Move shared structs between coontrollers into common

platformio.ini

@@ -18,7 +18,7 @@ board = esp32dev
 monitor_speed = 57600
 
 [env:motor-esp32]
-src_filter = +<motor-esp32/*>
+src_filter = +<motor-esp32/*> +<common/*>
 
 [env:primary-esp32]
-src_filter = +<primary-esp32/*>
+src_filter = +<primary-esp32/*> +<common/*>

src/common/shared_structs.h

@@ -0,0 +1,34 @@
+#ifndef shared_structs_h
+#define shared_structs_h
+
+typedef struct {
+    bool enabled = false;
+    float desired_speed = 0.0;
+} motor_settings_t;
+
+typedef struct {
+    float kp = 0.5;
+    float ki = 0.0;
+    float kd = 0.0;
+    float min_duty = 0.1;
+} motor_parameters_t;
+
+typedef struct {
+    float roller_1_speed;
+    float roller_2_speed;
+    float roller_3_speed;
+    float roller_1_revs;
+    float roller_2_revs;
+    float roller_3_revs;
+    float motor_1_duty;
+    float motor_2_duty;
+    float motor_3_duty;
+    motor_settings_t motor_1_settings;
+    motor_settings_t motor_2_settings;
+    motor_settings_t motor_3_settings;
+    motor_parameters_t motor_1_params;
+    motor_parameters_t motor_2_params;
+    motor_parameters_t motor_3_params;
+} i2c_status_packet_t;
+
+#endif

src/motor-esp32/motor_control.h

@@ -1,25 +1,17 @@
 #ifndef motor_control_h
 #define motor_control_h
 
+#include "../common/shared_structs.h"
+
 #define MOTOR_PWM_FREQ 500 // PWM frequency in Hz
 
 #define MOTOR_CONTROL_PERIOD_MS 100 // Period of the motor control loop
 
-#define MAX_DUTY_RAMP 20.0 // max change in duty per second - where 1.0 is full duty
+#define MAX_DUTY_RAMP 10.0 // max change in duty per second - where 1.0 is full duty
 
 #define MAX_DUTY 0.99 // max duty in each phase - have slightly below 1.0 to give more dead time between phases
 
-typedef struct {
+
-    bool enabled = false;
-    float desired_speed = 0.0;
-} motor_settings_t;
-
-typedef struct {
-    float kp = 0.5;
-    float ki = 0.0;
-    float kd = 0.0;
-    float min_duty = 0.1;
-} motor_parameters_t;
 
 void set_motor_settings(int motor_id, motor_settings_t new_settings);