Competition

examples/IBT2MotorDemo/IBT2MotorDemo.ino

@@ -52,6 +52,7 @@
  */
 
 #define PROBOT_WIFI_AP_PASSWORD "ProBot1234"
+#define PROBOT_WIFI_AP_CHANNEL 3  // Opsiyonel (varsayilan 1)
 
 #include <probot.h>
 #include <probot/io/joystick_api.hpp>

examples/JoystickTest/JoystickTest.ino

@@ -57,6 +57,7 @@
  */
 
 #define PROBOT_WIFI_AP_PASSWORD "ProBot1234"
+#define PROBOT_WIFI_AP_CHANNEL 3  // Opsiyonel (varsayilan 1)
 
 #include <probot.h>
 #include <probot/io/joystick_api.hpp>

examples/MotorOpenLoopDemo/MotorOpenLoopDemo.ino

@@ -48,6 +48,7 @@
  */
 
 #define PROBOT_WIFI_AP_PASSWORD "ProBot1234"
+#define PROBOT_WIFI_AP_CHANNEL 3  // Opsiyonel (varsayilan 1)
 
 #include <probot.h>
 #include <probot/io/joystick_api.hpp>

examples/command_based/AutonomousDemo/AutonomousDemo.ino

@@ -1,4 +1,5 @@
 #define PROBOT_WIFI_AP_PASSWORD "ProBot1234"
+#define PROBOT_WIFI_AP_CHANNEL 3  // Opsiyonel (varsayilan 1)
 
 #include <probot.h>
 #include <probot/io/joystick_api.hpp>

examples/command_based/MecanumDriveDemo/MecanumDriveDemo.ino

@@ -1,4 +1,5 @@
 #define PROBOT_WIFI_AP_PASSWORD "ProBot1234"
+#define PROBOT_WIFI_AP_CHANNEL 3  // Opsiyonel (varsayilan 1)
 
 #include <probot.h>
 #include <probot/io/joystick_api.hpp>

examples/command_based/ShooterDemo/ShooterDemo.ino

@@ -1,4 +1,5 @@
 #define PROBOT_WIFI_AP_PASSWORD "ProBot1234"
+#define PROBOT_WIFI_AP_CHANNEL 3  // Opsiyonel (varsayilan 1)
 
 #include <probot.h>
 #include <probot/io/joystick_api.hpp>

examples/command_based/SliderDemo/SliderDemo.ino

@@ -1,4 +1,5 @@
 #define PROBOT_WIFI_AP_PASSWORD "ProBot1234"
+#define PROBOT_WIFI_AP_CHANNEL 3  // Opsiyonel (varsayilan 1)
 
 #include <probot.h>
 #include <probot/io/joystick_api.hpp>

examples/command_based/TankDriveDemo/TankDriveDemo.ino

@@ -1,4 +1,5 @@
 #define PROBOT_WIFI_AP_PASSWORD "ProBot1234"
+#define PROBOT_WIFI_AP_CHANNEL 3  // Opsiyonel (varsayilan 1)
 
 #include <probot.h>
 #include <probot/io/joystick_api.hpp>

examples/command_based/TurretDemo/TurretDemo.ino

@@ -1,4 +1,5 @@
 #define PROBOT_WIFI_AP_PASSWORD "ProBot1234"
+#define PROBOT_WIFI_AP_CHANNEL 3  // Opsiyonel (varsayilan 1)
 
 #include <probot.h>
 #include <probot/io/joystick_api.hpp>

src/driverstation/esp32s3/driver_station_esp32.hpp

@@ -12,6 +12,19 @@
 #error "DriverStation AP password not provided. Define PROBOT_WIFI_AP_PASSWORD (>=8 chars) before including probot.h."
 #endif
 static_assert(sizeof(PROBOT_WIFI_AP_PASSWORD) - 1 >= 8, "PROBOT_WIFI_AP_PASSWORD must be at least 8 characters.");
+#ifdef PROBOT_WIFI_AP_SSID
+static_assert(sizeof(PROBOT_WIFI_AP_SSID) - 1 >= 1, "PROBOT_WIFI_AP_SSID must be at least 1 character.");
+#ifdef PROBOT_WIFI_AP_SSID_NO_MAC_SUFFIX
+static_assert(sizeof(PROBOT_WIFI_AP_SSID) - 1 <= 32, "PROBOT_WIFI_AP_SSID must be 32 characters or fewer.");
+#else
+static_assert(sizeof(PROBOT_WIFI_AP_SSID) - 1 <= 25, "PROBOT_WIFI_AP_SSID must be 25 characters or fewer when MAC suffix is enabled.");
+#endif
+#endif
+#ifndef PROBOT_WIFI_AP_CHANNEL
+#define PROBOT_WIFI_AP_CHANNEL 1
+#endif
+static_assert(PROBOT_WIFI_AP_CHANNEL >= 1 && PROBOT_WIFI_AP_CHANNEL <= 11,
+              "PROBOT_WIFI_AP_CHANNEL must be between 1 and 11.");
 
 namespace probot::driverstation::esp32 {
   class DriverStation {
@@ -21,23 +34,36 @@ namespace probot::driverstation::esp32 {
 
     void begin(){
       const char* pw = PROBOT_WIFI_AP_PASSWORD;
-      String ssid = generateSSID();
+      String ssid;
+#ifdef PROBOT_WIFI_AP_SSID
+      ssid = String(PROBOT_WIFI_AP_SSID);
+#ifndef PROBOT_WIFI_AP_SSID_NO_MAC_SUFFIX
+      char suffix[8];
+      snprintf(suffix, sizeof(suffix), "-%06X", (unsigned int)(ESP.getEfuseMac() & 0xFFFFFF));
+      ssid += suffix;
+#endif
+#else
+      ssid = generateSSID();
+#endif
       ap_ssid_ = ssid;
       WiFi.mode(WIFI_AP);
-      WiFi.softAP(ssid.c_str(), pw);
+      WiFi.softAP(ssid.c_str(), pw, PROBOT_WIFI_AP_CHANNEL);
 
       Serial.println("[DS   ] ========================================");
       Serial.print("[DS   ] WiFi SSID: ");
       Serial.println(ssid);
       Serial.print("[DS   ] Password:  ");
       Serial.println("********");
+      Serial.print("[DS   ] Channel:   ");
+      Serial.println(PROBOT_WIFI_AP_CHANNEL);
       Serial.print("[DS   ] IP Address: ");
       Serial.println(WiFi.softAPIP());
       Serial.println("[DS   ] ========================================");
 
       _server.on("/", HTTP_GET, [this](){ if (!enforceOwner()) return; handleRoot(); });
       _server.on("/updateController", HTTP_POST, [this](){ if (!enforceOwner()) return; handleUpdateController(); });
       _server.on("/robotControl", HTTP_GET, [this](){ if (!enforceOwner()) return; handleRobotControl(); });
+      _server.on("/getState", HTTP_GET, [this](){ if (!enforceOwner()) return; handleGetState(); });
       _server.on("/getBattery", HTTP_GET, [this](){ handleGetBattery(); });
       _server.on("/telemetry", HTTP_GET, [this](){ if (!enforceOwner()) return; handleTelemetry(); });
       _server.begin();
@@ -126,6 +152,26 @@ namespace probot::driverstation::esp32 {
       _server.send(200, "text/plain", buf);
     }
 
+    void handleGetState(){
+      auto s = _rs.read();
+      uint32_t now_ms = millis();
+      uint32_t remaining_ms = 0;
+      if (s.phase == probot::robot::Phase::AUTONOMOUS && s.autonomousEnabled &&
+          s.autoStartMs != 0 && s.autoPeriodSeconds > 0) {
+        uint32_t total_ms = static_cast<uint32_t>(s.autoPeriodSeconds) * 1000u;
+        uint32_t elapsed = now_ms - s.autoStartMs;
+        remaining_ms = (elapsed >= total_ms) ? 0u : (total_ms - elapsed);
+      }
+      char buf[128];
+      snprintf(buf, sizeof(buf),
+               "{\"phase\":%u,\"autonomousEnabled\":%s,\"autoPeriodSeconds\":%d,\"autoRemainingMs\":%u}",
+               static_cast<unsigned>(s.phase),
+               s.autonomousEnabled ? "true" : "false",
+               (int)s.autoPeriodSeconds,
+               (unsigned)remaining_ms);
+      _server.send(200, "application/json", buf);
+    }
+
     void handleRobotControl(){
       String cmd = _server.arg("cmd");
       bool enAuto = _server.arg("auto").toInt() != 0;
@@ -137,6 +183,8 @@ namespace probot::driverstation::esp32 {
         _rs.setAutonomous(millis(), enAuto);
         if (autoLen > 0) _rs.setAutoPeriodSeconds(millis(), autoLen);
         _rs.setStatus(millis(), robot::Status::START);
+      } else if (cmd == "cancelAuto"){
+        _rs.setAutonomous(millis(), false);
       } else if (cmd == "stop"){
         _rs.setStatus(millis(), robot::Status::STOP);
       }

src/driverstation/esp32s3/index_html.h

@@ -705,6 +705,7 @@ const char MAIN_page[] PROGMEM = R"=====(
       <h2>Telemetry</h2>
       <pre id="telemetryOutput" style="height:150px;overflow-y:auto;background:rgba(0,32,77,0.05);padding:12px;border-radius:12px;font-size:0.9rem;"></pre>
       <button onclick="clearTelemetry()" style="margin-top:12px;padding:10px 20px;font-size:0.9rem;">Clear</button>
+      <button id="autoScrollToggle" onclick="toggleAutoScroll()" style="margin-top:8px;padding:10px 20px;font-size:0.9rem;">Auto-scroll: ON</button>
     </section>
     <section class="stack-card telemetry" id="logs">
       <h2>System Logs</h2>
@@ -720,6 +721,7 @@ const char MAIN_page[] PROGMEM = R"=====(
   <script>
     let controlState="idle";
     let autoModeEnabled=false;
+    let autoScroll=true;
     let selectedGamepadIndex=-1;
     let gamepads={};
     let gamepadDetected=false;
@@ -826,6 +828,85 @@ function stopAutoTimer(){
   updateAutoDisplay();
 }
 
+    async function syncState(){
+      try{
+        const r = await fetch('/getState');
+        if(!r.ok) return;
+        const data = await r.json();
+        const btn = document.getElementById('robotButton');
+        if(!btn) return;
+
+        const autoPeriodEl = document.getElementById('autoPeriod');
+        const autoEnableEl = document.getElementById('enableAutonomous');
+
+        const isAutonomous = (data.phase === 2);
+        const isTeleop = (data.phase === 3);
+        const isRunning = (isAutonomous || isTeleop);
+        if(autoPeriodEl && typeof data.autoPeriodSeconds === 'number' && isRunning){
+          autoPeriodEl.value = data.autoPeriodSeconds;
+        }
+        if(autoEnableEl){
+          if(typeof data.autonomousEnabled === 'boolean' && (isAutonomous || isTeleop)){
+            autoEnableEl.checked = data.autonomousEnabled;
+          }
+          autoEnableEl.disabled = isTeleop;
+        }
+
+        const remainingMs = (typeof data.autoRemainingMs === 'number') ? data.autoRemainingMs : null;
+        const remainingSec = remainingMs !== null ? Math.max(0, remainingMs) / 1000 : (parseFloat(autoPeriodEl ? autoPeriodEl.value : 0) || 0);
+
+        if(data.phase === 1){
+          controlState = "armed";
+          btn.textContent = "Start";
+          btn.style.background = "var(--start)";
+          btn.style.color = "var(--ice)";
+          stopAutoTimer();
+          if(autoEnableEl && autoEnableEl.checked){
+            autoRemaining = parseFloat(autoPeriodEl ? autoPeriodEl.value : 0) || 0;
+          }else{
+            autoRemaining = 0;
+          }
+          updateAutoDisplay();
+          setPhaseDisplay('init');
+        }else if(data.phase === 2){
+          controlState = "running";
+          btn.textContent = "Stop";
+          btn.style.background = "var(--stop)";
+          btn.style.color = "var(--ice)";
+          if(data.autonomousEnabled === false){
+            stopAutoTimer();
+            setPhaseDisplay('teleop');
+          }else{
+            stopAutoTimer();
+            if(remainingSec > 0){
+              startAutoTimer(remainingSec);
+            }else{
+              autoModeEnabled = true;
+              autoRemaining = 0;
+              updateAutoDisplay();
+              setPhaseDisplay('auto');
+            }
+          }
+        }else if(data.phase === 3){
+          controlState = "running";
+          btn.textContent = "Stop";
+          btn.style.background = "var(--stop)";
+          btn.style.color = "var(--ice)";
+          stopAutoTimer();
+          setPhaseDisplay('teleop');
+        }else{
+          controlState = "idle";
+          btn.textContent = "Init";
+          btn.style.background = "var(--navy)";
+          btn.style.color = "var(--ice)";
+          stopAutoTimer();
+          setPhaseDisplay('stopped');
+        }
+      }catch(e){
+        console.error('syncState failed:', e);
+      }
+    }
+
     async function handleRobotButton(){
       let cmd="";
       const enableAuto=document.getElementById('enableAutonomous').checked;
@@ -973,10 +1054,12 @@ function stopAutoTimer(){
     window.addEventListener('load',()=>{
       ensureJoyButtons(DEFAULT_BUTTON_COUNT);
       updateJoyVisuals(null);
+      updateAutoScrollButton();
       autoRemaining=parseFloat(document.getElementById('autoPeriod').value)||0;
       updateAutoDisplay();
       setPhaseDisplay('standby');
       requestAnimationFrame(gamepadLoop);
+      syncState();
     });
 
     document.getElementById('autoPeriod').addEventListener('input',e=>{
@@ -989,9 +1072,21 @@ function stopAutoTimer(){
       updateAutoDisplay();
     });
 
-    document.getElementById('enableAutonomous').addEventListener('change',e=>{
+    document.getElementById('enableAutonomous').addEventListener('change', async e=>{
       if(!e.target.checked){
-        stopAutoTimer();
+        if(controlState === "running"){
+          try{
+            const r = await fetch('/robotControl?cmd=cancelAuto');
+            if(!r.ok) throw new Error("Cancel auto failed");
+          }catch(err){
+            console.error(err);
+            return;
+          }
+          stopAutoTimer();
+          setPhaseDisplay('teleop');
+        }else{
+          stopAutoTimer();
+        }
       }
     });
 
@@ -1002,15 +1097,34 @@ function stopAutoTimer(){
         if(r.ok){
           const text=await r.text();
           const el=document.getElementById('telemetryOutput');
-          if(el && text) el.textContent=text;
+          if(el && text){
+            el.textContent=text;
+            if(autoScroll){
+              el.scrollTop = el.scrollHeight;
+            }
+          }
         }
       }catch(e){}
     }
     function clearTelemetry(){
       const el=document.getElementById('telemetryOutput');
       if(el) el.textContent='';
     }
+    function updateAutoScrollButton(){
+      const btn=document.getElementById('autoScrollToggle');
+      if(!btn) return;
+      btn.textContent = autoScroll ? 'Auto-scroll: ON' : 'Auto-scroll: OFF';
+    }
+    function toggleAutoScroll(){
+      autoScroll = !autoScroll;
+      updateAutoScrollButton();
+      if(autoScroll){
+        const el=document.getElementById('telemetryOutput');
+        if(el) el.scrollTop = el.scrollHeight;
+      }
+    }
     setInterval(pollTelemetry,50);
+    setInterval(syncState, 1000);
 </script>
 </body>
 </html>

src/probot/core/runtime.hpp

@@ -36,7 +36,9 @@ namespace probot {
     inline RuntimeState g_state{};
 
     inline void autonomousWorker(void*){
-      __atomic_store_n(&g_state.auto_start_ms, millis(), __ATOMIC_SEQ_CST);
+      uint32_t now = millis();
+      __atomic_store_n(&g_state.auto_start_ms, now, __ATOMIC_SEQ_CST);
+      probot::robot::state().setAutoStartMs(now, now);
       ::autonomousInit();
       for(;;){ ::autonomousLoop(); vTaskDelay(pdMS_TO_TICKS(20)); }
     }
@@ -64,6 +66,7 @@ namespace probot {
       auto& s = g_state;
       if (s.hAuto){ vTaskDelete(s.hAuto); s.hAuto = nullptr; }
       __atomic_store_n(&s.auto_start_ms, 0u, __ATOMIC_SEQ_CST);
+      probot::robot::state().setAutoStartMs(millis(), 0u);
     }
 
     inline void stopTeleop(){
@@ -177,6 +180,7 @@ namespace probot {
             if (s.autonomousEnabled){
               autoLen = s.autoPeriodSeconds;
               __atomic_store_n(&detail::g_state.auto_start_ms, 0u, __ATOMIC_SEQ_CST);
+              probot::robot::state().setAutoStartMs(now, 0u);
               probot::robot::state().setPhase(now, Phase::AUTONOMOUS);
               startAutonomous();
             } else {
@@ -203,6 +207,12 @@ namespace probot {
           }
         }
 
+        if (s.status == Status::START && s.phase == Phase::AUTONOMOUS && !s.autonomousEnabled){
+          stopAutonomous();
+          probot::robot::state().setPhase(now, Phase::TELEOP);
+          startTeleop();
+        }
+
         if (now - lastLed >= 500){
           lastLed = now;
           updateLed();