güvenle sıfırla
-  Serial.println("[JoystickTest] robotEnd: Motor sıfırlandı");
+  Serial.println("[JoystickTest] Bitti");
 }
 
+/**
+ * Teleop modu başladığında çağrılır
+ */
 void teleopInit() {
-  Serial.println("[JoystickTest] teleopInit: Ekseni okuyup motora aktaracağız");
+  Serial.println("[JoystickTest] Teleop başladı - joystick verilerini izleyin");
+  Serial.println("");
 }
 
+/**
+ * Teleop döngüsü (sürekli çağrılır)
+ *
+ * Bu fonksiyon joystick verilerini okur ve hem seri porta hem de
+ * telemetri sistemine yazdırır. DriverStation'da telemetri panelinde
+ * bu veriler görünür.
+ */
 void teleopLoop() {
+  // Joystick API'sinden veri al
+  // makeDefault() her çağrıda en güncel veriyi döner
   auto js = probot::io::joystick_api::makeDefault();
 
-  // Sol çubuk Y eksenini oku (varsayılan eşleme).
-  float axis = js.getLeftY();
-
-  // Okuduğumuz değeri doğrudan motora gönderiyoruz.
-  motor.setPower(axis);
-
-  // Seri log ile joystick verisini ve motor komutunu gözlemleyin.
-  Serial.printf("[JoystickTest] seq=%lu axisY=%.2f motorCmd=%.2f\n",
+  // =========================================================================
+  // SERİ PORT ÇIKTISI
+  // =========================================================================
+  // Seri monitörde görünür (USB üzerinden)
+  Serial.printf("seq=%lu | LX=%.2f LY=%.2f | RX=%.2f RY=%.2f | LT=%.2f RT=%.2f\n",
                 static_cast(js.getSeq()),
-                axis,
-                motor.getPower());
-
-  delay(50);
+                js.getLeftX(), js.getLeftY(),
+                js.getRightX(), js.getRightY(),
+                js.getLeftTriggerAxis(), js.getRightTriggerAxis());
+
+  Serial.printf("       | A=%d B=%d X=%d Y=%d | LB=%d RB=%d | POV=%d\n",
+                js.getA(), js.getB(), js.getX(), js.getY(),
+                js.getLB(), js.getRB(),
+                js.getPOV());
+
+  // =========================================================================
+  // TELEMETRİ ÇIKTISI
+  // =========================================================================
+  // DriverStation uygulamasında telemetri panelinde görünür.
+  // HTTP polling ile 50ms'de bir güncellenir.
+  //
+  // API:
+  //   clear()   - Buffer'ı temizle (her döngü başında çağır)
+  //   print()   - String yaz
+  //   println() - String yaz + yeni satır
+  //   printf()  - Formatlanmış çıktı
+
+  // Her döngüde buffer'ı temizle, yoksa veriler birikir
+  probot::telemetry::clear();
+
+  // Başlık
+  probot::telemetry::println("=== JOYSTICK TEST ===");
+
+  // Sol stick
+  probot::telemetry::printf("Sol Stick:  X=%.2f  Y=%.2f\n",
+                            js.getLeftX(), js.getLeftY());
+
+  // Sağ stick
+  probot::telemetry::printf("Sag Stick:  X=%.2f  Y=%.2f\n",
+                            js.getRightX(), js.getRightY());
+
+  // Tetikler
+  probot::telemetry::printf("Tetikler:   LT=%.2f  RT=%.2f\n",
+                            js.getLeftTriggerAxis(), js.getRightTriggerAxis());
+
+  // Butonlar - basılı olanları göster
+  probot::telemetry::print("Butonlar:   ");
+  if (js.getA()) probot::telemetry::print("A ");
+  if (js.getB()) probot::telemetry::print("B ");
+  if (js.getX()) probot::telemetry::print("X ");
+  if (js.getY()) probot::telemetry::print("Y ");
+  if (js.getLB()) probot::telemetry::print("LB ");
+  if (js.getRB()) probot::telemetry::print("RB ");
+  if (js.getStart()) probot::telemetry::print("START ");
+  if (js.getBack()) probot::telemetry::print("BACK ");
+  probot::telemetry::println("");
+
+  // D-Pad (POV)
+  int pov = js.getPOV();
+  probot::telemetry::print("D-Pad:      ");
+  if (pov == -1) {
+    probot::telemetry::println("-");
+  } else if (pov == 0) {
+    probot::telemetry::println("YUKARI");
+  } else if (pov == 90) {
+    probot::telemetry::println("SAG");
+  } else if (pov == 180) {
+    probot::telemetry::println("ASAGI");
+  } else if (pov == 270) {
+    probot::telemetry::println("SOL");
+  } else {
+    probot::telemetry::printf("%d derece\n", pov);
+  }
+
+  // Sequence numarası
+  probot::telemetry::printf("Seq: %lu\n", static_cast(js.getSeq()));
+
+  // 10 Hz güncelleme (100ms)
+  delay(100);
 }
 
+/**
+ * Otonom modu başladığında çağrılır
+ */
 void autonomousInit() {
-  Serial.println("[JoystickTest] autonomousInit: Bu örnek otonomda motoru durdurur");
-  motor.setPower(0.0f);
+  Serial.println("[JoystickTest] Otonom - joystick okumuyor");
 }
 
+/**
+ * Otonom döngüsü
+ *
+ * Bu örnekte otonom modda bir şey yapılmıyor.
+ * Joystick verisi otonom modda güncellenmez.
+ */
 void autonomousLoop() {
-  // Joystick okumadığımız için otonomda motoru sıfırda tutuyoruz.
-  delay(20);
+  delay(100);
 }
diff --git a/examples/MotorControllerDemo/MotorControllerDemo.ino b/examples/MotorControllerDemo/MotorControllerDemo.ino
deleted file mode 100644
index 8dad660..0000000
--- a/examples/MotorControllerDemo/MotorControllerDemo.ino
+++ /dev/null
@@ -1,119 +0,0 @@
-#define PROBOT_WIFI_AP_PASSWORD "ProBot1234"
-
-#include 
-#include 
-#include 
-#include 
-
-// Kullanilan Boardoza VNH motor kontrolcusu pinleri (kendi kartiniza gore guncelleyin).
-static constexpr int PIN_INA = 9;
-static constexpr int PIN_INB = 10;
-static constexpr int PIN_PWM = 11;
-static constexpr int PIN_ENA = -1;
-static constexpr int PIN_ENB = -1;
-
-static probot::motor::BoardozaVNH5019MotorController motor(PIN_INA, PIN_INB, PIN_PWM, PIN_ENA, PIN_ENB);
-static const probot::control::PidConfig      kVelocityPid{.kp = 0.35f, .ki = 0.02f, .kd = 0.0f,
-                                                          .kf = 0.0f, .out_min = -1.0f, .out_max = 1.0f};
-static probot::sensors::IEncoder* encoder = nullptr;
-
-
-static probot::control::ControlType g_mode = probot::control::ControlType::kVelocity;
-static bool g_has_encoder = false;
-
-void robotInit() {
-  Serial.begin(115200);
-  delay(100);
-
-  motor.begin();
-  motor.setBrakeMode(true);
-
-  motor.setTimeoutMs(0); // joystick bırakıldığında çıkış sıfırlanmasın
-  if (encoder) {
-    motor.attachEncoder(encoder);
-    motor.setVelocityPidConfig(kVelocityPid);
-    motor.setVelocity(0.0f);
-    g_has_encoder = true;
-  } else {
-    g_mode = probot::control::ControlType::kPercent;
-    g_has_encoder = false;
-  }
-
-  Serial.println("[IMotorControllerDemo] robotInit: Kapalı çevrim denemesi için hazır");
-  if (!g_has_encoder) {
-    Serial.println("[IMotorControllerDemo] Encoder yok, sadece yüzde modunda çalışır");
-  }
-}
-
-void robotEnd() {
-  motor.setPower(0.0f);
-  Serial.println("[IMotorControllerDemo] robotEnd: Motor kapatıldı");
-}
-
-void teleopInit() {
-  Serial.println("[IMotorControllerDemo] teleopInit:"
-                 " sol eksen referans, A butonu mod değiştirir (encoder varsa velocity)");
-}
-
-void teleopLoop() {
-  auto js = probot::io::joystick_api::makeDefault();
-
-  if (js.getRawButton(0)) {
-    if (g_has_encoder) {
-      g_mode = (g_mode == probot::control::ControlType::kVelocity)
-                 ? probot::control::ControlType::kPercent
-                 : probot::control::ControlType::kVelocity;
-    } else {
-      g_mode = probot::control::ControlType::kPercent;
-    }
-    if (g_mode == probot::control::ControlType::kVelocity) {
-      motor.setVelocity(0.0f);
-    } else {
-      motor.setPower(0.0f);
-    }
-    Serial.printf("[IMotorControllerDemo] Mod değişti: %s\n",
-                  g_mode == probot::control::ControlType::kVelocity ? "HIZ" : "YÜZDE");
-    delay(200); // buton debouncing
-  }
-
-  float axis = js.getLeftY();
-  float target = axis * (g_mode == probot::control::ControlType::kVelocity ? 100.0f : 1.0f);
-  if (g_mode == probot::control::ControlType::kVelocity) {
-    motor.setVelocity(target);
-  } else {
-    motor.setPower(target);
-  }
-  motor.update(millis(), 20);
-
-  Serial.printf("[IMotorControllerDemo] mode=%s target=%.2f measurement=%.2f out=%.2f\n",
-                g_mode == probot::control::ControlType::kVelocity ? "VEL" : "PCT",
-                target,
-                motor.lastMeasurement(),
-                motor.lastOutput());
-
-  delay(20);
-}
-
-static uint32_t g_auto_start = 0;
-
-void autonomousInit() {
-  Serial.println("[IMotorControllerDemo] autonomousInit: 2 saniyelik hız profili");
-  g_auto_start = millis();
-  if (g_has_encoder) {
-    motor.setVelocity(80.0f);
-  } else {
-    motor.setPower(0.6f);
-  }
-}
-
-void autonomousLoop() {
-  motor.update(millis(), 20);
-  if (millis() - g_auto_start > 2000) {
-    if (g_has_encoder) {
-      motor.setVelocity(0.0f);
-    } else {
-      motor.setPower(0.0f);
-    }
-  }
-  delay(20);
-}
diff --git a/examples/MotorOpenLoopDemo/MotorOpenLoopDemo.ino b/examples/MotorOpenLoopDemo/MotorOpenLoopDemo.ino
index 094a808..7af948a 100644
--- a/examples/MotorOpenLoopDemo/MotorOpenLoopDemo.ino
+++ b/examples/MotorOpenLoopDemo/MotorOpenLoopDemo.ino
@@ -1,62 +1,151 @@
+/**
+ * MotorOpenLoopDemo - Açık çevrim motor kontrol örneği
+ *
+ * Bu örnek probot'un motor driver soyutlamasını kullanarak
+ * tek bir motoru joystick ile kontrol eder.
+ *
+ * ============================================================================
+ * NE ÖĞRENECEKSINIZ?
+ * ============================================================================
+ * - IMotorController arayüzünün kullanımı
+ * - BoardozaVNH5019MotorController driver'ının kurulumu
+ * - Joystick'ten motor gücü okuma
+ * - Motor yön terslemesi (invert)
+ * - Açık çevrim (open-loop) kontrol mantığı
+ *
+ * ============================================================================
+ * AÇIK ÇEVRİM vs KAPALI ÇEVRİM
+ * ============================================================================
+ * Açık çevrim: Motora güç gönderirsin, ne olduğunu kontrol etmezsin.
+ *              Encoder yok, PID yok. Basit ama hassas değil.
+ *
+ * Kapalı çevrim: Encoder ile hızı ölçersin, PID ile düzeltirsin.
+ *                Daha karmaşık ama hassas kontrol sağlar.
+ *
+ * Bu örnek AÇIK ÇEVRİM kullanır - encoder gerektirmez.
+ *
+ * ============================================================================
+ * DONANIM BAĞLANTISI
+ * ============================================================================
+ * Boardoza VNH5019 motor driver kullanılıyor:
+ *
+ *   VNH5019 Pin  |  ESP32 Pin  |  Açıklama
+ *   -------------|-------------|----------------------------------
+ *   INA          |  GPIO 39    |  Yön kontrolü A
+ *   INB          |  GPIO 40    |  Yön kontrolü B
+ *   PWM          |  GPIO 41    |  Hız kontrolü (PWM)
+ *   ENA/ENB      |  -1 (yok)   |  Enable pinleri (3.3V'a bağlı)
+ *
+ * Pin numaralarını kendi kartınıza göre değiştirin!
+ *
+ * ============================================================================
+ * KONTROLLER
+ * ============================================================================
+ * - Sol stick Y ekseni: Motor gücü (-1.0 ile 1.0 arası)
+ * - Sağ tetik: Basılıyken motor yönünü tersler
+ *
+ * ============================================================================
+ */
+
 #define PROBOT_WIFI_AP_PASSWORD "ProBot1234"
 
 #include 
 #include 
 #include 
 
-// Boardoza VNH motor kontrolcusunu kullanirken kendi pinlerinizi mutlaka kontrol edin.
-static constexpr int PIN_INA = 39;
-static constexpr int PIN_INB = 40;
-static constexpr int PIN_PWM = 41;
-static constexpr int PIN_ENA = -1;
-static constexpr int PIN_ENB = -1;
-
+// ============================================================================
+// PIN AYARLARI - Kendi kartınıza göre değiştirin!
+// ============================================================================
+static constexpr int PIN_INA = 39;   // Yön A pini
+static constexpr int PIN_INB = 40;   // Yön B pini
+static constexpr int PIN_PWM = 41;   // PWM pini
+static constexpr int PIN_ENA = -1;   // Enable A (-1 = kullanılmıyor)
+static constexpr int PIN_ENB = -1;   // Enable B (-1 = kullanılmıyor)
+
+// Motor controller nesnesi
+// Bu sınıf IMotorController arayüzünü uygular
 static probot::motor::BoardozaVNH5019MotorController motor(PIN_INA, PIN_INB, PIN_PWM, PIN_ENA, PIN_ENB);
 
-
+/**
+ * Robot başlatıldığında çağrılır (bir kez)
+ */
 void robotInit() {
   Serial.begin(115200);
   delay(100);
 
+  // Motor driver'ı başlat
+  // Bu fonksiyon pin modlarını ayarlar ve PWM'i yapılandırır
   motor.begin();
-  motor.setBrakeMode(false);  // kontrolcu serbest birakildi, coast modunda
+
+  // Fren modu: false = coast (serbest), true = brake (fren)
+  // Coast modunda motor serbest döner, brake modunda dirençle durur
+  motor.setBrakeMode(false);
+
+  // Yön terslemesi: false = normal, true = ters
   motor.setInverted(false);
 
-  Serial.println("[MotorOpenLoopDemo] robotInit: IMotorController arayuzunu test etmek icin hazir");
+  Serial.println("[MotorOpenLoopDemo] Motor driver hazır");
+  Serial.println("  Sol stick Y: Motor gücü");
+  Serial.println("  Sağ tetik: Yön tersle");
 }
 
+/**
+ * Robot durdurulduğunda çağrılır
+ */
 void robotEnd() {
+  // Güvenlik: Motoru durdur
   motor.setPower(0.0f);
-  Serial.println("[MotorOpenLoopDemo] robotEnd: Motor durduruldu");
+  Serial.println("[MotorOpenLoopDemo] Motor durduruldu");
 }
 
+/**
+ * Teleop modu başladığında çağrılır
+ */
 void teleopInit() {
-  Serial.println("[MotorOpenLoopDemo] teleopInit:"
-                 " sol eksen gücü, sağ tetik ise yön tersleme yapar");
+  Serial.println("[MotorOpenLoopDemo] Teleop başladı");
 }
 
+/**
+ * Teleop döngüsü (sürekli çağrılır)
+ */
 void teleopLoop() {
+  // Joystick verilerini al
   auto js = probot::io::joystick_api::makeDefault();
 
-  // Sol çubuktan ham güç, sağ tetikten tersleme isteği okuyoruz.
+  // Sol stick Y ekseninden motor gücü oku
+  // Değer -1.0 (tam geri) ile 1.0 (tam ileri) arasında
   float power = js.getLeftY();
-  bool invert = js.getRightTriggerAxis() > 0.5f;
 
+  // Sağ tetik basılıysa yönü tersle
+  bool invert = js.getRightTriggerAxis() > 0.5f;
   motor.setInverted(invert);
 
+  // Motora güç gönder
+  // setPower() değeri -1.0 ile 1.0 arasında alır
   motor.setPower(power);
 
-  Serial.printf("[MotorOpenLoopDemo] power=%.2f invert=%d motorOut=%.2f\n",
+  // Debug çıktısı
+  Serial.printf("[Motor] güç=%.2f ters=%d çıkış=%.2f\n",
                 power, invert ? 1 : 0, motor.getPower());
 
-  delay(40);
+  // Telemetri (DriverStation'da görünür)
+  probot::telemetry::printf("Motor: %.2f\n", motor.getPower());
+
+  delay(40);  // 25 Hz güncelleme
 }
 
+/**
+ * Otonom modu başladığında çağrılır
+ */
 void autonomousInit() {
-  Serial.println("[MotorOpenLoopDemo] autonomousInit: Motoru yavasca durduruyoruz");
+  Serial.println("[MotorOpenLoopDemo] Otonom başladı - motor duracak");
 }
 
+/**
+ * Otonom döngüsü
+ */
 void autonomousLoop() {
+  // Otonomda motoru durdur (joystick yok)
   motor.setPower(0.0f);
   delay(20);
 }
diff --git a/examples/ShooterDemo/ShooterDemo.ino b/examples/ShooterDemo/ShooterDemo.ino
deleted file mode 100644
index e1fc47c..0000000
--- a/examples/ShooterDemo/ShooterDemo.ino
+++ /dev/null
@@ -1,67 +0,0 @@
-#define PROBOT_WIFI_AP_PASSWORD "ProBot1234"
-
-#include 
-#include 
-#include 
-
-// Shooter tekeri için Boardoza VNH pin konfigürasyonu.
-static constexpr int PIN_INA = 15;
-static constexpr int PIN_INB = 16;
-static constexpr int PIN_PWM = 17;
-static constexpr int PIN_ENA = -1;
-static constexpr int PIN_ENB = -1;
-
-static probot::motor::BoardozaVNH5019MotorController motor(PIN_INA, PIN_INB, PIN_PWM, PIN_ENA, PIN_ENB);
-
-
-void robotInit() {
-  Serial.begin(115200);
-  delay(100);
-
-  motor.begin();
-  motor.setBrakeMode(false); // shooter çarkında coast tercihi yapılabilir
-  motor.setPower(0.0f);
-
-  Serial.println("[ShooterDemo] robotInit: Shooter kontrolü başlatıldı");
-}
-
-void robotEnd() {
-  motor.setPower(0.0f);
-  Serial.println("[ShooterDemo] robotEnd: Teker kapatıldı");
-}
-
-void teleopInit() {
-  Serial.println("[ShooterDemo] teleopInit:"
-                 " sağ tetik hızlandırır, sol tetik fren yapar");
-}
-
-void teleopLoop() {
-  auto js = probot::io::joystick_api::makeDefault();
-
-  float accel = js.getRightTriggerAxis(); // 0..1
-  float brake = js.getLeftTriggerAxis();  // 0..1
-
-  float power = accel;                   // 0..1 açık çevrim güç
-  if (brake > 0.2f) power = 0.0f;        // fren tetiklendiğinde durdur
-
-  motor.setPower(power);
-
-  Serial.printf("[ShooterDemo] power=%.2f out=%.2f\n",
-                power,
-                motor.getPower());
-
-  delay(20);
-}
-
-void autonomousInit() {
-  Serial.println("[ShooterDemo] autonomousInit: 2 saniye spool, sonra durdur");
-  motor.setPower(0.8f);
-}
-
-void autonomousLoop() {
-  static uint32_t start = millis();
-  if (millis() - start > 2000) {
-    motor.setPower(0.0f);
-  }
-  delay(20);
-}
diff --git a/examples/SliderDemo/SliderDemo.ino b/examples/SliderDemo/SliderDemo.ino
deleted file mode 100644
index ea24a1c..0000000
--- a/examples/SliderDemo/SliderDemo.ino
+++ /dev/null
@@ -1,77 +0,0 @@
-#define PROBOT_WIFI_AP_PASSWORD "ProBot1234"
-
-#include 
-#include 
-#include 
-
-// Slider mekanizmasi icin kullanilan VNH motor kontrolcusu pinleri.
-static constexpr int PIN_INA = 12;
-static constexpr int PIN_INB = 13;
-static constexpr int PIN_PWM = 14;
-static constexpr int PIN_ENA = -1;
-static constexpr int PIN_ENB = -1;
-
-static probot::motor::BoardozaVNH5019MotorController motor(PIN_INA, PIN_INB, PIN_PWM, PIN_ENA, PIN_ENB);
-
-
-void robotInit() {
-  Serial.begin(115200);
-  delay(100);
-
-  motor.begin();
-  motor.setBrakeMode(true);
-  motor.setPower(0.0f);
-
-  Serial.println("[SliderDemo] robotInit: Slider kontrolü hazır");
-}
-
-void robotEnd() {
-  motor.setPower(0.0f);
-  Serial.println("[SliderDemo] robotEnd: Motor sıfırlandı");
-}
-
-void teleopInit() {
-  Serial.println("[SliderDemo] teleopInit:"
-                 " D-pad yukarı/aşağı slider gücü gönderir");
-}
-
-void teleopLoop() {
-  auto js = probot::io::joystick_api::makeDefault();
-  int pov = js.getPOV();
-
-  float cmd = 0.0f;
-  if (pov == 0) cmd = 0.6f;       // yukarı
-  if (pov == 180) cmd = -0.6f;    // aşağı
-  motor.setPower(cmd);
-
-  Serial.printf("[SliderDemo] cmd=%.2f out=%.2f\n",
-                cmd,
-                motor.getPower());
-
-  delay(20);
-}
-
-void autonomousInit() {
-  Serial.println("[SliderDemo] autonomousInit: 3 adımda preset dolaşımı");
-}
-
-void autonomousLoop() {
-  static uint32_t stateStart = millis();
-  static int state = 0;
-  uint32_t now = millis();
-
-  if (state == 0) {
-    motor.setPower(0.6f);
-    stateStart = now;
-    state = 1;
-  } else if (state == 1 && now - stateStart > 1200) {
-    motor.setPower(-0.6f);
-    stateStart = now;
-    state = 2;
-  } else if (state == 2 && now - stateStart > 1200) {
-    motor.setPower(0.0f);
-    state = 3;
-  }
-
-  delay(20);
-}
diff --git a/examples/TurretDemo/TurretDemo.ino b/examples/TurretDemo/TurretDemo.ino
deleted file mode 100644
index 6643380..0000000
--- a/examples/TurretDemo/TurretDemo.ino
+++ /dev/null
@@ -1,77 +0,0 @@
-#define PROBOT_WIFI_AP_PASSWORD "ProBot1234"
-
-#include 
-#include 
-#include 
-
-// Taret döndürme motoru için Boardoza VNH pinleri.
-static constexpr int PIN_INA = 30;
-static constexpr int PIN_INB = 31;
-static constexpr int PIN_PWM = 32;
-static constexpr int PIN_ENA = -1;
-static constexpr int PIN_ENB = -1;
-
-static probot::motor::BoardozaVNH5019MotorController motor(PIN_INA, PIN_INB, PIN_PWM, PIN_ENA, PIN_ENB);
-
-
-void robotInit() {
-  Serial.begin(115200);
-  delay(100);
-
-  motor.begin();
-  motor.setBrakeMode(true);
-  motor.setPower(0.0f);
-
-  Serial.println("[TurretDemo] robotInit: Taret kontrolü hazır");
-}
-
-void robotEnd() {
-  motor.setPower(0.0f);
-  Serial.println("[TurretDemo] robotEnd: Taret durduruldu");
-}
-
-void teleopInit() {
-  Serial.println("[TurretDemo] teleopInit:"
-                 " sağ çubuk X taret gücünü belirler, B butonu durdurur");
-}
-
-void teleopLoop() {
-  auto js = probot::io::joystick_api::makeDefault();
-
-  float cmd = js.getRightX();        // -1..1
-  if (js.getRawButton(1)) {          // B butonu
-    cmd = 0.0f;
-  }
-  motor.setPower(cmd);
-
-  Serial.printf("[TurretDemo] cmd=%.2f out=%.2f\n",
-                cmd,
-                motor.getPower());
-
-  delay(20);
-}
-
-void autonomousInit() {
-  Serial.println("[TurretDemo] autonomousInit: Rastgele preset taraması");
-}
-
-void autonomousLoop() {
-  static uint32_t stateStart = millis();
-  static int state = 0;
-  uint32_t now = millis();
-
-  if (state == 0) {
-    motor.setPower(-0.4f);
-    stateStart = now;
-    state = 1;
-  } else if (state == 1 && now - stateStart > 1200) {
-    motor.setPower(0.4f);
-    stateStart = now;
-    state = 2;
-  } else if (state == 2 && now - stateStart > 1200) {
-    motor.setPower(0.0f);
-    state = 3;
-  }
-
-  delay(20);
-}
diff --git a/examples/command_based/ShooterDemo/ShooterDemo.ino b/examples/command_based/ShooterDemo/ShooterDemo.ino
new file mode 100644
index 0000000..5b5305a
--- /dev/null
+++ b/examples/command_based/ShooterDemo/ShooterDemo.ino
@@ -0,0 +1,84 @@
+#define PROBOT_WIFI_AP_PASSWORD "ProBot1234"
+
+#include 
+#include 
+#include 
+#include 
+
+// ============================================================================
+// Basit Shooter Subsystem (acik cevrim)
+// ============================================================================
+class ShooterSubsystem : public probot::command::SubsystemBase {
+public:
+  explicit ShooterSubsystem(probot::motor::IMotorController* motor)
+    : SubsystemBase("Shooter"), motor_(motor) {}
+
+  void setPower(float power) {
+    power_ = constrain(power, 0.0f, 1.0f);  // shooter sadece ileri doner
+  }
+
+  float getPower() const { return power_; }
+
+  void stop() { power_ = 0.0f; }
+
+  void periodic(uint32_t, uint32_t) override {
+    if (motor_) motor_->setPower(power_);
+  }
+
+private:
+  probot::motor::IMotorController* motor_;
+  float power_ = 0.0f;
+};
+
+// ============================================================================
+// Hardware
+// ============================================================================
+static constexpr int PIN_INA = 15;
+static constexpr int PIN_INB = 16;
+static constexpr int PIN_PWM = 17;
+
+static probot::motor::BoardozaVNH5019MotorController motor(PIN_INA, PIN_INB, PIN_PWM, -1, -1);
+static ShooterSubsystem shooter(&motor);
+
+using Scheduler = probot::command::Scheduler;
+
+void robotInit() {
+  Serial.begin(115200);
+  motor.begin();
+  motor.setBrakeMode(false);  // shooter coast modunda
+
+  Scheduler::instance().registerSubsystem(&shooter);
+  Serial.println("[ShooterDemo] Shooter subsystem hazir");
+}
+
+void robotEnd() {
+  Scheduler::instance().unregisterSubsystem(&shooter);
+  shooter.stop();
+  Serial.println("[ShooterDemo] Bitti");
+}
+
+void teleopInit() {
+  Serial.println("[ShooterDemo] Sag tetik hizlandirir, sol tetik durdurur");
+}
+
+void teleopLoop() {
+  auto js = probot::io::joystick_api::makeDefault();
+
+  float accel = js.getRightTriggerAxis();
+  float brake = js.getLeftTriggerAxis();
+
+  float power = accel;
+  if (brake > 0.2f) power = 0.0f;
+
+  shooter.setPower(power);
+
+  probot::telemetry::printf("Shooter: %.2f\n", shooter.getPower());
+}
+
+void autonomousInit() {
+  shooter.stop();
+}
+
+void autonomousLoop() {
+  // Otonom sekans eklenebilir
+}
diff --git a/examples/command_based/SliderDemo/SliderDemo.ino b/examples/command_based/SliderDemo/SliderDemo.ino
new file mode 100644
index 0000000..1c187b9
--- /dev/null
+++ b/examples/command_based/SliderDemo/SliderDemo.ino
@@ -0,0 +1,83 @@
+#define PROBOT_WIFI_AP_PASSWORD "ProBot1234"
+
+#include 
+#include 
+#include 
+#include 
+
+// ============================================================================
+// Basit Slider Subsystem (acik cevrim)
+// ============================================================================
+class SliderSubsystem : public probot::command::SubsystemBase {
+public:
+  explicit SliderSubsystem(probot::motor::IMotorController* motor)
+    : SubsystemBase("Slider"), motor_(motor) {}
+
+  void setPower(float power) {
+    power_ = constrain(power, -1.0f, 1.0f);
+  }
+
+  float getPower() const { return power_; }
+
+  void stop() { power_ = 0.0f; }
+
+  void periodic(uint32_t, uint32_t) override {
+    if (motor_) motor_->setPower(power_);
+  }
+
+private:
+  probot::motor::IMotorController* motor_;
+  float power_ = 0.0f;
+};
+
+// ============================================================================
+// Hardware
+// ============================================================================
+static constexpr int PIN_INA = 12;
+static constexpr int PIN_INB = 13;
+static constexpr int PIN_PWM = 14;
+
+static probot::motor::BoardozaVNH5019MotorController motor(PIN_INA, PIN_INB, PIN_PWM, -1, -1);
+static SliderSubsystem slider(&motor);
+
+using Scheduler = probot::command::Scheduler;
+
+void robotInit() {
+  Serial.begin(115200);
+  motor.begin();
+  motor.setBrakeMode(true);
+
+  Scheduler::instance().registerSubsystem(&slider);
+  Serial.println("[SliderDemo] Slider subsystem hazir");
+}
+
+void robotEnd() {
+  Scheduler::instance().unregisterSubsystem(&slider);
+  slider.stop();
+  Serial.println("[SliderDemo] Bitti");
+}
+
+void teleopInit() {
+  Serial.println("[SliderDemo] D-pad yukari/asagi ile slider kontrol edin");
+}
+
+void teleopLoop() {
+  auto js = probot::io::joystick_api::makeDefault();
+  int pov = js.getPOV();
+
+  float cmd = 0.0f;
+  if (pov == 0) cmd = 0.6f;      // yukari
+  if (pov == 180) cmd = -0.6f;   // asagi
+
+  slider.setPower(cmd);
+
+  probot::telemetry::printf("Slider: %.2f\n", slider.getPower());
+}
+
+void autonomousInit() {
+  slider.stop();
+}
+
+void autonomousLoop() {
+  // Otonom sekans eklenebilir
+}
diff --git a/examples/command_based/TurretDemo/TurretDemo.ino b/examples/command_based/TurretDemo/TurretDemo.ino
new file mode 100644
index 0000000..02fa177
--- /dev/null
+++ b/examples/command_based/TurretDemo/TurretDemo.ino
@@ -0,0 +1,81 @@
+#define PROBOT_WIFI_AP_PASSWORD "ProBot1234"
+
+#include 
+#include 
+#include 
+#include 
+
+// ============================================================================
+// Basit Turret Subsystem (acik cevrim)
+// ============================================================================
+class TurretSubsystem : public probot::command::SubsystemBase {
+public:
+  explicit TurretSubsystem(probot::motor::IMotorController* motor)
+    : SubsystemBase("Turret"), motor_(motor) {}
+
+  void setPower(float power) {
+    power_ = constrain(power, -1.0f, 1.0f);
+  }
+
+  float getPower() const { return power_; }
+
+  void stop() { power_ = 0.0f; }
+
+  void periodic(uint32_t, uint32_t) override {
+    if (motor_) motor_->setPower(power_);
+  }
+
+private:
+  probot::motor::IMotorController* motor_;
+  float power_ = 0.0f;
+};
+
+// ============================================================================
+// Hardware
+// ============================================================================
+static constexpr int PIN_INA = 30;
+static constexpr int PIN_INB = 31;
+static constexpr int PIN_PWM = 32;
+
+static probot::motor::BoardozaVNH5019MotorController motor(PIN_INA, PIN_INB, PIN_PWM, -1, -1);
+static TurretSubsystem turret(&motor);
+
+using Scheduler = probot::command::Scheduler;
+
+void robotInit() {
+  Serial.begin(115200);
+  motor.begin();
+  motor.setBrakeMode(true);
+
+  Scheduler::instance().registerSubsystem(&turret);
+  Serial.println("[TurretDemo] Turret subsystem hazir");
+}
+
+void robotEnd() {
+  Scheduler::instance().unregisterSubsystem(&turret);
+  turret.stop();
+  Serial.println("[TurretDemo] Bitti");
+}
+
+void teleopInit() {
+  Serial.println("[TurretDemo] Sag stick X ile taret dondur, B ile durdur");
+}
+
+void teleopLoop() {
+  auto js = probot::io::joystick_api::makeDefault();
+
+  float cmd = js.getRightX();
+  if (js.getB()) cmd = 0.0f;  // B butonu durdurur
+
+  turret.setPower(cmd);
+
+  probot::telemetry::printf("Turret: %.2f\n", turret.getPower());
+}
+
+void autonomousInit() {
+  turret.stop();
+}
+
+void autonomousLoop() {
+  // Otonom sekans eklenebilir
+}
diff --git a/src/driverstation/esp32s3/index_html.h b/src/driverstation/esp32s3/index_html.h
index 4dae8b7..62d4779 100644
--- a/src/driverstation/esp32s3/index_html.h
+++ b/src/driverstation/esp32s3/index_html.h
@@ -701,6 +701,11 @@ const char MAIN_page[] PROGMEM = R"=====(
     
   
   

+    

+      
Telemetry

+      

+      
+    

     

       
System Logs