added pit controller firmware, and changed the pit activation to send a command via ESP-Now

ROFLS_Arena_Controller/Output_Handler.ino

@@ -1,6 +1,6 @@
 void checkPIT() {
   if ((digitalRead(!PIT_RELEASE_PIN)) && (millis() - PITopenTimestamp >= PITopenTime)) {
-    digitalWrite(PIT_RELEASE_PIN, relayOffState);
+    //digitalWrite(PIT_RELEASE_PIN, relayOffState);
   }
 }
 
@@ -8,14 +8,18 @@ void openPIT() {
   if (!PITreleased) {
     PITreleased = true;
     PITopenTimestamp = millis();
-    digitalWrite(PIT_RELEASE_PIN, relayOnState);
+    //digitalWrite(PIT_RELEASE_PIN, relayOnState);
+    sendToPitController.PIT = true;
+    esp_now_send(broadcastAddressPitController, (uint8_t *) &sendToPitController, sizeof(sendToPitController));
   }
 }
 
 void openPITmanually() {
   PITreleased = true;
   PITopenTimestamp = millis();
-  digitalWrite(PIT_RELEASE_PIN, relayOnState);
+  //digitalWrite(PIT_RELEASE_PIN, relayOnState);
+  sendToPitController.PIT = true;
+  esp_now_send(broadcastAddressPitController, (uint8_t *) &sendToPitController, sizeof(sendToPitController));
 }
 
 void arenaLIGHT() {

ROFLS_Arena_Controller/ROFLS_Arena_Controller.ino

@@ -255,6 +255,15 @@ void setup() {
     return;
   }
 
+  // Register Pit controller peer
+  memcpy(peerInfo.peer_addr, broadcastAddressPitController, 6);
+  peerInfo.channel = 0;
+  peerInfo.encrypt = false;
+  if (esp_now_add_peer(&peerInfo) != ESP_OK) {
+    Serial.println("Failed to add receiver 3");
+    return;
+  }
+
   // Initialize both Team button LED states and pit controller state
   sendToREDTEAMbutton.TEAMLED = false;
   sendToBLUETEAMbutton.TEAMLED = false;

ROFLS_Arena_Pit_Controller/ROFLS_Arena_Pit_Controller.ino

@@ -0,0 +1,78 @@
+// Pit controller
+
+#include <WiFi.h>
+#include <esp_now.h>
+#include <ESP32Servo.h>
+
+// Define the pins for the two servos
+#define SERVO1_PIN 9
+#define SERVO2_PIN 7
+
+// Define pulse widths (in microseconds)
+#define DEFAULT_PULSE 2000    // Default position
+#define ACTUATED_PULSE 1000   // Actuated position
+
+// Define the reset time in milliseconds
+#define RESET_TIME_MS 500
+
+// Create two Servo objects for the two servos
+Servo servo1;
+Servo servo2;
+
+// Global variables to manage servo reset timing
+volatile bool servoActuated = false;     // Tracks if servos are currently actuated
+unsigned long actuatedTimestamp = 0;       // Stores the time when the servos were actuated
+
+// Updated ESP‑Now receive callback function with the correct signature
+void OnDataRecv(const esp_now_recv_info_t *recv_info, const uint8_t *incomingData, int len) {
+  // We expect one boolean (1 byte)
+  bool command = false;
+  if (len == sizeof(command)) {
+    memcpy(&command, incomingData, sizeof(command));
+    if (command) {
+      // Actuate both servos to the actuated position
+      servo1.writeMicroseconds(ACTUATED_PULSE);
+      servo2.writeMicroseconds(ACTUATED_PULSE);
+      // Record the time when the servos were actuated
+      actuatedTimestamp = millis();
+      servoActuated = true;
+    } else {
+      // Immediately reset both servos to the default position
+      servo1.writeMicroseconds(DEFAULT_PULSE);
+      servo2.writeMicroseconds(DEFAULT_PULSE);
+      servoActuated = false;
+    }
+  }
+}
+
+void setup() {
+  // Initialize WiFi in station mode (required for ESP‑Now)
+  WiFi.mode(WIFI_STA);
+
+  // Attach the servos to their respective pins and set to default position
+  servo1.attach(SERVO1_PIN);
+  servo2.attach(SERVO2_PIN);
+  servo1.writeMicroseconds(DEFAULT_PULSE);
+  servo2.writeMicroseconds(DEFAULT_PULSE);
+
+  // Initialize ESP‑Now
+  if (esp_now_init() != ESP_OK) {
+    // Optionally handle initialization errors
+    return;
+  }
+  // Register the ESP‑Now receive callback function
+  esp_now_register_recv_cb(OnDataRecv);
+}
+
+void loop() {
+  // Check if the servos are in the actuated state and if RESET_TIME_MS has elapsed
+  if (servoActuated && (millis() - actuatedTimestamp >= RESET_TIME_MS)) {
+    // Reset both servos back to the default position after the delay
+    servo1.writeMicroseconds(DEFAULT_PULSE);
+    servo2.writeMicroseconds(DEFAULT_PULSE);
+    servoActuated = false;
+  }
+  // Yield a little time for other tasks
+  delay(10);
+}
+