From ff6af732db8e592eed3baf51e98d9e9e10d4bc39 Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Mon, 1 Apr 2024 23:18:12 -0500
Subject: [PATCH 01/20] New Sketch Throttle Controller and Inner Grip

---
 .gitmodules                                   |   9 +
 .../4A9A1-THROTTLE_CONTROLLER.ino             | 313 ++++++++++++++++++
 .../4A9A1-THROTTLE_CONTROLLER/Makefile        |   8 +
 .../4A9A1A1-THROTTLE_INNER_GRIP.ino           | 154 +++++++++
 .../4A9A1A1-THROTTLE_INNER_GRIP/Makefile      |   8 +
 embedded/templates/OHSketchTemplate/Makefile  |   2 +-
 libraries/Arduino-FOC                         |   1 +
 libraries/Arduino-FOC-drivers                 |   1 +
 libraries/Joystick_ESP32S2                    |   1 +
 9 files changed, 496 insertions(+), 1 deletion(-)
 create mode 100644 embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
 create mode 100644 embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/Makefile
 create mode 100644 embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino
 create mode 100644 embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/Makefile
 create mode 160000 libraries/Arduino-FOC
 create mode 160000 libraries/Arduino-FOC-drivers
 create mode 160000 libraries/Joystick_ESP32S2

diff --git a/.gitmodules b/.gitmodules
index 6c2d9ae..5086493 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -25,3 +25,12 @@
 [submodule "libraries/ArduinoJoystickLibrary"]
 	path = libraries/ArduinoJoystickLibrary
 	url = https://github.com/MHeironimus/ArduinoJoystickLibrary.git
+[submodule "libraries/Joystick_ESP32S2"]
+	path = libraries/Joystick_ESP32S2
+	url = https://github.com/schnoog/Joystick_ESP32S2.git
+[submodule "libraries/Arduino-FOC"]
+	path = libraries/Arduino-FOC
+	url = https://github.com/simplefoc/Arduino-FOC.git
+[submodule "libraries/Arduino-FOC-drivers"]
+	path = libraries/Arduino-FOC-drivers
+	url = https://github.com/simplefoc/Arduino-FOC-drivers.git
diff --git a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
new file mode 100644
index 0000000..0cab8d8
--- /dev/null
+++ b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
@@ -0,0 +1,313 @@
+/**************************************************************************************
+ *        ____                   _    _                       _
+ *       / __ \                 | |  | |                     | |
+ *      | |  | |_ __   ___ _ __ | |__| | ___  _ __ _ __   ___| |_
+ *      | |  | | '_ \ / _ \ '_ \|  __  |/ _ \| '__| '_ \ / _ \ __|
+ *      | |__| | |_) |  __/ | | | |  | | (_) | |  | | | |  __/ |_
+ *       \____/| .__/ \___|_| |_|_|  |_|\___/|_|  |_| |_|\___|\__|
+ *             | |
+ *             |_|
+ *   ----------------------------------------------------------------------------------
+ *   Copyright 2016-2024 OpenHornet
+ *
+ *   Licensed under the Apache License, Version 2.0 (the "License");
+ *   you may not use this file except in compliance with the License.
+ *   You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ *   Unless required by applicable law or agreed to in writing, software
+ *   distributed under the License is distributed on an "AS IS" BASIS,
+ *   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *   See the License for the specific language governing permissions and
+ *   limitations under the License.
+ *   ----------------------------------------------------------------------------------
+ *   Note: All other portions of OpenHornet not within the 'OpenHornet-Software' 
+ *   GitHub repository is released under the Creative Commons Attribution -
+ *   Non-Commercial - Share Alike License. (CC BY-NC-SA 4.0)
+ *   ----------------------------------------------------------------------------------
+ *   This Project uses Doxygen as a documentation generator.
+ *   Please use Doxygen capable comments.
+ **************************************************************************************/
+
+/**
+ * @file 4A9A1-THROTTLE_CONTROLLER.ino
+ * @author Arribe
+ * @date 04.01.2024
+ * @version u.0.0.1
+ * @copyright Copyright 2016-2024 OpenHornet. Licensed under the Apache License, Version 2.0.
+ * @warning This sketch is based on a wiring diagram, and was not yet tested on hardware. The throttle solenoids weren't working. (Remove this line once tested on hardware and in system.)
+ * @brief Controls the THROTTLE QUADRANT.
+ *
+ * @details
+ * 
+ *  * **Reference Designator:** 4A9A1
+ *  * **Intended Board:** CONTROLLER_Throttle
+ *  * **RS485 Bus Address:** NA
+ * 
+ * ### Wiring diagram:
+ * PIN | Function
+ * --- | ---
+ * 12  | J2 OUTBD_CSx
+ * 5   | J3 INBD_CSy
+ * 40  | INBD_MAX_LIMIT
+ * 38  | INBD_IDLE_LIMIT
+ * 36  | OUTBD_MAX_LIMIT
+ * 34  | OUTBD_IDLE_LIMIT
+ * 21  | EXT_LTS
+ * 17  | RAID_FLIR
+ * 15  | ATC_ENGAGE
+ * 39  | MAX_SOL_SIG
+ * 37  | IDLE_SOL_SIG
+ * 
+*
+* ## Hall Sensor Zero via #define SET_THROTTLE_ZERO
+* It may be helpful to zero the hall sensors when both throttles are at ground idle position.
+* If the Hall sensors are not zeroed out the reads my increase when advancing the throttles forward, and then loop around to a 
+* lower value which is confusing for the Window's game controller and its calibration utility.
+* 
+* ## Disabling the max limit switches via #define DISABLE_MAX_LIMIT_SWITCHES 1
+* The max limit switches make running the window's game controller calibarion challenging, and prevents moving the throttles to max
+* without pushing a 'button' on the controller advancing the calibarion to the next screen.
+*
+* ## Reverse External Light Switch Movement
+* Reversing the external lights switch may be needed by some (like me) who inadvertently put the switch / wires on backwards.
+* Gave an option in code to reverse instead of pulling the outer grip apart to fix physically.
+*
+*/
+
+#define DISABLE_MAX_SOL_SIG   ///< If defined the solenoid will be disabled in code, comment out line if the solenoid is used
+#define DISABLE_IDLE_SOL_SIG  ///< If defined the solenoid will be disabled in code, comment out line if the solenoid is used
+//#define SET_THROTTLE_ZERO           ///< Define to determine if code should allow the hall sensors to set its zero position based on initial position.
+#define DISABLE_MAX_LIMIT_SWITCHES 1  ///< disables the max limit switches, change to 0 if you want them enabled, 1 is disabled.
+#define REVERSE_EXT_LTS 0             ///< Reverses the read of the external lights switch, set to 0 or 1 if switch movement doesn't trigger in Window's game controller when switch toggle is forward
+
+#define DCSBIOS_DISABLE_SERVO  ///< So the code will compile with an ESP32
+#define DCSBIOS_DEFAULT_SERIAL
+
+#include <Wire.h>
+#include "Joystick_ESP32S2.h"
+#include "SimpleFOC.h"
+#include "SimpleFOCDrivers.h"
+#include "encoders/mt6835/MagneticSensorMT6835.h"
+#include "DcsBios.h"
+
+// Define pins for DCS-BIOS per interconnect diagram.
+#define OUTBD_CSX 12         ///< J2 OUTBD_CSx
+#define INBD_CSY 5           ///< J3 INBD_CSy
+#define INBD_MAX_LIMIT 40    ///< INBD_MAX_LIMIT
+#define INBD_IDLE_LIMIT 38   ///< INBD_IDLE_LIMIT
+#define OUTBD_MAX_LIMIT 36   ///< OUTBD_MAX_LIMIT
+#define OUTBD_IDLE_LIMIT 34  ///< OUTBD_IDLE_LIMIT
+#define EXT_LTS 21           ///< EXT_LTS
+#define RAID_FLIR 17         ///< RAID_FLIR
+#define ATC_ENGAGE 15        ///< ATC_ENGAGE
+#define MAX_SOL_SIG 39           ///< MAX_SOL_SIG
+#define IDLE_SOL_SIG 37          ///< IDLE_SOL_SIG
+
+//Declare variables for custom non-DCS Bios logic
+bool wowLeft = false;            ///< Weight-on-wheels for solenoid logic.
+bool wowRight = false;           ///< Weight-on-wheels for solenoid logic.
+bool wowNose = false;            ///< Weight-on-wheels for solenoid logic.
+bool launchBarExtended = false;  ///< launch bar used for Max solenoid logic.
+bool arrestingHookUp = true;     ///< hook up used for Max solenoid logic.
+
+
+Joystick_ Joystick = Joystick_(
+  JOYSTICK_DEFAULT_REPORT_ID,
+  JOYSTICK_TYPE_JOYSTICK,
+  18,
+  0,
+  true,
+  true,
+  true,
+  true,
+  true,
+  false,
+  false,
+  false,
+  false,
+  false,
+  false);
+
+const bool testAutoSendMode = false;
+
+SPISettings myMT6835SPISettings(1000000, MT6835_BITORDER, SPI_MODE3);
+MagneticSensorMT6835 outboardThrottle = MagneticSensorMT6835(OUTBD_CSX, myMT6835SPISettings);
+MagneticSensorMT6835 inboardThrottle = MagneticSensorMT6835(INBD_CSY, myMT6835SPISettings);
+
+
+int pins[7] = { OUTBD_MAX_LIMIT, OUTBD_IDLE_LIMIT, INBD_MAX_LIMIT, INBD_IDLE_LIMIT, EXT_LTS, RAID_FLIR, ATC_ENGAGE };
+
+// DCSBios reads to save airplane state information. <update comment as needed>
+void onExtWowLeftChange(unsigned int newValue) {
+  wowLeft = newValue;
+}
+DcsBios::IntegerBuffer extWowLeftBuffer(0x74d8, 0x0100, 8, onExtWowLeftChange);
+
+void onExtWowRightChange(unsigned int newValue) {
+  wowRight = newValue;
+}
+DcsBios::IntegerBuffer extWowRightBuffer(0x74d6, 0x8000, 15, onExtWowRightChange);
+
+void onExtWowNoseChange(unsigned int newValue) {
+  wowNose = newValue;
+}
+DcsBios::IntegerBuffer extWowNoseBuffer(0x74d6, 0x4000, 14, onExtWowNoseChange);
+
+void onHookLeverChange(unsigned int newValue) {
+  arrestingHookUp = newValue;  // 1 is hook up
+}
+DcsBios::IntegerBuffer hookLeverBuffer(0x74a0, 0x0200, 9, onHookLeverChange);
+
+void onLaunchBarSwChange(unsigned int newValue) {
+  launchBarExtended = newValue;  // 1 is extended
+}
+DcsBios::IntegerBuffer launchBarSwBuffer(0x7480, 0x2000, 13, onLaunchBarSwChange);
+
+/**
+* Arduino Setup Function
+*
+* Arduino standard Setup Function. Code who should be executed
+* only once at the programm start, belongs in this function.
+*
+* @note If SET_THROTTLE_ZERO defined the code will read the hall sensors' initial position at power on to set that as zero.
+* If used ensure that the throttles are pulled back to the ground idle (not fuel-cut-off/min position).
+*
+* ### Flight Idle Detent Solenoid
+* If weight-on-wheels is true, pull flight idle detent down to allow throttle movement to ground idle position.
+* 
+* ### Afterburner Lockout Detent Solenoid
+* If weight-on-wheels is true, and launch bar is extended or the hook is down then raise the afterburner 
+* lockout detent to prevent inadvertent selection of afterburner. Otherwise pull the afterburner lockout detent down.
+*
+* @note If DISABLE_MAX_SOL_SIG or DISABLE_IDLE_SOL_SIG are not defined the solenoids will be used based on the logic from DCS state.
+*
+* @todo When flight idle detent is fixed mechanically for more consistent usage, explore using the aircraft's g-load to simiulate high-G
+* maneuvers causing the flight idle stop to retract and allow inadvertent selection of ground idle.
+*
+*/
+void setup() {
+
+  // Run DCS Bios setup function
+  DcsBios::setup();
+
+  Wire.begin(SDA, SCL);
+  Serial.begin(115200);
+
+  outboardThrottle.init();
+  inboardThrottle.init();
+  inboardThrottle.setRotationDirection(-1);  // reverse hall sensor rotation so both throttles read as increasing when moving forward
+
+#ifdef SET_THROTTLE_ZERO
+  //throttle needs to be all the way back to ground idle when plugged into the computer to set the zero value.
+  outboardThrottle.setZeroFromCurrentPosition();
+  inboardThrottle.setZeroFromCurrentPosition();
+#endif
+
+  // set pinmode for the throttle controller's inputs.
+  for (int j = 0; j < 7; j++) {
+    pinMode(pins[j], INPUT_PULLUP);
+  }
+
+  pinMode(IDLE_SOL_SIG, OUTPUT);
+  pinMode(MAX_SOL_SIG, OUTPUT);
+
+  digitalWrite(IDLE_SOL_SIG, LOW);
+  digitalWrite(MAX_SOL_SIG, LOW);
+
+  Joystick.setXAxisRange(0, 1024); // TDC X-axis
+  Joystick.setYAxisRange(0, 1024); // TDC Y-axis
+  Joystick.setZAxisRange(0, 1024); // Radar Elevation
+  Joystick.setRxAxisRange(0, 2048); // Outboard Throttle Arm
+  Joystick.setRyAxisRange(0, 2048); // Inboard Throttle Arm
+  Joystick.begin();
+}
+
+/**
+* Arduino Loop Function
+*
+* Arduino standard Loop Function. Code who should be executed
+* over and over in a loop, belongs in this function.
+*/
+void loop() {
+
+  //Run DCS Bios loop function
+  DcsBios::loop();
+
+  uint32_t temp;  // temp value to hold the analog reads in preparation of doing logic.
+
+  outboardThrottle.update();                          // update the outboard hall sensor to prep for read.
+  temp = outboardThrottle.readRawAngle21();           // read outboard hall sensor
+  Joystick.setRxAxis(map(temp, 0, 707444, 0, 2048));  //0 and 707444 came from reading the Serial Monitor for the min/max values to then plug into this line.
+  // Uncomment the code below if you wish to pass the outboard throttle's raw values to the serial monitor
+  //Serial.print("outbThrottle: ");
+  //Serial.print(temp);
+
+  inboardThrottle.update();                           // update the inboard hall sensor to prep for read
+  temp = inboardThrottle.readRawAngle21();            // read inboard hall sensor
+  Joystick.setRyAxis(map(temp, 0, 707444, 0, 2048));  //0 and 707444 came from reading the Serial Monitor for the min/max values to then plug into this line.
+  // Uncomment the code below if you wish to pass the inboard throttle's raw values to the serial monitor
+  //Serial.print("  inbThrottle: ");
+  //Serial.print(valueY);
+  //Serial.print("\n");
+
+  // Read the pins and set the joystick's button state
+  for (int j = 0; j < 7; j++) {
+    if ((DISABLE_MAX_LIMIT_SWITCHES == 1) && ((j != 0) && (j != 2))) {  // If the max throttle limit switches are disabled, skip the read
+      if ((REVERSE_EXT_LTS == 1) && (j == 5)) {                         // if REVERSE_EXT_LTS defined as 1 reverse the read value compared to the other pins
+        Joystick.setButton(j, digitalRead(pins[j]));
+      } else
+        Joystick.setButton(j, !digitalRead(pins[j]));
+    }
+  }
+
+  int index = 0;  // Initialize the index to keep track of which inner grip button we're reading
+  Wire.requestFrom(49, 17); // request inner grip pro-mini return current button state info
+
+  while (Wire.available()) { // While something to read from the inner grip
+    if (index < 11) { // first 11 values are button presses
+      Joystick.setButton(index + 7, Wire.read());  // inner throttle's digital button reads, set as joystick button state
+    }
+    // Remaining Index values are inner grip analog reads
+    else if (index == 11) {          // TDC X-axis
+      byte tempLow = Wire.read();      // read low byte
+      byte tempHi = Wire.read();       // read high byte
+      temp = (tempHi << 8) + tempLow;  //rebuild the TDC X-axis value
+      Joystick.setXAxis(map(temp, 0, 65000, 0, 1024));
+
+    } else if (index == 12) {          // TDC Y-axis
+      byte tempLow = Wire.read();      // read low byte
+      byte tempHi = Wire.read();       // read high byte
+      temp = (tempHi << 8) + tempLow;  //rebuild the TDC Y-axis value
+      Joystick.setYAxis(map(temp, 0, 65000, 0, 1024));
+
+    } else if (index == 13) {
+      byte tempLow = Wire.read();                       // read low byte
+      byte tempHi = Wire.read();                        // read high byte
+      temp = (tempHi << 8) + tempLow;                   //rebuild the Antenna axis value
+      Joystick.setZAxis(map(temp, 754, 978, 0, 1024));  // mapped values determined by reading the retured elevation on the serial monitor
+      // enable the lines below to see the Elevation knob's analog read values.
+      //Serial.print(" Elevation: ");
+      //Serial.print((tempHi << 8) + tempLow);
+      //Serial.print("\n");
+    }
+    index++;  // increment the index for the next iteration through the while loop
+  }
+
+#ifndef DISABLE_IDLE_SOL_SIG
+  if (wowLeft == wowRight == wowNose == true) {
+    digitalWrite(IDLE_SOL_SIG, HIGH);
+  } else {
+    digitalWrite(IDLE_SOL_SIG, LOW);
+  }
+#endif
+
+#ifndef DISABLE_MAX_SOL_SIG
+  if ((wowLeft == wowRight == wowNose == true) && ((launchBarExtended == true) || (arrestingHookUp == false))) {
+    digitalWrite(MAX_SOL_SIG, LOW);  // With weight-on-wheels, if the lanuch bar is extended or the hook is down then raise afterburner lockout / detent to prevent inadvertent afterburner selection.
+  } else {
+    digitalWrite(MAX_SOL_SIG, HIGH);  // Otherwise pull the afterburner lockout / detent.
+  }
+#endif
+}
diff --git a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/Makefile b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/Makefile
new file mode 100644
index 0000000..91a9cef
--- /dev/null
+++ b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/Makefile
@@ -0,0 +1,8 @@
+# Any extra libraries included by this sketch (space separated)
+LIBRARIES = Adafruit_NeoPixel Servo dcs-bios-arduino-library TCA9534 Wire ArduinoJoystickLibrary
+
+# Uncomment one of the following to choose the target board
+# include $(ROOTDIR)/include/mega2560.mk
+include $(ROOTDIR)/include/promicro.mk
+# include $(ROOTDIR)/include/promini.mk
+# include $(ROOTDIR)/include/s2mini.mk
diff --git a/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino b/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino
new file mode 100644
index 0000000..6bbf250
--- /dev/null
+++ b/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino
@@ -0,0 +1,154 @@
+/**************************************************************************************
+ *        ____                   _    _                       _
+ *       / __ \                 | |  | |                     | |
+ *      | |  | |_ __   ___ _ __ | |__| | ___  _ __ _ __   ___| |_
+ *      | |  | | '_ \ / _ \ '_ \|  __  |/ _ \| '__| '_ \ / _ \ __|
+ *      | |__| | |_) |  __/ | | | |  | | (_) | |  | | | |  __/ |_
+ *       \____/| .__/ \___|_| |_|_|  |_|\___/|_|  |_| |_|\___|\__|
+ *             | |
+ *             |_|
+ *   ----------------------------------------------------------------------------------
+ *   Copyright 2016-2024 OpenHornet
+ *
+ *   Licensed under the Apache License, Version 2.0 (the "License");
+ *   you may not use this file except in compliance with the License.
+ *   You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ *   Unless required by applicable law or agreed to in writing, software
+ *   distributed under the License is distributed on an "AS IS" BASIS,
+ *   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *   See the License for the specific language governing permissions and
+ *   limitations under the License.
+ *   ----------------------------------------------------------------------------------
+ *   Note: All other portions of OpenHornet not within the 'OpenHornet-Software' 
+ *   GitHub repository is released under the Creative Commons Attribution -
+ *   Non-Commercial - Share Alike License. (CC BY-NC-SA 4.0)
+ *   ----------------------------------------------------------------------------------
+ *   This Project uses Doxygen as a documentation generator.
+ *   Please use Doxygen capable comments.
+ **************************************************************************************/
+
+/**
+ * @file 4A9A1A1-THROTTLE_INNER_GRIP.ino
+ * @author Arribe
+ * @date 04.01.2024
+ * @version 0.0.1
+ * @copyright Copyright 2016-2024 OpenHornet. Licensed under the Apache License, Version 2.0.
+ * @brief Controls the THROTTLE INNER GRIP
+ *
+ * @details
+ * 
+ *  * **Reference Designator:** 4A9A1A1
+ *  * **Intended Board:** THROTTLE_INNER_GRIP
+ *  * **RS485 Bus Address:** NA
+ * 
+ * ### Wiring diagram:
+ * PIN | Function
+ * --- | ---
+ * 2   | CAGE_UNCAGE
+ * 3   | SPEEDBREAK_RETRACT
+ * 4   | SPEEDBREAK_EXTEND
+ * 7   | COUNTERMEASURES_AFT
+ * 8   | COUNTERMEASURES_FWD
+ * 9   | PUSH - coms switch
+ * A3  | JOY_X
+ * A2  | JOY_Y
+ * A1  | JOY_SW
+ * A0  | ANTENNA_ELEVATION
+ * 13  | D - coms switch
+ * 12  | C - coms switch
+ * 11  | B - coms switch
+ * 10  | A - coms switch
+ * SCL | I2C_SCK
+ * SDA | I2C_DATA
+ * 
+ */
+
+#include <Wire.h>
+
+// Define pins inner grip pro-mini
+#define CAGE_UNCAGE 2          ///< CAGE_UNCAGE
+#define SPEEDBREAK_RETRACT 3   ///< SPEEDBREAK_RETRACT
+#define SPEEDBREAK_EXTEND 4    ///< SPEEDBREAK_EXTEND
+#define COUNTERMEASURES_AFT 7  ///< COUNTERMEASURES_AFT
+#define COUNTERMEASURES_FWD 8  ///< COUNTERMEASURES_FWD
+#define PUSH 9                 ///< PUSH - coms switch
+#define JOY_X A3               ///< JOY_X
+#define JOY_Y A2               ///< JOY_Y
+#define JOY_SW A1              ///< JOY_SW
+#define ANTENNA_ELEVATION A0   ///< ANTENNA_ELEVATION
+#define D 13                   ///< D - coms switch
+#define C 12                   ///< C - coms switch
+#define B 11                   ///< B - coms switch
+#define A 10                   ///< A - coms switch
+
+/// array of button pins for looping through to get button state
+int buttonMap[11] = { CAGE_UNCAGE, SPEEDBREAK_RETRACT, SPEEDBREAK_EXTEND, COUNTERMEASURES_AFT, COUNTERMEASURES_FWD, D, C, B, A, PUSH, JOY_SW };
+
+/**
+* Arduino Setup Function
+*
+* Arduino standard Setup Function. Code who should be executed
+* only once at the programm start, belongs in this function.
+*/
+void setup() {
+  Wire.begin(49);                // join i2c bus with address #49
+  Wire.onRequest(requestEvent);  // register requestEvent
+
+
+  pinMode(CAGE_UNCAGE, INPUT_PULLUP);
+  pinMode(SPEEDBREAK_RETRACT, INPUT_PULLUP);
+  pinMode(SPEEDBREAK_EXTEND, INPUT_PULLUP);
+  pinMode(COUNTERMEASURES_AFT, INPUT_PULLUP);
+  pinMode(COUNTERMEASURES_FWD, INPUT_PULLUP);
+  pinMode(ANTENNA_ELEVATION, INPUT_PULLUP);
+  pinMode(D, INPUT_PULLUP);
+  pinMode(C, INPUT_PULLUP);
+  pinMode(B, INPUT_PULLUP);
+  pinMode(A, INPUT_PULLUP);
+  pinMode(PUSH, INPUT_PULLUP);
+  pinMode(JOY_SW, INPUT_PULLUP);
+  pinMode(JOY_X, INPUT_PULLUP);
+  pinMode(JOY_Y, INPUT_PULLUP);
+}
+
+/**
+* Arduino Loop Function
+*
+* Arduino standard Loop Function. Code who should be executed
+* over and over in a loop, belongs in this function.
+* 
+* @note The loop is empty
+*/
+void loop() {
+}
+
+/**
+* Function that returns the sate of the inboard throttle grip controls when prompted by the throttle controller.
+* Writes each button / analog read back to the throttle controller in the same order each time.
+* The Wire library only sends one byte at a time.  The analog read values need to be split into low and high bytes
+* so the controller can properly reassemble the 2 byte numeric value.
+*
+*  @note There is minimal logic for the inner grip pro-mini given the extra steps for reprogramming.
+*/
+
+void requestEvent() {
+  /// Loop through all of the digital reads and write value to the controller.
+  for (int i = 0; i < 11; i++) {
+    Wire.write(!digitalRead(buttonMap[i]));  //write state of buttons
+  }
+
+  int temp = analogRead(JOY_X);  // get the analog read of the TDC X azis.
+  Wire.write(lowByte(temp)); // write out the low byte to the controller
+  Wire.write(highByte(temp)); // write out the high byte to the controller
+
+  temp = analogRead(JOY_Y); // get the analog read of the TDC Y azis.
+  Wire.write(lowByte(temp)); // write out the low byte to the controller
+  Wire.write(highByte(temp)); // write out the high byte to the controller
+
+  temp = analogRead(ANTENNA_ELEVATION); // get the analog read of the Antenna Elevation azis.
+  Wire.write(lowByte(temp)); // write out the low byte to the controller
+  Wire.write(highByte(temp)); // write out the high byte to the controller
+}
diff --git a/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/Makefile b/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/Makefile
new file mode 100644
index 0000000..1adbeef
--- /dev/null
+++ b/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/Makefile
@@ -0,0 +1,8 @@
+# Any extra libraries included by this sketch (space separated)
+LIBRARIES = Adafruit_NeoPixel Servo dcs-bios-arduino-library TCA9534 Wire ArduinoJoystickLibrary
+
+# Uncomment one of the following to choose the target board
+# include $(ROOTDIR)/include/mega2560.mk
+# include $(ROOTDIR)/include/promicro.mk
+include $(ROOTDIR)/include/promini.mk
+# include $(ROOTDIR)/include/s2mini.mk
diff --git a/embedded/templates/OHSketchTemplate/Makefile b/embedded/templates/OHSketchTemplate/Makefile
index 91a9cef..905b06b 100644
--- a/embedded/templates/OHSketchTemplate/Makefile
+++ b/embedded/templates/OHSketchTemplate/Makefile
@@ -1,5 +1,5 @@
 # Any extra libraries included by this sketch (space separated)
-LIBRARIES = Adafruit_NeoPixel Servo dcs-bios-arduino-library TCA9534 Wire ArduinoJoystickLibrary
+LIBRARIES = Adafruit_NeoPixel Servo dcs-bios-arduino-library TCA9534 Wire ArduinoJoystickLibrary Stepper Joystick_ESP32S2 Arduino-FOC Arduino-FOC-drivers
 
 # Uncomment one of the following to choose the target board
 # include $(ROOTDIR)/include/mega2560.mk
diff --git a/libraries/Arduino-FOC b/libraries/Arduino-FOC
new file mode 160000
index 0000000..6eed7b0
--- /dev/null
+++ b/libraries/Arduino-FOC
@@ -0,0 +1 @@
+Subproject commit 6eed7b00c9bc1e9f7ea7984aa02a9f7ea98db19b
diff --git a/libraries/Arduino-FOC-drivers b/libraries/Arduino-FOC-drivers
new file mode 160000
index 0000000..bfd07bd
--- /dev/null
+++ b/libraries/Arduino-FOC-drivers
@@ -0,0 +1 @@
+Subproject commit bfd07bd17eadcdae43ba0a85d74fe07ed04e26fc
diff --git a/libraries/Joystick_ESP32S2 b/libraries/Joystick_ESP32S2
new file mode 160000
index 0000000..6baeb23
--- /dev/null
+++ b/libraries/Joystick_ESP32S2
@@ -0,0 +1 @@
+Subproject commit 6baeb23662d6ee0973470c217f8f49e3f3ef5556

From e2cd5b6268156535005ba87031fcd84914fcf6be Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Mon, 1 Apr 2024 23:28:23 -0500
Subject: [PATCH 02/20] Update Makefile

---
 .../OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/Makefile     | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/Makefile b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/Makefile
index 91a9cef..7350827 100644
--- a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/Makefile
+++ b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/Makefile
@@ -1,8 +1,8 @@
 # Any extra libraries included by this sketch (space separated)
-LIBRARIES = Adafruit_NeoPixel Servo dcs-bios-arduino-library TCA9534 Wire ArduinoJoystickLibrary
+LIBRARIES = Adafruit_NeoPixel Servo dcs-bios-arduino-library TCA9534 Wire ArduinoJoystickLibrary Stepper Joystick_ESP32S2 Arduino-FOC Arduino-FOC-drivers
 
 # Uncomment one of the following to choose the target board
 # include $(ROOTDIR)/include/mega2560.mk
-include $(ROOTDIR)/include/promicro.mk
+# include $(ROOTDIR)/include/promicro.mk
 # include $(ROOTDIR)/include/promini.mk
-# include $(ROOTDIR)/include/s2mini.mk
+include $(ROOTDIR)/include/s2mini.mk

From 296e4f021d172b8f87b8d8ff4defd22404fe1cc9 Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Mon, 1 Apr 2024 23:42:42 -0500
Subject: [PATCH 03/20] Update 4A9A1-THROTTLE_CONTROLLER.ino

---
 .../4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
index 0cab8d8..afa4f90 100644
--- a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
+++ b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
@@ -86,11 +86,11 @@
 #define DCSBIOS_DEFAULT_SERIAL
 
 #include <Wire.h>
-#include "Joystick_ESP32S2.h"
 #include "SimpleFOC.h"
 #include "SimpleFOCDrivers.h"
 #include "encoders/mt6835/MagneticSensorMT6835.h"
 #include "DcsBios.h"
+#include "Joystick_ESP32S2.h"
 
 // Define pins for DCS-BIOS per interconnect diagram.
 #define OUTBD_CSX 12         ///< J2 OUTBD_CSx

From 063ac348d4b02d75fd8fc63cf463cfd714a5a601 Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Tue, 2 Apr 2024 00:01:34 -0500
Subject: [PATCH 04/20] Update 4A9A1-THROTTLE_CONTROLLER.ino

---
 .../4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino      | 1 +
 1 file changed, 1 insertion(+)

diff --git a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
index afa4f90..d3717a1 100644
--- a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
+++ b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
@@ -86,6 +86,7 @@
 #define DCSBIOS_DEFAULT_SERIAL
 
 #include <Wire.h>
+#include <SPI.h>
 #include "SimpleFOC.h"
 #include "SimpleFOCDrivers.h"
 #include "encoders/mt6835/MagneticSensorMT6835.h"

From bbcdfe4c576650b64fae60fb179ab666c5eee39b Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Tue, 2 Apr 2024 08:38:38 -0500
Subject: [PATCH 05/20] Update 4A9A1A1-THROTTLE_INNER_GRIP.ino

---
 .../4A9A1A1-THROTTLE_INNER_GRIP.ino           | 36 ++++++++++++-------
 1 file changed, 24 insertions(+), 12 deletions(-)

diff --git a/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino b/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino
index 6bbf250..aa53161 100644
--- a/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino
+++ b/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino
@@ -131,24 +131,36 @@ void loop() {
 * The Wire library only sends one byte at a time.  The analog read values need to be split into low and high bytes
 * so the controller can properly reassemble the 2 byte numeric value.
 *
+* Passes inner grip reads to throttle controller in this order: 
+* CAGE_UNCAGE, SPEEDBREAK_RETRACT, SPEEDBREAK_EXTEND, COUNTERMEASURES_AFT, COUNTERMEASURES_FWD, D, C, B, A, PUSH, JOY_SW,
+* JOY_X, JOY_Y, ANTENNA_ELEVATION
+*
 *  @note There is minimal logic for the inner grip pro-mini given the extra steps for reprogramming.
 */
 
 void requestEvent() {
-  /// Loop through all of the digital reads and write value to the controller.
-  for (int i = 0; i < 11; i++) {
-    Wire.write(!digitalRead(buttonMap[i]));  //write state of buttons
-  }
+
+  Wire.write(!digitalRead(CAGE_UNCAGE));
+  Wire.write(!digitalRead(SPEEDBREAK_RETRACT));
+  Wire.write(!digitalRead(SPEEDBREAK_EXTEND));
+  Wire.write(!digitalRead(COUNTERMEASURES_AFT));
+  Wire.write(!digitalRead(COUNTERMEASURES_FWD));
+  Wire.write(!digitalRead(D));
+  Wire.write(!digitalRead(C));
+  Wire.write(!digitalRead(B));
+  Wire.write(!digitalRead(A));
+  Wire.write(!digitalRead(PUSH));
+  Wire.write(!digitalRead(JOY_SW));
 
   int temp = analogRead(JOY_X);  // get the analog read of the TDC X azis.
-  Wire.write(lowByte(temp)); // write out the low byte to the controller
-  Wire.write(highByte(temp)); // write out the high byte to the controller
+  Wire.write(lowByte(temp));     // write out the low byte to the controller
+  Wire.write(highByte(temp));    // write out the high byte to the controller
 
-  temp = analogRead(JOY_Y); // get the analog read of the TDC Y azis.
-  Wire.write(lowByte(temp)); // write out the low byte to the controller
-  Wire.write(highByte(temp)); // write out the high byte to the controller
+  temp = analogRead(JOY_Y);    // get the analog read of the TDC Y azis.
+  Wire.write(lowByte(temp));   // write out the low byte to the controller
+  Wire.write(highByte(temp));  // write out the high byte to the controller
 
-  temp = analogRead(ANTENNA_ELEVATION); // get the analog read of the Antenna Elevation azis.
-  Wire.write(lowByte(temp)); // write out the low byte to the controller
-  Wire.write(highByte(temp)); // write out the high byte to the controller
+  temp = analogRead(ANTENNA_ELEVATION);  // get the analog read of the Antenna Elevation azis.
+  Wire.write(lowByte(temp));             // write out the low byte to the controller
+  Wire.write(highByte(temp));            // write out the high byte to the controller
 }

From 79f94c59bc672338316bd0f140f88577babf51e0 Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Tue, 2 Apr 2024 08:40:39 -0500
Subject: [PATCH 06/20] Update 4A9A1A1-THROTTLE_INNER_GRIP.ino

---
 .../4A9A1A1-THROTTLE_INNER_GRIP.ino                            | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino b/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino
index aa53161..ecb3bf6 100644
--- a/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino
+++ b/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino
@@ -92,6 +92,9 @@ int buttonMap[11] = { CAGE_UNCAGE, SPEEDBREAK_RETRACT, SPEEDBREAK_EXTEND, COUNTE
 *
 * Arduino standard Setup Function. Code who should be executed
 * only once at the programm start, belongs in this function.
+*
+* Joins I2C bus with address #49, registering requestEvent()
+*
 */
 void setup() {
   Wire.begin(49);                // join i2c bus with address #49

From f6014b23939e18465c8254d4b06d90c0096c1cbb Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Tue, 2 Apr 2024 09:18:34 -0500
Subject: [PATCH 07/20] Update 4A9A1A1-THROTTLE_INNER_GRIP.ino

---
 .../4A9A1A1-THROTTLE_INNER_GRIP.ino                            | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino b/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino
index ecb3bf6..4de5fda 100644
--- a/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino
+++ b/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino
@@ -84,9 +84,6 @@
 #define B 11                   ///< B - coms switch
 #define A 10                   ///< A - coms switch
 
-/// array of button pins for looping through to get button state
-int buttonMap[11] = { CAGE_UNCAGE, SPEEDBREAK_RETRACT, SPEEDBREAK_EXTEND, COUNTERMEASURES_AFT, COUNTERMEASURES_FWD, D, C, B, A, PUSH, JOY_SW };
-
 /**
 * Arduino Setup Function
 *

From 8a68dce7efdf0e07443b8997b940db5857473984 Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Tue, 2 Apr 2024 13:04:33 -0500
Subject: [PATCH 08/20] refactored based on feed back, and worked through the
 mapped values limitations.

---
 .../4A9A1-THROTTLE_CONTROLLER.ino             | 145 +++++++++++++-----
 .../4A9A1A1-THROTTLE_INNER_GRIP.ino           |   2 +
 2 files changed, 106 insertions(+), 41 deletions(-)

diff --git a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
index d3717a1..e9bf683 100644
--- a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
+++ b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
@@ -41,6 +41,8 @@
  *
  * @details
  * 
+ * @attention Uses Simple FOC libraries with license avialable here: https://github.com/simplefoc/Arduino-FOC/blob/master/LICENSE
+ *
  *  * **Reference Designator:** 4A9A1
  *  * **Intended Board:** CONTROLLER_Throttle
  *  * **RS485 Bus Address:** NA
@@ -78,18 +80,17 @@
 
 #define DISABLE_MAX_SOL_SIG   ///< If defined the solenoid will be disabled in code, comment out line if the solenoid is used
 #define DISABLE_IDLE_SOL_SIG  ///< If defined the solenoid will be disabled in code, comment out line if the solenoid is used
-//#define SET_THROTTLE_ZERO           ///< Define to determine if code should allow the hall sensors to set its zero position based on initial position.
-#define DISABLE_MAX_LIMIT_SWITCHES 1  ///< disables the max limit switches, change to 0 if you want them enabled, 1 is disabled.
-#define REVERSE_EXT_LTS 0             ///< Reverses the read of the external lights switch, set to 0 or 1 if switch movement doesn't trigger in Window's game controller when switch toggle is forward
+#define SET_THROTTLE_ZERO           ///< Define to determine if code should allow the hall sensors to set its zero position based on initial position
+#define DISABLE_MAX_LIMIT_SWITCHES   ///< disables the max limit switches, comment out line if the max limit switches should be used
 
 #define DCSBIOS_DISABLE_SERVO  ///< So the code will compile with an ESP32
 #define DCSBIOS_DEFAULT_SERIAL
 
 #include <Wire.h>
 #include <SPI.h>
-#include "SimpleFOC.h"
-#include "SimpleFOCDrivers.h"
-#include "encoders/mt6835/MagneticSensorMT6835.h"
+#include "SimpleFOC.h"                             // https://github.com/simplefoc/Arduino-FOC/blob/master/LICENSE
+#include "SimpleFOCDrivers.h"                      // https://github.com/simplefoc/Arduino-FOC/blob/master/LICENSE
+#include "encoders/mt6835/MagneticSensorMT6835.h"  // https://github.com/simplefoc/Arduino-FOC/blob/master/LICENSE
 #include "DcsBios.h"
 #include "Joystick_ESP32S2.h"
 
@@ -103,8 +104,29 @@
 #define EXT_LTS 21           ///< EXT_LTS
 #define RAID_FLIR 17         ///< RAID_FLIR
 #define ATC_ENGAGE 15        ///< ATC_ENGAGE
-#define MAX_SOL_SIG 39           ///< MAX_SOL_SIG
-#define IDLE_SOL_SIG 37          ///< IDLE_SOL_SIG
+#define MAX_SOL_SIG 39       ///< MAX_SOL_SIG
+#define IDLE_SOL_SIG 37      ///< IDLE_SOL_SIG
+
+/** 
+* Inner grip control with index 
+* CAGE_UNCAGE, SPEEDBREAK_RETRACT, SPEEDBREAK_EXTEND, COUNTERMEASURES_AFT, COUNTERMEASURES_FWD, D, C, B, A, PUSH, JOY_SW, JOY_X, JOY_Y, ANTENNA_ELEVATION
+*
+*/
+#define CAGE_UNCAGE 0
+#define SPEEDBREAK_RETRACT 1
+#define SPEEDBREAK_EXTEND 2
+#define COUNTERMEASURES_AFT 3
+#define COUNTERMEASURES_FWD 4
+#define D 5
+#define C 6
+#define B 7
+#define A 8
+#define PUSH 9
+#define JOY_SW 10
+#define JOY_X 11
+#define JOY_Y 12
+#define ANTENNA_ELEVATION 13
+
 
 //Declare variables for custom non-DCS Bios logic
 bool wowLeft = false;            ///< Weight-on-wheels for solenoid logic.
@@ -137,9 +159,6 @@ SPISettings myMT6835SPISettings(1000000, MT6835_BITORDER, SPI_MODE3);
 MagneticSensorMT6835 outboardThrottle = MagneticSensorMT6835(OUTBD_CSX, myMT6835SPISettings);
 MagneticSensorMT6835 inboardThrottle = MagneticSensorMT6835(INBD_CSY, myMT6835SPISettings);
 
-
-int pins[7] = { OUTBD_MAX_LIMIT, OUTBD_IDLE_LIMIT, INBD_MAX_LIMIT, INBD_IDLE_LIMIT, EXT_LTS, RAID_FLIR, ATC_ENGAGE };
-
 // DCSBios reads to save airplane state information. <update comment as needed>
 void onExtWowLeftChange(unsigned int newValue) {
   wowLeft = newValue;
@@ -170,8 +189,8 @@ DcsBios::IntegerBuffer launchBarSwBuffer(0x7480, 0x2000, 13, onLaunchBarSwChange
 * Arduino Setup Function
 *
 * Arduino standard Setup Function. Code who should be executed
-* only once at the programm start, belongs in this function.
-*
+* only once at the program start, belongs in this function.
+*  
 * @note If SET_THROTTLE_ZERO defined the code will read the hall sensors' initial position at power on to set that as zero.
 * If used ensure that the throttles are pulled back to the ground idle (not fuel-cut-off/min position).
 *
@@ -206,10 +225,13 @@ void setup() {
   inboardThrottle.setZeroFromCurrentPosition();
 #endif
 
-  // set pinmode for the throttle controller's inputs.
-  for (int j = 0; j < 7; j++) {
-    pinMode(pins[j], INPUT_PULLUP);
-  }
+  pinMode(OUTBD_MAX_LIMIT, INPUT_PULLUP);
+  pinMode(OUTBD_IDLE_LIMIT, INPUT_PULLUP);
+  pinMode(INBD_MAX_LIMIT, INPUT_PULLUP);
+  pinMode(INBD_IDLE_LIMIT, INPUT_PULLUP);
+  pinMode(EXT_LTS, INPUT_PULLUP);
+  pinMode(RAID_FLIR, INPUT_PULLUP);
+  pinMode(ATC_ENGAGE, INPUT_PULLUP);
 
   pinMode(IDLE_SOL_SIG, OUTPUT);
   pinMode(MAX_SOL_SIG, OUTPUT);
@@ -217,11 +239,11 @@ void setup() {
   digitalWrite(IDLE_SOL_SIG, LOW);
   digitalWrite(MAX_SOL_SIG, LOW);
 
-  Joystick.setXAxisRange(0, 1024); // TDC X-axis
-  Joystick.setYAxisRange(0, 1024); // TDC Y-axis
-  Joystick.setZAxisRange(0, 1024); // Radar Elevation
-  Joystick.setRxAxisRange(0, 2048); // Outboard Throttle Arm
-  Joystick.setRyAxisRange(0, 2048); // Inboard Throttle Arm
+  Joystick.setXAxisRange(0, 1024);   // TDC X-axis
+  Joystick.setYAxisRange(0, 1024);   // TDC Y-axis
+  Joystick.setZAxisRange(0, 1024);   // Radar Elevation
+  Joystick.setRxAxisRange(0, 65535);  // Outboard Throttle Arm
+  Joystick.setRyAxisRange(0, 65535);  // Inboard Throttle Arm
   Joystick.begin();
 }
 
@@ -230,6 +252,25 @@ void setup() {
 *
 * Arduino standard Loop Function. Code who should be executed
 * over and over in a loop, belongs in this function.
+*
+* @attention To setup the throttle reads, uncomment the serial print lines in the loop section.  
+* Then open a serial monitor to observe the min and max values for the outboard and inboard throttles.
+* Set the 3rd parametr (max input) of the map function to be at least as large if not a little larger than the observed max values.
+* If the max value isn't set high enough the values can loop back around to 0 prior to throttle advancing all the way forward.
+* Windows game controller calibration may be used to adjust the upper and lower bounds as long as the mapped values don't loop back to 0.
+*
+* @todo If it's determined that users won't have to tweak the mapped value maxes, 
+* remove the temp reads for the hall sensors and combine the outboard and inboard throttle lines like:
+* 
+*  `temp = outboardThrottle.readRawAngle21();           // read outboard hall sensor` \n
+*  `Joystick.setRxAxis(mapHallSensor(temp, 0, 750000, 0, 65535));`
+*  
+* Into one line:
+*  `Joystick.setRxAxis(mapHallSensor(outboardThrottle.readRawAngle21(), 0, 750000, 0, 65535));`
+*
+* @note Inner grip values sent to throttle controller in this order: 
+* CAGE_UNCAGE, SPEEDBREAK_RETRACT, SPEEDBREAK_EXTEND, COUNTERMEASURES_AFT, COUNTERMEASURES_FWD, D, C, B, A, PUSH, JOY_SW,
+* JOY_X, JOY_Y, ANTENNA_ELEVATION
 */
 void loop() {
 
@@ -240,50 +281,54 @@ void loop() {
 
   outboardThrottle.update();                          // update the outboard hall sensor to prep for read.
   temp = outboardThrottle.readRawAngle21();           // read outboard hall sensor
-  Joystick.setRxAxis(map(temp, 0, 707444, 0, 2048));  //0 and 707444 came from reading the Serial Monitor for the min/max values to then plug into this line.
+  Joystick.setRxAxis(mapHallSensor(temp, 0, 750000, 0, 65535));  //0 and 750000 came from reading the Serial Monitor for the min/max values to then plug into this line.
   // Uncomment the code below if you wish to pass the outboard throttle's raw values to the serial monitor
   //Serial.print("outbThrottle: ");
   //Serial.print(temp);
 
   inboardThrottle.update();                           // update the inboard hall sensor to prep for read
   temp = inboardThrottle.readRawAngle21();            // read inboard hall sensor
-  Joystick.setRyAxis(map(temp, 0, 707444, 0, 2048));  //0 and 707444 came from reading the Serial Monitor for the min/max values to then plug into this line.
+  Joystick.setRyAxis(mapHallSensor(temp, 0, 750000, 0, 65535));  //0 and 740000 came from reading the Serial Monitor for the min/max values to then plug into this line.
   // Uncomment the code below if you wish to pass the inboard throttle's raw values to the serial monitor
   //Serial.print("  inbThrottle: ");
-  //Serial.print(valueY);
+  //Serial.print(temp);
   //Serial.print("\n");
 
-  // Read the pins and set the joystick's button state
-  for (int j = 0; j < 7; j++) {
-    if ((DISABLE_MAX_LIMIT_SWITCHES == 1) && ((j != 0) && (j != 2))) {  // If the max throttle limit switches are disabled, skip the read
-      if ((REVERSE_EXT_LTS == 1) && (j == 5)) {                         // if REVERSE_EXT_LTS defined as 1 reverse the read value compared to the other pins
-        Joystick.setButton(j, digitalRead(pins[j]));
-      } else
-        Joystick.setButton(j, !digitalRead(pins[j]));
-    }
-  }
+  // determine if max limit switches are included or not
+  #ifndef DISABLE_MAX_LIMIT_SWITCHES
+  Joystick.setButton(0, !digitalRead(OUTBD_MAX_LIMIT));
+  Joystick.setButton(1, !digitalRead(INBD_MAX_LIMIT));
+  #endif
+
+  Joystick.setButton(2, !digitalRead(OUTBD_IDLE_LIMIT));
+  Joystick.setButton(3, !digitalRead(INBD_IDLE_LIMIT));
+  Joystick.setButton(4, !digitalRead(EXT_LTS));
+  Joystick.setButton(5, !digitalRead(RAID_FLIR));
+  Joystick.setButton(6, !digitalRead(ATC_ENGAGE));
+
+  int index = 0;             // Initialize the index to keep track of which inner grip button we're reading
+  Wire.requestFrom(49, 17);  // request inner grip pro-mini return current button state info
 
-  int index = 0;  // Initialize the index to keep track of which inner grip button we're reading
-  Wire.requestFrom(49, 17); // request inner grip pro-mini return current button state info
 
-  while (Wire.available()) { // While something to read from the inner grip
-    if (index < 11) { // first 11 values are button presses
+
+  while (Wire.available()) {                       // While something to read from the inner grip
+    if (index < JOY_X) {                              // The first sets of values are button presses until we get to axis values
       Joystick.setButton(index + 7, Wire.read());  // inner throttle's digital button reads, set as joystick button state
     }
     // Remaining Index values are inner grip analog reads
-    else if (index == 11) {          // TDC X-axis
+    else if (index == JOY_X) {            // TDC X-axis
       byte tempLow = Wire.read();      // read low byte
       byte tempHi = Wire.read();       // read high byte
       temp = (tempHi << 8) + tempLow;  //rebuild the TDC X-axis value
       Joystick.setXAxis(map(temp, 0, 65000, 0, 1024));
 
-    } else if (index == 12) {          // TDC Y-axis
+    } else if (index == JOY_Y) {          // TDC Y-axis
       byte tempLow = Wire.read();      // read low byte
       byte tempHi = Wire.read();       // read high byte
       temp = (tempHi << 8) + tempLow;  //rebuild the TDC Y-axis value
       Joystick.setYAxis(map(temp, 0, 65000, 0, 1024));
 
-    } else if (index == 13) {
+    } else if (index == ANTENNA_ELEVATION) {
       byte tempLow = Wire.read();                       // read low byte
       byte tempHi = Wire.read();                        // read high byte
       temp = (tempHi << 8) + tempLow;                   //rebuild the Antenna axis value
@@ -312,3 +357,21 @@ void loop() {
   }
 #endif
 }
+
+/**
+*  Rewrite of the Arduino map function to set inputs and values used to be unsigned long long
+*  The standard map function was overflowing back to negative values when the mapped values reached 2800.
+*
+*/
+
+long mapHallSensor(unsigned long long x, unsigned long long in_min, unsigned long long in_max, unsigned long long out_min, unsigned long long out_max) {
+    const unsigned long long run = in_max - in_min;
+    if(run == 0){
+        log_e("map(): Invalid input range, min == max");
+        return -1; // AVR returns -1, SAM returns 0
+    }
+    const unsigned long long  rise = out_max - out_min;
+    const unsigned long long delta = x - in_min;
+    return (delta * rise) / run + out_min;
+}
+
diff --git a/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino b/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino
index 4de5fda..5c5eab3 100644
--- a/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino
+++ b/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino
@@ -92,6 +92,8 @@
 *
 * Joins I2C bus with address #49, registering requestEvent()
 *
+* @todo Add error handling as needed.
+*
 */
 void setup() {
   Wire.begin(49);                // join i2c bus with address #49

From 2500cb62d094e3caf2adb951e2af04237eef271f Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Tue, 2 Apr 2024 13:06:46 -0500
Subject: [PATCH 09/20] Update 4A9A1-THROTTLE_CONTROLLER.ino

---
 .../4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino     | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
index e9bf683..e0d2edd 100644
--- a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
+++ b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
@@ -43,6 +43,8 @@
  * 
  * @attention Uses Simple FOC libraries with license avialable here: https://github.com/simplefoc/Arduino-FOC/blob/master/LICENSE
  *
+ * @todo Extract just the code for MT6935 hall sensors from the Simple FOC library.
+ *
  *  * **Reference Designator:** 4A9A1
  *  * **Intended Board:** CONTROLLER_Throttle
  *  * **RS485 Bus Address:** NA

From 375b2c67762c5bd69c26a8f56b803c6ea211bf2a Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Tue, 2 Apr 2024 13:10:09 -0500
Subject: [PATCH 10/20] Update 4A9A1-THROTTLE_CONTROLLER.ino

---
 .../4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino      | 1 +
 1 file changed, 1 insertion(+)

diff --git a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
index e0d2edd..ec271ee 100644
--- a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
+++ b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
@@ -42,6 +42,7 @@
  * @details
  * 
  * @attention Uses Simple FOC libraries with license avialable here: https://github.com/simplefoc/Arduino-FOC/blob/master/LICENSE
+ * @todo Review Simple FOC library MIT copyright for compatibility.  Update copy right notice above as needed for the usage as a git-submodule.
  *
  * @todo Extract just the code for MT6935 hall sensors from the Simple FOC library.
  *

From 33fce486c3b6c24099dcf75964efd426af7dfa2c Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Tue, 2 Apr 2024 13:27:36 -0500
Subject: [PATCH 11/20] Update 4A9A1-THROTTLE_CONTROLLER.ino

---
 .../4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
index ec271ee..0a16f47 100644
--- a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
+++ b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
@@ -68,7 +68,7 @@
 *
 * ## Hall Sensor Zero via #define SET_THROTTLE_ZERO
 * It may be helpful to zero the hall sensors when both throttles are at ground idle position.
-* If the Hall sensors are not zeroed out the reads my increase when advancing the throttles forward, and then loop around to a 
+* If the Hall sensors are not zeroed out the reads may increase when advancing the throttles forward, and then loop around to a 
 * lower value which is confusing for the Window's game controller and its calibration utility.
 * 
 * ## Disabling the max limit switches via #define DISABLE_MAX_LIMIT_SWITCHES 1

From a83a43c82e058004b11b79e433b8496bcd63c0f0 Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Wed, 3 Apr 2024 21:56:58 -0500
Subject: [PATCH 12/20] testing adding the Arduino library as a submodule

Trying to fix the CI compile issue with for the SPI.h include on SimpleFOC.
---
 .gitmodules                                   |   3 +
 .../4A9A1-THROTTLE_CONTROLLER.ino             | 141 +++++++++++-------
 libraries/ArduinoCore-avr                     |   1 +
 3 files changed, 90 insertions(+), 55 deletions(-)
 create mode 160000 libraries/ArduinoCore-avr

diff --git a/.gitmodules b/.gitmodules
index 5086493..d42ecae 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -34,3 +34,6 @@
 [submodule "libraries/Arduino-FOC-drivers"]
 	path = libraries/Arduino-FOC-drivers
 	url = https://github.com/simplefoc/Arduino-FOC-drivers.git
+[submodule "libraries/ArduinoCore-avr"]
+	path = libraries/ArduinoCore-avr
+	url = https://github.com/arduino/ArduinoCore-avr
diff --git a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
index 0a16f47..9e6f055 100644
--- a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
+++ b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
@@ -81,10 +81,10 @@
 *
 */
 
-#define DISABLE_MAX_SOL_SIG   ///< If defined the solenoid will be disabled in code, comment out line if the solenoid is used
-#define DISABLE_IDLE_SOL_SIG  ///< If defined the solenoid will be disabled in code, comment out line if the solenoid is used
+#define DISABLE_MAX_SOL_SIG         ///< If defined the solenoid will be disabled in code, comment out line if the solenoid is used
+#define DISABLE_IDLE_SOL_SIG        ///< If defined the solenoid will be disabled in code, comment out line if the solenoid is used
 #define SET_THROTTLE_ZERO           ///< Define to determine if code should allow the hall sensors to set its zero position based on initial position
-#define DISABLE_MAX_LIMIT_SWITCHES   ///< disables the max limit switches, comment out line if the max limit switches should be used
+//#define DISABLE_MAX_LIMIT_SWITCHES  ///< disables the max limit switches, comment out line if the max limit switches should be used
 
 #define DCSBIOS_DISABLE_SERVO  ///< So the code will compile with an ESP32
 #define DCSBIOS_DEFAULT_SERIAL
@@ -242,9 +242,9 @@ void setup() {
   digitalWrite(IDLE_SOL_SIG, LOW);
   digitalWrite(MAX_SOL_SIG, LOW);
 
-  Joystick.setXAxisRange(0, 1024);   // TDC X-axis
-  Joystick.setYAxisRange(0, 1024);   // TDC Y-axis
-  Joystick.setZAxisRange(0, 1024);   // Radar Elevation
+  Joystick.setXAxisRange(0, 1024);    // TDC X-axis
+  Joystick.setYAxisRange(0, 1024);    // TDC Y-axis
+  Joystick.setZAxisRange(0, 1024);    // Radar Elevation
   Joystick.setRxAxisRange(0, 65535);  // Outboard Throttle Arm
   Joystick.setRyAxisRange(0, 65535);  // Inboard Throttle Arm
   Joystick.begin();
@@ -282,26 +282,26 @@ void loop() {
 
   uint32_t temp;  // temp value to hold the analog reads in preparation of doing logic.
 
-  outboardThrottle.update();                          // update the outboard hall sensor to prep for read.
-  temp = outboardThrottle.readRawAngle21();           // read outboard hall sensor
+  outboardThrottle.update();                                     // update the outboard hall sensor to prep for read.
+  temp = outboardThrottle.readRawAngle21();                      // read outboard hall sensor
   Joystick.setRxAxis(mapHallSensor(temp, 0, 750000, 0, 65535));  //0 and 750000 came from reading the Serial Monitor for the min/max values to then plug into this line.
   // Uncomment the code below if you wish to pass the outboard throttle's raw values to the serial monitor
   //Serial.print("outbThrottle: ");
   //Serial.print(temp);
 
-  inboardThrottle.update();                           // update the inboard hall sensor to prep for read
-  temp = inboardThrottle.readRawAngle21();            // read inboard hall sensor
+  inboardThrottle.update();                                      // update the inboard hall sensor to prep for read
+  temp = inboardThrottle.readRawAngle21();                       // read inboard hall sensor
   Joystick.setRyAxis(mapHallSensor(temp, 0, 750000, 0, 65535));  //0 and 740000 came from reading the Serial Monitor for the min/max values to then plug into this line.
-  // Uncomment the code below if you wish to pass the inboard throttle's raw values to the serial monitor
-  //Serial.print("  inbThrottle: ");
-  //Serial.print(temp);
-  //Serial.print("\n");
+// Uncomment the code below if you wish to pass the inboard throttle's raw values to the serial monitor
+//Serial.print("  inbThrottle: ");
+//Serial.print(temp);
+//Serial.print("\n");
 
-  // determine if max limit switches are included or not
-  #ifndef DISABLE_MAX_LIMIT_SWITCHES
+// determine if max limit switches are included or not
+#ifndef DISABLE_MAX_LIMIT_SWITCHES
   Joystick.setButton(0, !digitalRead(OUTBD_MAX_LIMIT));
   Joystick.setButton(1, !digitalRead(INBD_MAX_LIMIT));
-  #endif
+#endif
 
   Joystick.setButton(2, !digitalRead(OUTBD_IDLE_LIMIT));
   Joystick.setButton(3, !digitalRead(INBD_IDLE_LIMIT));
@@ -309,37 +309,69 @@ void loop() {
   Joystick.setButton(5, !digitalRead(RAID_FLIR));
   Joystick.setButton(6, !digitalRead(ATC_ENGAGE));
 
-  int index = 0;             // Initialize the index to keep track of which inner grip button we're reading
-  Wire.requestFrom(49, 17);  // request inner grip pro-mini return current button state info
-
+  int index = 0;  // Initialize the index to keep track of which inner grip button we're reading
+  byte tempLow;   //variable for holding low byte of inner grip's analog reads
+  byte tempHi;    //variable for holding high byte of inner grip's analog reads
 
+  Wire.requestFrom(49, 17);  // request inner grip pro-mini return current button state info
 
-  while (Wire.available()) {                       // While something to read from the inner grip
-    if (index < JOY_X) {                              // The first sets of values are button presses until we get to axis values
-      Joystick.setButton(index + 7, Wire.read());  // inner throttle's digital button reads, set as joystick button state
-    }
-    // Remaining Index values are inner grip analog reads
-    else if (index == JOY_X) {            // TDC X-axis
-      byte tempLow = Wire.read();      // read low byte
-      byte tempHi = Wire.read();       // read high byte
-      temp = (tempHi << 8) + tempLow;  //rebuild the TDC X-axis value
-      Joystick.setXAxis(map(temp, 0, 65000, 0, 1024));
-
-    } else if (index == JOY_Y) {          // TDC Y-axis
-      byte tempLow = Wire.read();      // read low byte
-      byte tempHi = Wire.read();       // read high byte
-      temp = (tempHi << 8) + tempLow;  //rebuild the TDC Y-axis value
-      Joystick.setYAxis(map(temp, 0, 65000, 0, 1024));
-
-    } else if (index == ANTENNA_ELEVATION) {
-      byte tempLow = Wire.read();                       // read low byte
-      byte tempHi = Wire.read();                        // read high byte
-      temp = (tempHi << 8) + tempLow;                   //rebuild the Antenna axis value
-      Joystick.setZAxis(map(temp, 754, 978, 0, 1024));  // mapped values determined by reading the retured elevation on the serial monitor
-      // enable the lines below to see the Elevation knob's analog read values.
-      //Serial.print(" Elevation: ");
-      //Serial.print((tempHi << 8) + tempLow);
-      //Serial.print("\n");
+  while (Wire.available()) {  // While something to read from the inner grip
+    switch (index) {
+      case CAGE_UNCAGE:
+        Joystick.setButton(7, Wire.read());
+        break;
+      case SPEEDBREAK_RETRACT:
+        Joystick.setButton(8, Wire.read());
+        break;
+      case SPEEDBREAK_EXTEND:
+        Joystick.setButton(9, Wire.read());
+        break;
+      case COUNTERMEASURES_AFT:
+        Joystick.setButton(10, Wire.read());
+        break;
+      case COUNTERMEASURES_FWD:
+        Joystick.setButton(11, Wire.read());
+        break;
+      case D:
+        Joystick.setButton(12, Wire.read());
+        break;
+      case C:
+        Joystick.setButton(13, Wire.read());
+        break;
+      case B:
+        Joystick.setButton(14, Wire.read());
+        break;
+      case A:
+        Joystick.setButton(15, Wire.read());
+        break;
+      case PUSH:
+        Joystick.setButton(16, Wire.read());
+        break;
+      case JOY_SW:
+        Joystick.setButton(17, Wire.read());
+        break;
+      case JOY_X:
+        tempLow = Wire.read();      // read low byte
+        tempHi = Wire.read();       // read high byte
+        temp = (tempHi << 8) + tempLow;  //rebuild the TDC X-axis value
+        Joystick.setXAxis(map(temp, 0, 65000, 0, 1024));
+        break;
+      case JOY_Y:
+        tempLow = Wire.read();      // read low byte
+        tempHi = Wire.read();       // read high byte
+        temp = (tempHi << 8) + tempLow;  //rebuild the TDC Y-axis value
+        Joystick.setYAxis(map(temp, 0, 65000, 0, 1024));
+        break;
+      case ANTENNA_ELEVATION:
+        tempLow = Wire.read();                       // read low byte
+        tempHi = Wire.read();                        // read high byte
+        temp = (tempHi << 8) + tempLow;                   //rebuild the Antenna axis value
+        Joystick.setZAxis(map(temp, 754, 978, 0, 1024));  // mapped values determined by reading the retured elevation on the serial monitor
+        // enable the lines below to see the Elevation knob's analog read values.
+        //Serial.print(" Elevation: ");
+        //Serial.print((tempHi << 8) + tempLow);
+        //Serial.print("\n");
+        break;
     }
     index++;  // increment the index for the next iteration through the while loop
   }
@@ -368,13 +400,12 @@ void loop() {
 */
 
 long mapHallSensor(unsigned long long x, unsigned long long in_min, unsigned long long in_max, unsigned long long out_min, unsigned long long out_max) {
-    const unsigned long long run = in_max - in_min;
-    if(run == 0){
-        log_e("map(): Invalid input range, min == max");
-        return -1; // AVR returns -1, SAM returns 0
-    }
-    const unsigned long long  rise = out_max - out_min;
-    const unsigned long long delta = x - in_min;
-    return (delta * rise) / run + out_min;
+  const unsigned long long run = in_max - in_min;
+  if (run == 0) {
+    log_e("map(): Invalid input range, min == max");
+    return -1;  // AVR returns -1, SAM returns 0
+  }
+  const unsigned long long rise = out_max - out_min;
+  const unsigned long long delta = x - in_min;
+  return (delta * rise) / run + out_min;
 }
-
diff --git a/libraries/ArduinoCore-avr b/libraries/ArduinoCore-avr
new file mode 160000
index 0000000..6309212
--- /dev/null
+++ b/libraries/ArduinoCore-avr
@@ -0,0 +1 @@
+Subproject commit 63092126a406402022f943ac048fa195ed7e944b

From 819c123939ccb40010576183f127d6d7abc612cf Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Wed, 3 Apr 2024 22:07:49 -0500
Subject: [PATCH 13/20] Update Makefile

---
 embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/Makefile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/Makefile b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/Makefile
index 7350827..08d9151 100644
--- a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/Makefile
+++ b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/Makefile
@@ -1,5 +1,5 @@
 # Any extra libraries included by this sketch (space separated)
-LIBRARIES = Adafruit_NeoPixel Servo dcs-bios-arduino-library TCA9534 Wire ArduinoJoystickLibrary Stepper Joystick_ESP32S2 Arduino-FOC Arduino-FOC-drivers
+LIBRARIES = Adafruit_NeoPixel Servo dcs-bios-arduino-library TCA9534 Wire ArduinoJoystickLibrary Stepper Joystick_ESP32S2 Arduino-FOC Arduino-FOC-drivers ArduinoCore_avr
 
 # Uncomment one of the following to choose the target board
 # include $(ROOTDIR)/include/mega2560.mk

From 2af12bdf33de01edd1ed28f69d22fded38dee22d Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Wed, 3 Apr 2024 22:11:11 -0500
Subject: [PATCH 14/20] Revert "testing adding the Arduino library as a
 submodule"

This reverts commit a83a43c82e058004b11b79e433b8496bcd63c0f0.
---
 .gitmodules                                   |   3 -
 .../4A9A1-THROTTLE_CONTROLLER.ino             | 141 +++++++-----------
 libraries/ArduinoCore-avr                     |   1 -
 3 files changed, 55 insertions(+), 90 deletions(-)
 delete mode 160000 libraries/ArduinoCore-avr

diff --git a/.gitmodules b/.gitmodules
index d42ecae..5086493 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -34,6 +34,3 @@
 [submodule "libraries/Arduino-FOC-drivers"]
 	path = libraries/Arduino-FOC-drivers
 	url = https://github.com/simplefoc/Arduino-FOC-drivers.git
-[submodule "libraries/ArduinoCore-avr"]
-	path = libraries/ArduinoCore-avr
-	url = https://github.com/arduino/ArduinoCore-avr
diff --git a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
index 9e6f055..0a16f47 100644
--- a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
+++ b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
@@ -81,10 +81,10 @@
 *
 */
 
-#define DISABLE_MAX_SOL_SIG         ///< If defined the solenoid will be disabled in code, comment out line if the solenoid is used
-#define DISABLE_IDLE_SOL_SIG        ///< If defined the solenoid will be disabled in code, comment out line if the solenoid is used
+#define DISABLE_MAX_SOL_SIG   ///< If defined the solenoid will be disabled in code, comment out line if the solenoid is used
+#define DISABLE_IDLE_SOL_SIG  ///< If defined the solenoid will be disabled in code, comment out line if the solenoid is used
 #define SET_THROTTLE_ZERO           ///< Define to determine if code should allow the hall sensors to set its zero position based on initial position
-//#define DISABLE_MAX_LIMIT_SWITCHES  ///< disables the max limit switches, comment out line if the max limit switches should be used
+#define DISABLE_MAX_LIMIT_SWITCHES   ///< disables the max limit switches, comment out line if the max limit switches should be used
 
 #define DCSBIOS_DISABLE_SERVO  ///< So the code will compile with an ESP32
 #define DCSBIOS_DEFAULT_SERIAL
@@ -242,9 +242,9 @@ void setup() {
   digitalWrite(IDLE_SOL_SIG, LOW);
   digitalWrite(MAX_SOL_SIG, LOW);
 
-  Joystick.setXAxisRange(0, 1024);    // TDC X-axis
-  Joystick.setYAxisRange(0, 1024);    // TDC Y-axis
-  Joystick.setZAxisRange(0, 1024);    // Radar Elevation
+  Joystick.setXAxisRange(0, 1024);   // TDC X-axis
+  Joystick.setYAxisRange(0, 1024);   // TDC Y-axis
+  Joystick.setZAxisRange(0, 1024);   // Radar Elevation
   Joystick.setRxAxisRange(0, 65535);  // Outboard Throttle Arm
   Joystick.setRyAxisRange(0, 65535);  // Inboard Throttle Arm
   Joystick.begin();
@@ -282,26 +282,26 @@ void loop() {
 
   uint32_t temp;  // temp value to hold the analog reads in preparation of doing logic.
 
-  outboardThrottle.update();                                     // update the outboard hall sensor to prep for read.
-  temp = outboardThrottle.readRawAngle21();                      // read outboard hall sensor
+  outboardThrottle.update();                          // update the outboard hall sensor to prep for read.
+  temp = outboardThrottle.readRawAngle21();           // read outboard hall sensor
   Joystick.setRxAxis(mapHallSensor(temp, 0, 750000, 0, 65535));  //0 and 750000 came from reading the Serial Monitor for the min/max values to then plug into this line.
   // Uncomment the code below if you wish to pass the outboard throttle's raw values to the serial monitor
   //Serial.print("outbThrottle: ");
   //Serial.print(temp);
 
-  inboardThrottle.update();                                      // update the inboard hall sensor to prep for read
-  temp = inboardThrottle.readRawAngle21();                       // read inboard hall sensor
+  inboardThrottle.update();                           // update the inboard hall sensor to prep for read
+  temp = inboardThrottle.readRawAngle21();            // read inboard hall sensor
   Joystick.setRyAxis(mapHallSensor(temp, 0, 750000, 0, 65535));  //0 and 740000 came from reading the Serial Monitor for the min/max values to then plug into this line.
-// Uncomment the code below if you wish to pass the inboard throttle's raw values to the serial monitor
-//Serial.print("  inbThrottle: ");
-//Serial.print(temp);
-//Serial.print("\n");
+  // Uncomment the code below if you wish to pass the inboard throttle's raw values to the serial monitor
+  //Serial.print("  inbThrottle: ");
+  //Serial.print(temp);
+  //Serial.print("\n");
 
-// determine if max limit switches are included or not
-#ifndef DISABLE_MAX_LIMIT_SWITCHES
+  // determine if max limit switches are included or not
+  #ifndef DISABLE_MAX_LIMIT_SWITCHES
   Joystick.setButton(0, !digitalRead(OUTBD_MAX_LIMIT));
   Joystick.setButton(1, !digitalRead(INBD_MAX_LIMIT));
-#endif
+  #endif
 
   Joystick.setButton(2, !digitalRead(OUTBD_IDLE_LIMIT));
   Joystick.setButton(3, !digitalRead(INBD_IDLE_LIMIT));
@@ -309,69 +309,37 @@ void loop() {
   Joystick.setButton(5, !digitalRead(RAID_FLIR));
   Joystick.setButton(6, !digitalRead(ATC_ENGAGE));
 
-  int index = 0;  // Initialize the index to keep track of which inner grip button we're reading
-  byte tempLow;   //variable for holding low byte of inner grip's analog reads
-  byte tempHi;    //variable for holding high byte of inner grip's analog reads
-
+  int index = 0;             // Initialize the index to keep track of which inner grip button we're reading
   Wire.requestFrom(49, 17);  // request inner grip pro-mini return current button state info
 
-  while (Wire.available()) {  // While something to read from the inner grip
-    switch (index) {
-      case CAGE_UNCAGE:
-        Joystick.setButton(7, Wire.read());
-        break;
-      case SPEEDBREAK_RETRACT:
-        Joystick.setButton(8, Wire.read());
-        break;
-      case SPEEDBREAK_EXTEND:
-        Joystick.setButton(9, Wire.read());
-        break;
-      case COUNTERMEASURES_AFT:
-        Joystick.setButton(10, Wire.read());
-        break;
-      case COUNTERMEASURES_FWD:
-        Joystick.setButton(11, Wire.read());
-        break;
-      case D:
-        Joystick.setButton(12, Wire.read());
-        break;
-      case C:
-        Joystick.setButton(13, Wire.read());
-        break;
-      case B:
-        Joystick.setButton(14, Wire.read());
-        break;
-      case A:
-        Joystick.setButton(15, Wire.read());
-        break;
-      case PUSH:
-        Joystick.setButton(16, Wire.read());
-        break;
-      case JOY_SW:
-        Joystick.setButton(17, Wire.read());
-        break;
-      case JOY_X:
-        tempLow = Wire.read();      // read low byte
-        tempHi = Wire.read();       // read high byte
-        temp = (tempHi << 8) + tempLow;  //rebuild the TDC X-axis value
-        Joystick.setXAxis(map(temp, 0, 65000, 0, 1024));
-        break;
-      case JOY_Y:
-        tempLow = Wire.read();      // read low byte
-        tempHi = Wire.read();       // read high byte
-        temp = (tempHi << 8) + tempLow;  //rebuild the TDC Y-axis value
-        Joystick.setYAxis(map(temp, 0, 65000, 0, 1024));
-        break;
-      case ANTENNA_ELEVATION:
-        tempLow = Wire.read();                       // read low byte
-        tempHi = Wire.read();                        // read high byte
-        temp = (tempHi << 8) + tempLow;                   //rebuild the Antenna axis value
-        Joystick.setZAxis(map(temp, 754, 978, 0, 1024));  // mapped values determined by reading the retured elevation on the serial monitor
-        // enable the lines below to see the Elevation knob's analog read values.
-        //Serial.print(" Elevation: ");
-        //Serial.print((tempHi << 8) + tempLow);
-        //Serial.print("\n");
-        break;
+
+
+  while (Wire.available()) {                       // While something to read from the inner grip
+    if (index < JOY_X) {                              // The first sets of values are button presses until we get to axis values
+      Joystick.setButton(index + 7, Wire.read());  // inner throttle's digital button reads, set as joystick button state
+    }
+    // Remaining Index values are inner grip analog reads
+    else if (index == JOY_X) {            // TDC X-axis
+      byte tempLow = Wire.read();      // read low byte
+      byte tempHi = Wire.read();       // read high byte
+      temp = (tempHi << 8) + tempLow;  //rebuild the TDC X-axis value
+      Joystick.setXAxis(map(temp, 0, 65000, 0, 1024));
+
+    } else if (index == JOY_Y) {          // TDC Y-axis
+      byte tempLow = Wire.read();      // read low byte
+      byte tempHi = Wire.read();       // read high byte
+      temp = (tempHi << 8) + tempLow;  //rebuild the TDC Y-axis value
+      Joystick.setYAxis(map(temp, 0, 65000, 0, 1024));
+
+    } else if (index == ANTENNA_ELEVATION) {
+      byte tempLow = Wire.read();                       // read low byte
+      byte tempHi = Wire.read();                        // read high byte
+      temp = (tempHi << 8) + tempLow;                   //rebuild the Antenna axis value
+      Joystick.setZAxis(map(temp, 754, 978, 0, 1024));  // mapped values determined by reading the retured elevation on the serial monitor
+      // enable the lines below to see the Elevation knob's analog read values.
+      //Serial.print(" Elevation: ");
+      //Serial.print((tempHi << 8) + tempLow);
+      //Serial.print("\n");
     }
     index++;  // increment the index for the next iteration through the while loop
   }
@@ -400,12 +368,13 @@ void loop() {
 */
 
 long mapHallSensor(unsigned long long x, unsigned long long in_min, unsigned long long in_max, unsigned long long out_min, unsigned long long out_max) {
-  const unsigned long long run = in_max - in_min;
-  if (run == 0) {
-    log_e("map(): Invalid input range, min == max");
-    return -1;  // AVR returns -1, SAM returns 0
-  }
-  const unsigned long long rise = out_max - out_min;
-  const unsigned long long delta = x - in_min;
-  return (delta * rise) / run + out_min;
+    const unsigned long long run = in_max - in_min;
+    if(run == 0){
+        log_e("map(): Invalid input range, min == max");
+        return -1; // AVR returns -1, SAM returns 0
+    }
+    const unsigned long long  rise = out_max - out_min;
+    const unsigned long long delta = x - in_min;
+    return (delta * rise) / run + out_min;
 }
+
diff --git a/libraries/ArduinoCore-avr b/libraries/ArduinoCore-avr
deleted file mode 160000
index 6309212..0000000
--- a/libraries/ArduinoCore-avr
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 63092126a406402022f943ac048fa195ed7e944b

From bc77fe083d7fc0a4d1ebba9860e90a320ecb6739 Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Wed, 3 Apr 2024 22:11:34 -0500
Subject: [PATCH 15/20] Revert "Update Makefile"

This reverts commit 819c123939ccb40010576183f127d6d7abc612cf.
---
 embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/Makefile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/Makefile b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/Makefile
index 08d9151..7350827 100644
--- a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/Makefile
+++ b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/Makefile
@@ -1,5 +1,5 @@
 # Any extra libraries included by this sketch (space separated)
-LIBRARIES = Adafruit_NeoPixel Servo dcs-bios-arduino-library TCA9534 Wire ArduinoJoystickLibrary Stepper Joystick_ESP32S2 Arduino-FOC Arduino-FOC-drivers ArduinoCore_avr
+LIBRARIES = Adafruit_NeoPixel Servo dcs-bios-arduino-library TCA9534 Wire ArduinoJoystickLibrary Stepper Joystick_ESP32S2 Arduino-FOC Arduino-FOC-drivers
 
 # Uncomment one of the following to choose the target board
 # include $(ROOTDIR)/include/mega2560.mk

From cb70eba16fff09f35522731a57b8b71b8a761fad Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Wed, 3 Apr 2024 22:12:31 -0500
Subject: [PATCH 16/20] Delete .gitmodules

---
 .gitmodules | 36 ------------------------------------
 1 file changed, 36 deletions(-)
 delete mode 100644 .gitmodules

diff --git a/.gitmodules b/.gitmodules
deleted file mode 100644
index 5086493..0000000
--- a/.gitmodules
+++ /dev/null
@@ -1,36 +0,0 @@
-[submodule "libraries/dcs-bios-arduino-library"]
-	path = libraries/dcs-bios-arduino-library
-	url = https://github.com/DCS-Skunkworks/dcs-bios-arduino-library.git
-[submodule "libraries/Arduino_Boards"]
-	path = libraries/Arduino_Boards
-	url = https://github.com/sparkfun/Arduino_Boards.git
-[submodule "libraries/Adafruit_NeoPixel"]
-	path = libraries/Adafruit_NeoPixel
-	url = https://github.com/adafruit/Adafruit_NeoPixel.git
-[submodule "include/Arduino-Makefile"]
-	path = include/Arduino-Makefile
-	url = https://github.com/sudar/Arduino-Makefile.git
-[submodule "libraries/Servo"]
-	path = libraries/Servo
-	url = https://github.com/arduino-libraries/Servo.git
-[submodule "libraries/arduino-esp32"]
-	path = libraries/arduino-esp32
-	url = https://github.com/espressif/arduino-esp32.git
-[submodule "include/makeEspArduino"]
-	path = include/makeEspArduino
-	url = https://github.com/plerup/makeEspArduino.git
-[submodule "libraries/TCA9534"]
-	path = libraries/TCA9534
-	url = https://github.com/balzreber/TCA9534.git
-[submodule "libraries/ArduinoJoystickLibrary"]
-	path = libraries/ArduinoJoystickLibrary
-	url = https://github.com/MHeironimus/ArduinoJoystickLibrary.git
-[submodule "libraries/Joystick_ESP32S2"]
-	path = libraries/Joystick_ESP32S2
-	url = https://github.com/schnoog/Joystick_ESP32S2.git
-[submodule "libraries/Arduino-FOC"]
-	path = libraries/Arduino-FOC
-	url = https://github.com/simplefoc/Arduino-FOC.git
-[submodule "libraries/Arduino-FOC-drivers"]
-	path = libraries/Arduino-FOC-drivers
-	url = https://github.com/simplefoc/Arduino-FOC-drivers.git

From b3bd712d716b8f9a0028f4d0bac6ae6b7ab37786 Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Wed, 3 Apr 2024 22:16:49 -0500
Subject: [PATCH 17/20] Adding the SPI.h files directly to the throttle folder
 for SimpleFOC

---
 .../4A9A1-THROTTLE_CONTROLLER/SPI.cpp         | 201 +++++++++++
 .../4A9A1-THROTTLE_CONTROLLER/SPI.h           | 324 ++++++++++++++++++
 2 files changed, 525 insertions(+)
 create mode 100644 embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/SPI.cpp
 create mode 100644 embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/SPI.h

diff --git a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/SPI.cpp b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/SPI.cpp
new file mode 100644
index 0000000..af14e07
--- /dev/null
+++ b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/SPI.cpp
@@ -0,0 +1,201 @@
+/*
+ * Copyright (c) 2010 by Cristian Maglie <c.maglie@arduino.cc>
+ * Copyright (c) 2014 by Paul Stoffregen <paul@pjrc.com> (Transaction API)
+ * Copyright (c) 2014 by Matthijs Kooijman <matthijs@stdin.nl> (SPISettings AVR)
+ * Copyright (c) 2014 by Andrew J. Kroll <xxxajk@gmail.com> (atomicity fixes)
+ * SPI Master library for arduino.
+ *
+ * This file is free software; you can redistribute it and/or modify
+ * it under the terms of either the GNU General Public License version 2
+ * or the GNU Lesser General Public License version 2.1, both as
+ * published by the Free Software Foundation.
+ */
+
+#include "SPI.h"
+
+SPIClass SPI;
+
+uint8_t SPIClass::initialized = 0;
+uint8_t SPIClass::interruptMode = 0;
+uint8_t SPIClass::interruptMask = 0;
+uint8_t SPIClass::interruptSave = 0;
+#ifdef SPI_TRANSACTION_MISMATCH_LED
+uint8_t SPIClass::inTransactionFlag = 0;
+#endif
+
+void SPIClass::begin()
+{
+  uint8_t sreg = SREG;
+  noInterrupts(); // Protect from a scheduler and prevent transactionBegin
+  if (!initialized) {
+    // Set SS to high so a connected chip will be "deselected" by default
+    uint8_t port = digitalPinToPort(SS);
+    uint8_t bit = digitalPinToBitMask(SS);
+    volatile uint8_t *reg = portModeRegister(port);
+
+    // if the SS pin is not already configured as an output
+    // then set it high (to enable the internal pull-up resistor)
+    if(!(*reg & bit)){
+      digitalWrite(SS, HIGH);
+    }
+
+    // When the SS pin is set as OUTPUT, it can be used as
+    // a general purpose output port (it doesn't influence
+    // SPI operations).
+    pinMode(SS, OUTPUT);
+
+    // Warning: if the SS pin ever becomes a LOW INPUT then SPI
+    // automatically switches to Slave, so the data direction of
+    // the SS pin MUST be kept as OUTPUT.
+    SPCR |= _BV(MSTR);
+    SPCR |= _BV(SPE);
+
+    // Set direction register for SCK and MOSI pin.
+    // MISO pin automatically overrides to INPUT.
+    // By doing this AFTER enabling SPI, we avoid accidentally
+    // clocking in a single bit since the lines go directly
+    // from "input" to SPI control.
+    // http://code.google.com/p/arduino/issues/detail?id=888
+    pinMode(SCK, OUTPUT);
+    pinMode(MOSI, OUTPUT);
+  }
+  initialized++; // reference count
+  SREG = sreg;
+}
+
+void SPIClass::end() {
+  uint8_t sreg = SREG;
+  noInterrupts(); // Protect from a scheduler and prevent transactionBegin
+  // Decrease the reference counter
+  if (initialized)
+    initialized--;
+  // If there are no more references disable SPI
+  if (!initialized) {
+    SPCR &= ~_BV(SPE);
+    interruptMode = 0;
+    #ifdef SPI_TRANSACTION_MISMATCH_LED
+    inTransactionFlag = 0;
+    #endif
+  }
+  SREG = sreg;
+}
+
+// mapping of interrupt numbers to bits within SPI_AVR_EIMSK
+#if defined(__AVR_ATmega32U4__)
+  #define SPI_INT0_MASK  (1<<INT0)
+  #define SPI_INT1_MASK  (1<<INT1)
+  #define SPI_INT2_MASK  (1<<INT2)
+  #define SPI_INT3_MASK  (1<<INT3)
+  #define SPI_INT4_MASK  (1<<INT6)
+#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
+  #define SPI_INT0_MASK  (1<<INT0)
+  #define SPI_INT1_MASK  (1<<INT1)
+  #define SPI_INT2_MASK  (1<<INT2)
+  #define SPI_INT3_MASK  (1<<INT3)
+  #define SPI_INT4_MASK  (1<<INT4)
+  #define SPI_INT5_MASK  (1<<INT5)
+  #define SPI_INT6_MASK  (1<<INT6)
+  #define SPI_INT7_MASK  (1<<INT7)
+#elif defined(EICRA) && defined(EICRB) && defined(EIMSK)
+  #define SPI_INT0_MASK  (1<<INT4)
+  #define SPI_INT1_MASK  (1<<INT5)
+  #define SPI_INT2_MASK  (1<<INT0)
+  #define SPI_INT3_MASK  (1<<INT1)
+  #define SPI_INT4_MASK  (1<<INT2)
+  #define SPI_INT5_MASK  (1<<INT3)
+  #define SPI_INT6_MASK  (1<<INT6)
+  #define SPI_INT7_MASK  (1<<INT7)
+#else
+  #ifdef INT0
+  #define SPI_INT0_MASK  (1<<INT0)
+  #endif
+  #ifdef INT1
+  #define SPI_INT1_MASK  (1<<INT1)
+  #endif
+  #ifdef INT2
+  #define SPI_INT2_MASK  (1<<INT2)
+  #endif
+#endif
+
+void SPIClass::usingInterrupt(uint8_t interruptNumber)
+{
+  uint8_t mask = 0;
+  uint8_t sreg = SREG;
+  noInterrupts(); // Protect from a scheduler and prevent transactionBegin
+  switch (interruptNumber) {
+  #ifdef SPI_INT0_MASK
+  case 0: mask = SPI_INT0_MASK; break;
+  #endif
+  #ifdef SPI_INT1_MASK
+  case 1: mask = SPI_INT1_MASK; break;
+  #endif
+  #ifdef SPI_INT2_MASK
+  case 2: mask = SPI_INT2_MASK; break;
+  #endif
+  #ifdef SPI_INT3_MASK
+  case 3: mask = SPI_INT3_MASK; break;
+  #endif
+  #ifdef SPI_INT4_MASK
+  case 4: mask = SPI_INT4_MASK; break;
+  #endif
+  #ifdef SPI_INT5_MASK
+  case 5: mask = SPI_INT5_MASK; break;
+  #endif
+  #ifdef SPI_INT6_MASK
+  case 6: mask = SPI_INT6_MASK; break;
+  #endif
+  #ifdef SPI_INT7_MASK
+  case 7: mask = SPI_INT7_MASK; break;
+  #endif
+  default:
+    interruptMode = 2;
+    break;
+  }
+  interruptMask |= mask;
+  if (!interruptMode)
+    interruptMode = 1;
+  SREG = sreg;
+}
+
+void SPIClass::notUsingInterrupt(uint8_t interruptNumber)
+{
+  // Once in mode 2 we can't go back to 0 without a proper reference count
+  if (interruptMode == 2)
+    return;
+  uint8_t mask = 0;
+  uint8_t sreg = SREG;
+  noInterrupts(); // Protect from a scheduler and prevent transactionBegin
+  switch (interruptNumber) {
+  #ifdef SPI_INT0_MASK
+  case 0: mask = SPI_INT0_MASK; break;
+  #endif
+  #ifdef SPI_INT1_MASK
+  case 1: mask = SPI_INT1_MASK; break;
+  #endif
+  #ifdef SPI_INT2_MASK
+  case 2: mask = SPI_INT2_MASK; break;
+  #endif
+  #ifdef SPI_INT3_MASK
+  case 3: mask = SPI_INT3_MASK; break;
+  #endif
+  #ifdef SPI_INT4_MASK
+  case 4: mask = SPI_INT4_MASK; break;
+  #endif
+  #ifdef SPI_INT5_MASK
+  case 5: mask = SPI_INT5_MASK; break;
+  #endif
+  #ifdef SPI_INT6_MASK
+  case 6: mask = SPI_INT6_MASK; break;
+  #endif
+  #ifdef SPI_INT7_MASK
+  case 7: mask = SPI_INT7_MASK; break;
+  #endif
+  default:
+    break;
+    // this case can't be reached
+  }
+  interruptMask &= ~mask;
+  if (!interruptMask)
+    interruptMode = 0;
+  SREG = sreg;
+}
diff --git a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/SPI.h b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/SPI.h
new file mode 100644
index 0000000..1e37079
--- /dev/null
+++ b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/SPI.h
@@ -0,0 +1,324 @@
+/*
+ * Copyright (c) 2010 by Cristian Maglie <c.maglie@arduino.cc>
+ * Copyright (c) 2014 by Paul Stoffregen <paul@pjrc.com> (Transaction API)
+ * Copyright (c) 2014 by Matthijs Kooijman <matthijs@stdin.nl> (SPISettings AVR)
+ * Copyright (c) 2014 by Andrew J. Kroll <xxxajk@gmail.com> (atomicity fixes)
+ * SPI Master library for arduino.
+ *
+ * This file is free software; you can redistribute it and/or modify
+ * it under the terms of either the GNU General Public License version 2
+ * or the GNU Lesser General Public License version 2.1, both as
+ * published by the Free Software Foundation.
+ */
+
+#ifndef _SPI_H_INCLUDED
+#define _SPI_H_INCLUDED
+
+#include <Arduino.h>
+
+// SPI_HAS_TRANSACTION means SPI has beginTransaction(), endTransaction(),
+// usingInterrupt(), and SPISetting(clock, bitOrder, dataMode)
+#define SPI_HAS_TRANSACTION 1
+
+// SPI_HAS_NOTUSINGINTERRUPT means that SPI has notUsingInterrupt() method
+#define SPI_HAS_NOTUSINGINTERRUPT 1
+
+// SPI_ATOMIC_VERSION means that SPI has atomicity fixes and what version.
+// This way when there is a bug fix you can check this define to alert users
+// of your code if it uses better version of this library.
+// This also implies everything that SPI_HAS_TRANSACTION as documented above is
+// available too.
+#define SPI_ATOMIC_VERSION 1
+
+// Uncomment this line to add detection of mismatched begin/end transactions.
+// A mismatch occurs if other libraries fail to use SPI.endTransaction() for
+// each SPI.beginTransaction().  Connect an LED to this pin.  The LED will turn
+// on if any mismatch is ever detected.
+//#define SPI_TRANSACTION_MISMATCH_LED 5
+
+#ifndef LSBFIRST
+#define LSBFIRST 0
+#endif
+#ifndef MSBFIRST
+#define MSBFIRST 1
+#endif
+
+#define SPI_CLOCK_DIV4 0x00
+#define SPI_CLOCK_DIV16 0x01
+#define SPI_CLOCK_DIV64 0x02
+#define SPI_CLOCK_DIV128 0x03
+#define SPI_CLOCK_DIV2 0x04
+#define SPI_CLOCK_DIV8 0x05
+#define SPI_CLOCK_DIV32 0x06
+
+#define SPI_MODE0 0x00
+#define SPI_MODE1 0x04
+#define SPI_MODE2 0x08
+#define SPI_MODE3 0x0C
+
+#define SPI_MODE_MASK 0x0C  // CPOL = bit 3, CPHA = bit 2 on SPCR
+#define SPI_CLOCK_MASK 0x03  // SPR1 = bit 1, SPR0 = bit 0 on SPCR
+#define SPI_2XCLOCK_MASK 0x01  // SPI2X = bit 0 on SPSR
+
+// define SPI_AVR_EIMSK for AVR boards with external interrupt pins
+#if defined(EIMSK)
+  #define SPI_AVR_EIMSK  EIMSK
+#elif defined(GICR)
+  #define SPI_AVR_EIMSK  GICR
+#elif defined(GIMSK)
+  #define SPI_AVR_EIMSK  GIMSK
+#endif
+
+class SPISettings {
+public:
+  SPISettings(uint32_t clock, uint8_t bitOrder, uint8_t dataMode) {
+    if (__builtin_constant_p(clock)) {
+      init_AlwaysInline(clock, bitOrder, dataMode);
+    } else {
+      init_MightInline(clock, bitOrder, dataMode);
+    }
+  }
+  SPISettings() {
+    init_AlwaysInline(4000000, MSBFIRST, SPI_MODE0);
+  }
+private:
+  void init_MightInline(uint32_t clock, uint8_t bitOrder, uint8_t dataMode) {
+    init_AlwaysInline(clock, bitOrder, dataMode);
+  }
+  void init_AlwaysInline(uint32_t clock, uint8_t bitOrder, uint8_t dataMode)
+    __attribute__((__always_inline__)) {
+    // Clock settings are defined as follows. Note that this shows SPI2X
+    // inverted, so the bits form increasing numbers. Also note that
+    // fosc/64 appears twice
+    // SPR1 SPR0 ~SPI2X Freq
+    //   0    0     0   fosc/2
+    //   0    0     1   fosc/4
+    //   0    1     0   fosc/8
+    //   0    1     1   fosc/16
+    //   1    0     0   fosc/32
+    //   1    0     1   fosc/64
+    //   1    1     0   fosc/64
+    //   1    1     1   fosc/128
+
+    // We find the fastest clock that is less than or equal to the
+    // given clock rate. The clock divider that results in clock_setting
+    // is 2 ^^ (clock_div + 1). If nothing is slow enough, we'll use the
+    // slowest (128 == 2 ^^ 7, so clock_div = 6).
+    uint8_t clockDiv;
+
+    // When the clock is known at compile time, use this if-then-else
+    // cascade, which the compiler knows how to completely optimize
+    // away. When clock is not known, use a loop instead, which generates
+    // shorter code.
+    if (__builtin_constant_p(clock)) {
+      if (clock >= F_CPU / 2) {
+        clockDiv = 0;
+      } else if (clock >= F_CPU / 4) {
+        clockDiv = 1;
+      } else if (clock >= F_CPU / 8) {
+        clockDiv = 2;
+      } else if (clock >= F_CPU / 16) {
+        clockDiv = 3;
+      } else if (clock >= F_CPU / 32) {
+        clockDiv = 4;
+      } else if (clock >= F_CPU / 64) {
+        clockDiv = 5;
+      } else {
+        clockDiv = 6;
+      }
+    } else {
+      uint32_t clockSetting = F_CPU / 2;
+      clockDiv = 0;
+      while (clockDiv < 6 && clock < clockSetting) {
+        clockSetting /= 2;
+        clockDiv++;
+      }
+    }
+
+    // Compensate for the duplicate fosc/64
+    if (clockDiv == 6)
+    clockDiv = 7;
+
+    // Invert the SPI2X bit
+    clockDiv ^= 0x1;
+
+    // Pack into the SPISettings class
+    spcr = _BV(SPE) | _BV(MSTR) | ((bitOrder == LSBFIRST) ? _BV(DORD) : 0) |
+      (dataMode & SPI_MODE_MASK) | ((clockDiv >> 1) & SPI_CLOCK_MASK);
+    spsr = clockDiv & SPI_2XCLOCK_MASK;
+  }
+  uint8_t spcr;
+  uint8_t spsr;
+  friend class SPIClass;
+};
+
+
+class SPIClass {
+public:
+  // Initialize the SPI library
+  static void begin();
+
+  // If SPI is used from within an interrupt, this function registers
+  // that interrupt with the SPI library, so beginTransaction() can
+  // prevent conflicts.  The input interruptNumber is the number used
+  // with attachInterrupt.  If SPI is used from a different interrupt
+  // (eg, a timer), interruptNumber should be 255.
+  static void usingInterrupt(uint8_t interruptNumber);
+  // And this does the opposite.
+  static void notUsingInterrupt(uint8_t interruptNumber);
+  // Note: the usingInterrupt and notUsingInterrupt functions should
+  // not to be called from ISR context or inside a transaction.
+  // For details see:
+  // https://github.com/arduino/Arduino/pull/2381
+  // https://github.com/arduino/Arduino/pull/2449
+
+  // Before using SPI.transfer() or asserting chip select pins,
+  // this function is used to gain exclusive access to the SPI bus
+  // and configure the correct settings.
+  inline static void beginTransaction(SPISettings settings) {
+    if (interruptMode > 0) {
+      uint8_t sreg = SREG;
+      noInterrupts();
+
+      #ifdef SPI_AVR_EIMSK
+      if (interruptMode == 1) {
+        interruptSave = SPI_AVR_EIMSK;
+        SPI_AVR_EIMSK &= ~interruptMask;
+        SREG = sreg;
+      } else
+      #endif
+      {
+        interruptSave = sreg;
+      }
+    }
+
+    #ifdef SPI_TRANSACTION_MISMATCH_LED
+    if (inTransactionFlag) {
+      pinMode(SPI_TRANSACTION_MISMATCH_LED, OUTPUT);
+      digitalWrite(SPI_TRANSACTION_MISMATCH_LED, HIGH);
+    }
+    inTransactionFlag = 1;
+    #endif
+
+    SPCR = settings.spcr;
+    SPSR = settings.spsr;
+  }
+
+  // Write to the SPI bus (MOSI pin) and also receive (MISO pin)
+  inline static uint8_t transfer(uint8_t data) {
+    SPDR = data;
+    /*
+     * The following NOP introduces a small delay that can prevent the wait
+     * loop form iterating when running at the maximum speed. This gives
+     * about 10% more speed, even if it seems counter-intuitive. At lower
+     * speeds it is unnoticed.
+     */
+    asm volatile("nop");
+    while (!(SPSR & _BV(SPIF))) ; // wait
+    return SPDR;
+  }
+  inline static uint16_t transfer16(uint16_t data) {
+    union { uint16_t val; struct { uint8_t lsb; uint8_t msb; }; } in, out;
+    in.val = data;
+    if (!(SPCR & _BV(DORD))) {
+      SPDR = in.msb;
+      asm volatile("nop"); // See transfer(uint8_t) function
+      while (!(SPSR & _BV(SPIF))) ;
+      out.msb = SPDR;
+      SPDR = in.lsb;
+      asm volatile("nop");
+      while (!(SPSR & _BV(SPIF))) ;
+      out.lsb = SPDR;
+    } else {
+      SPDR = in.lsb;
+      asm volatile("nop");
+      while (!(SPSR & _BV(SPIF))) ;
+      out.lsb = SPDR;
+      SPDR = in.msb;
+      asm volatile("nop");
+      while (!(SPSR & _BV(SPIF))) ;
+      out.msb = SPDR;
+    }
+    return out.val;
+  }
+  inline static void transfer(void *buf, size_t count) {
+    if (count == 0) return;
+    uint8_t *p = (uint8_t *)buf;
+    SPDR = *p;
+    while (--count > 0) {
+      uint8_t out = *(p + 1);
+      while (!(SPSR & _BV(SPIF))) ;
+      uint8_t in = SPDR;
+      SPDR = out;
+      *p++ = in;
+    }
+    while (!(SPSR & _BV(SPIF))) ;
+    *p = SPDR;
+  }
+  // After performing a group of transfers and releasing the chip select
+  // signal, this function allows others to access the SPI bus
+  inline static void endTransaction(void) {
+    #ifdef SPI_TRANSACTION_MISMATCH_LED
+    if (!inTransactionFlag) {
+      pinMode(SPI_TRANSACTION_MISMATCH_LED, OUTPUT);
+      digitalWrite(SPI_TRANSACTION_MISMATCH_LED, HIGH);
+    }
+    inTransactionFlag = 0;
+    #endif
+
+    if (interruptMode > 0) {
+      #ifdef SPI_AVR_EIMSK
+      uint8_t sreg = SREG;
+      #endif
+      noInterrupts();
+      #ifdef SPI_AVR_EIMSK
+      if (interruptMode == 1) {
+        SPI_AVR_EIMSK = interruptSave;
+        SREG = sreg;
+      } else
+      #endif
+      {
+        SREG = interruptSave;
+      }
+    }
+  }
+
+  // Disable the SPI bus
+  static void end();
+
+  // This function is deprecated.  New applications should use
+  // beginTransaction() to configure SPI settings.
+  inline static void setBitOrder(uint8_t bitOrder) {
+    if (bitOrder == LSBFIRST) SPCR |= _BV(DORD);
+    else SPCR &= ~(_BV(DORD));
+  }
+  // This function is deprecated.  New applications should use
+  // beginTransaction() to configure SPI settings.
+  inline static void setDataMode(uint8_t dataMode) {
+    SPCR = (SPCR & ~SPI_MODE_MASK) | dataMode;
+  }
+  // This function is deprecated.  New applications should use
+  // beginTransaction() to configure SPI settings.
+  inline static void setClockDivider(uint8_t clockDiv) {
+    SPCR = (SPCR & ~SPI_CLOCK_MASK) | (clockDiv & SPI_CLOCK_MASK);
+    SPSR = (SPSR & ~SPI_2XCLOCK_MASK) | ((clockDiv >> 2) & SPI_2XCLOCK_MASK);
+  }
+  // These undocumented functions should not be used.  SPI.transfer()
+  // polls the hardware flag which is automatically cleared as the
+  // AVR responds to SPI's interrupt
+  inline static void attachInterrupt() { SPCR |= _BV(SPIE); }
+  inline static void detachInterrupt() { SPCR &= ~_BV(SPIE); }
+
+private:
+  static uint8_t initialized;
+  static uint8_t interruptMode; // 0=none, 1=mask, 2=global
+  static uint8_t interruptMask; // which interrupts to mask
+  static uint8_t interruptSave; // temp storage, to restore state
+  #ifdef SPI_TRANSACTION_MISMATCH_LED
+  static uint8_t inTransactionFlag;
+  #endif
+};
+
+extern SPIClass SPI;
+
+#endif

From 5f89bb0edc06a9de1c9f2c6cbfb8c2f5751f0d85 Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Wed, 3 Apr 2024 22:22:15 -0500
Subject: [PATCH 18/20] Revert "Delete .gitmodules"

This reverts commit cb70eba16fff09f35522731a57b8b71b8a761fad.
---
 .gitmodules | 36 ++++++++++++++++++++++++++++++++++++
 1 file changed, 36 insertions(+)
 create mode 100644 .gitmodules

diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..5086493
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,36 @@
+[submodule "libraries/dcs-bios-arduino-library"]
+	path = libraries/dcs-bios-arduino-library
+	url = https://github.com/DCS-Skunkworks/dcs-bios-arduino-library.git
+[submodule "libraries/Arduino_Boards"]
+	path = libraries/Arduino_Boards
+	url = https://github.com/sparkfun/Arduino_Boards.git
+[submodule "libraries/Adafruit_NeoPixel"]
+	path = libraries/Adafruit_NeoPixel
+	url = https://github.com/adafruit/Adafruit_NeoPixel.git
+[submodule "include/Arduino-Makefile"]
+	path = include/Arduino-Makefile
+	url = https://github.com/sudar/Arduino-Makefile.git
+[submodule "libraries/Servo"]
+	path = libraries/Servo
+	url = https://github.com/arduino-libraries/Servo.git
+[submodule "libraries/arduino-esp32"]
+	path = libraries/arduino-esp32
+	url = https://github.com/espressif/arduino-esp32.git
+[submodule "include/makeEspArduino"]
+	path = include/makeEspArduino
+	url = https://github.com/plerup/makeEspArduino.git
+[submodule "libraries/TCA9534"]
+	path = libraries/TCA9534
+	url = https://github.com/balzreber/TCA9534.git
+[submodule "libraries/ArduinoJoystickLibrary"]
+	path = libraries/ArduinoJoystickLibrary
+	url = https://github.com/MHeironimus/ArduinoJoystickLibrary.git
+[submodule "libraries/Joystick_ESP32S2"]
+	path = libraries/Joystick_ESP32S2
+	url = https://github.com/schnoog/Joystick_ESP32S2.git
+[submodule "libraries/Arduino-FOC"]
+	path = libraries/Arduino-FOC
+	url = https://github.com/simplefoc/Arduino-FOC.git
+[submodule "libraries/Arduino-FOC-drivers"]
+	path = libraries/Arduino-FOC-drivers
+	url = https://github.com/simplefoc/Arduino-FOC-drivers.git

From aa6b8eb77b76ef01196a4c1a5b09605f9eb7ba03 Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Wed, 3 Apr 2024 22:27:46 -0500
Subject: [PATCH 19/20] Revert "Adding the SPI.h files directly to the throttle
 folder for SimpleFOC"

This reverts commit b3bd712d716b8f9a0028f4d0bac6ae6b7ab37786.
---
 .../4A9A1-THROTTLE_CONTROLLER/SPI.cpp         | 201 -----------
 .../4A9A1-THROTTLE_CONTROLLER/SPI.h           | 324 ------------------
 2 files changed, 525 deletions(-)
 delete mode 100644 embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/SPI.cpp
 delete mode 100644 embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/SPI.h

diff --git a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/SPI.cpp b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/SPI.cpp
deleted file mode 100644
index af14e07..0000000
--- a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/SPI.cpp
+++ /dev/null
@@ -1,201 +0,0 @@
-/*
- * Copyright (c) 2010 by Cristian Maglie <c.maglie@arduino.cc>
- * Copyright (c) 2014 by Paul Stoffregen <paul@pjrc.com> (Transaction API)
- * Copyright (c) 2014 by Matthijs Kooijman <matthijs@stdin.nl> (SPISettings AVR)
- * Copyright (c) 2014 by Andrew J. Kroll <xxxajk@gmail.com> (atomicity fixes)
- * SPI Master library for arduino.
- *
- * This file is free software; you can redistribute it and/or modify
- * it under the terms of either the GNU General Public License version 2
- * or the GNU Lesser General Public License version 2.1, both as
- * published by the Free Software Foundation.
- */
-
-#include "SPI.h"
-
-SPIClass SPI;
-
-uint8_t SPIClass::initialized = 0;
-uint8_t SPIClass::interruptMode = 0;
-uint8_t SPIClass::interruptMask = 0;
-uint8_t SPIClass::interruptSave = 0;
-#ifdef SPI_TRANSACTION_MISMATCH_LED
-uint8_t SPIClass::inTransactionFlag = 0;
-#endif
-
-void SPIClass::begin()
-{
-  uint8_t sreg = SREG;
-  noInterrupts(); // Protect from a scheduler and prevent transactionBegin
-  if (!initialized) {
-    // Set SS to high so a connected chip will be "deselected" by default
-    uint8_t port = digitalPinToPort(SS);
-    uint8_t bit = digitalPinToBitMask(SS);
-    volatile uint8_t *reg = portModeRegister(port);
-
-    // if the SS pin is not already configured as an output
-    // then set it high (to enable the internal pull-up resistor)
-    if(!(*reg & bit)){
-      digitalWrite(SS, HIGH);
-    }
-
-    // When the SS pin is set as OUTPUT, it can be used as
-    // a general purpose output port (it doesn't influence
-    // SPI operations).
-    pinMode(SS, OUTPUT);
-
-    // Warning: if the SS pin ever becomes a LOW INPUT then SPI
-    // automatically switches to Slave, so the data direction of
-    // the SS pin MUST be kept as OUTPUT.
-    SPCR |= _BV(MSTR);
-    SPCR |= _BV(SPE);
-
-    // Set direction register for SCK and MOSI pin.
-    // MISO pin automatically overrides to INPUT.
-    // By doing this AFTER enabling SPI, we avoid accidentally
-    // clocking in a single bit since the lines go directly
-    // from "input" to SPI control.
-    // http://code.google.com/p/arduino/issues/detail?id=888
-    pinMode(SCK, OUTPUT);
-    pinMode(MOSI, OUTPUT);
-  }
-  initialized++; // reference count
-  SREG = sreg;
-}
-
-void SPIClass::end() {
-  uint8_t sreg = SREG;
-  noInterrupts(); // Protect from a scheduler and prevent transactionBegin
-  // Decrease the reference counter
-  if (initialized)
-    initialized--;
-  // If there are no more references disable SPI
-  if (!initialized) {
-    SPCR &= ~_BV(SPE);
-    interruptMode = 0;
-    #ifdef SPI_TRANSACTION_MISMATCH_LED
-    inTransactionFlag = 0;
-    #endif
-  }
-  SREG = sreg;
-}
-
-// mapping of interrupt numbers to bits within SPI_AVR_EIMSK
-#if defined(__AVR_ATmega32U4__)
-  #define SPI_INT0_MASK  (1<<INT0)
-  #define SPI_INT1_MASK  (1<<INT1)
-  #define SPI_INT2_MASK  (1<<INT2)
-  #define SPI_INT3_MASK  (1<<INT3)
-  #define SPI_INT4_MASK  (1<<INT6)
-#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
-  #define SPI_INT0_MASK  (1<<INT0)
-  #define SPI_INT1_MASK  (1<<INT1)
-  #define SPI_INT2_MASK  (1<<INT2)
-  #define SPI_INT3_MASK  (1<<INT3)
-  #define SPI_INT4_MASK  (1<<INT4)
-  #define SPI_INT5_MASK  (1<<INT5)
-  #define SPI_INT6_MASK  (1<<INT6)
-  #define SPI_INT7_MASK  (1<<INT7)
-#elif defined(EICRA) && defined(EICRB) && defined(EIMSK)
-  #define SPI_INT0_MASK  (1<<INT4)
-  #define SPI_INT1_MASK  (1<<INT5)
-  #define SPI_INT2_MASK  (1<<INT0)
-  #define SPI_INT3_MASK  (1<<INT1)
-  #define SPI_INT4_MASK  (1<<INT2)
-  #define SPI_INT5_MASK  (1<<INT3)
-  #define SPI_INT6_MASK  (1<<INT6)
-  #define SPI_INT7_MASK  (1<<INT7)
-#else
-  #ifdef INT0
-  #define SPI_INT0_MASK  (1<<INT0)
-  #endif
-  #ifdef INT1
-  #define SPI_INT1_MASK  (1<<INT1)
-  #endif
-  #ifdef INT2
-  #define SPI_INT2_MASK  (1<<INT2)
-  #endif
-#endif
-
-void SPIClass::usingInterrupt(uint8_t interruptNumber)
-{
-  uint8_t mask = 0;
-  uint8_t sreg = SREG;
-  noInterrupts(); // Protect from a scheduler and prevent transactionBegin
-  switch (interruptNumber) {
-  #ifdef SPI_INT0_MASK
-  case 0: mask = SPI_INT0_MASK; break;
-  #endif
-  #ifdef SPI_INT1_MASK
-  case 1: mask = SPI_INT1_MASK; break;
-  #endif
-  #ifdef SPI_INT2_MASK
-  case 2: mask = SPI_INT2_MASK; break;
-  #endif
-  #ifdef SPI_INT3_MASK
-  case 3: mask = SPI_INT3_MASK; break;
-  #endif
-  #ifdef SPI_INT4_MASK
-  case 4: mask = SPI_INT4_MASK; break;
-  #endif
-  #ifdef SPI_INT5_MASK
-  case 5: mask = SPI_INT5_MASK; break;
-  #endif
-  #ifdef SPI_INT6_MASK
-  case 6: mask = SPI_INT6_MASK; break;
-  #endif
-  #ifdef SPI_INT7_MASK
-  case 7: mask = SPI_INT7_MASK; break;
-  #endif
-  default:
-    interruptMode = 2;
-    break;
-  }
-  interruptMask |= mask;
-  if (!interruptMode)
-    interruptMode = 1;
-  SREG = sreg;
-}
-
-void SPIClass::notUsingInterrupt(uint8_t interruptNumber)
-{
-  // Once in mode 2 we can't go back to 0 without a proper reference count
-  if (interruptMode == 2)
-    return;
-  uint8_t mask = 0;
-  uint8_t sreg = SREG;
-  noInterrupts(); // Protect from a scheduler and prevent transactionBegin
-  switch (interruptNumber) {
-  #ifdef SPI_INT0_MASK
-  case 0: mask = SPI_INT0_MASK; break;
-  #endif
-  #ifdef SPI_INT1_MASK
-  case 1: mask = SPI_INT1_MASK; break;
-  #endif
-  #ifdef SPI_INT2_MASK
-  case 2: mask = SPI_INT2_MASK; break;
-  #endif
-  #ifdef SPI_INT3_MASK
-  case 3: mask = SPI_INT3_MASK; break;
-  #endif
-  #ifdef SPI_INT4_MASK
-  case 4: mask = SPI_INT4_MASK; break;
-  #endif
-  #ifdef SPI_INT5_MASK
-  case 5: mask = SPI_INT5_MASK; break;
-  #endif
-  #ifdef SPI_INT6_MASK
-  case 6: mask = SPI_INT6_MASK; break;
-  #endif
-  #ifdef SPI_INT7_MASK
-  case 7: mask = SPI_INT7_MASK; break;
-  #endif
-  default:
-    break;
-    // this case can't be reached
-  }
-  interruptMask &= ~mask;
-  if (!interruptMask)
-    interruptMode = 0;
-  SREG = sreg;
-}
diff --git a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/SPI.h b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/SPI.h
deleted file mode 100644
index 1e37079..0000000
--- a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/SPI.h
+++ /dev/null
@@ -1,324 +0,0 @@
-/*
- * Copyright (c) 2010 by Cristian Maglie <c.maglie@arduino.cc>
- * Copyright (c) 2014 by Paul Stoffregen <paul@pjrc.com> (Transaction API)
- * Copyright (c) 2014 by Matthijs Kooijman <matthijs@stdin.nl> (SPISettings AVR)
- * Copyright (c) 2014 by Andrew J. Kroll <xxxajk@gmail.com> (atomicity fixes)
- * SPI Master library for arduino.
- *
- * This file is free software; you can redistribute it and/or modify
- * it under the terms of either the GNU General Public License version 2
- * or the GNU Lesser General Public License version 2.1, both as
- * published by the Free Software Foundation.
- */
-
-#ifndef _SPI_H_INCLUDED
-#define _SPI_H_INCLUDED
-
-#include <Arduino.h>
-
-// SPI_HAS_TRANSACTION means SPI has beginTransaction(), endTransaction(),
-// usingInterrupt(), and SPISetting(clock, bitOrder, dataMode)
-#define SPI_HAS_TRANSACTION 1
-
-// SPI_HAS_NOTUSINGINTERRUPT means that SPI has notUsingInterrupt() method
-#define SPI_HAS_NOTUSINGINTERRUPT 1
-
-// SPI_ATOMIC_VERSION means that SPI has atomicity fixes and what version.
-// This way when there is a bug fix you can check this define to alert users
-// of your code if it uses better version of this library.
-// This also implies everything that SPI_HAS_TRANSACTION as documented above is
-// available too.
-#define SPI_ATOMIC_VERSION 1
-
-// Uncomment this line to add detection of mismatched begin/end transactions.
-// A mismatch occurs if other libraries fail to use SPI.endTransaction() for
-// each SPI.beginTransaction().  Connect an LED to this pin.  The LED will turn
-// on if any mismatch is ever detected.
-//#define SPI_TRANSACTION_MISMATCH_LED 5
-
-#ifndef LSBFIRST
-#define LSBFIRST 0
-#endif
-#ifndef MSBFIRST
-#define MSBFIRST 1
-#endif
-
-#define SPI_CLOCK_DIV4 0x00
-#define SPI_CLOCK_DIV16 0x01
-#define SPI_CLOCK_DIV64 0x02
-#define SPI_CLOCK_DIV128 0x03
-#define SPI_CLOCK_DIV2 0x04
-#define SPI_CLOCK_DIV8 0x05
-#define SPI_CLOCK_DIV32 0x06
-
-#define SPI_MODE0 0x00
-#define SPI_MODE1 0x04
-#define SPI_MODE2 0x08
-#define SPI_MODE3 0x0C
-
-#define SPI_MODE_MASK 0x0C  // CPOL = bit 3, CPHA = bit 2 on SPCR
-#define SPI_CLOCK_MASK 0x03  // SPR1 = bit 1, SPR0 = bit 0 on SPCR
-#define SPI_2XCLOCK_MASK 0x01  // SPI2X = bit 0 on SPSR
-
-// define SPI_AVR_EIMSK for AVR boards with external interrupt pins
-#if defined(EIMSK)
-  #define SPI_AVR_EIMSK  EIMSK
-#elif defined(GICR)
-  #define SPI_AVR_EIMSK  GICR
-#elif defined(GIMSK)
-  #define SPI_AVR_EIMSK  GIMSK
-#endif
-
-class SPISettings {
-public:
-  SPISettings(uint32_t clock, uint8_t bitOrder, uint8_t dataMode) {
-    if (__builtin_constant_p(clock)) {
-      init_AlwaysInline(clock, bitOrder, dataMode);
-    } else {
-      init_MightInline(clock, bitOrder, dataMode);
-    }
-  }
-  SPISettings() {
-    init_AlwaysInline(4000000, MSBFIRST, SPI_MODE0);
-  }
-private:
-  void init_MightInline(uint32_t clock, uint8_t bitOrder, uint8_t dataMode) {
-    init_AlwaysInline(clock, bitOrder, dataMode);
-  }
-  void init_AlwaysInline(uint32_t clock, uint8_t bitOrder, uint8_t dataMode)
-    __attribute__((__always_inline__)) {
-    // Clock settings are defined as follows. Note that this shows SPI2X
-    // inverted, so the bits form increasing numbers. Also note that
-    // fosc/64 appears twice
-    // SPR1 SPR0 ~SPI2X Freq
-    //   0    0     0   fosc/2
-    //   0    0     1   fosc/4
-    //   0    1     0   fosc/8
-    //   0    1     1   fosc/16
-    //   1    0     0   fosc/32
-    //   1    0     1   fosc/64
-    //   1    1     0   fosc/64
-    //   1    1     1   fosc/128
-
-    // We find the fastest clock that is less than or equal to the
-    // given clock rate. The clock divider that results in clock_setting
-    // is 2 ^^ (clock_div + 1). If nothing is slow enough, we'll use the
-    // slowest (128 == 2 ^^ 7, so clock_div = 6).
-    uint8_t clockDiv;
-
-    // When the clock is known at compile time, use this if-then-else
-    // cascade, which the compiler knows how to completely optimize
-    // away. When clock is not known, use a loop instead, which generates
-    // shorter code.
-    if (__builtin_constant_p(clock)) {
-      if (clock >= F_CPU / 2) {
-        clockDiv = 0;
-      } else if (clock >= F_CPU / 4) {
-        clockDiv = 1;
-      } else if (clock >= F_CPU / 8) {
-        clockDiv = 2;
-      } else if (clock >= F_CPU / 16) {
-        clockDiv = 3;
-      } else if (clock >= F_CPU / 32) {
-        clockDiv = 4;
-      } else if (clock >= F_CPU / 64) {
-        clockDiv = 5;
-      } else {
-        clockDiv = 6;
-      }
-    } else {
-      uint32_t clockSetting = F_CPU / 2;
-      clockDiv = 0;
-      while (clockDiv < 6 && clock < clockSetting) {
-        clockSetting /= 2;
-        clockDiv++;
-      }
-    }
-
-    // Compensate for the duplicate fosc/64
-    if (clockDiv == 6)
-    clockDiv = 7;
-
-    // Invert the SPI2X bit
-    clockDiv ^= 0x1;
-
-    // Pack into the SPISettings class
-    spcr = _BV(SPE) | _BV(MSTR) | ((bitOrder == LSBFIRST) ? _BV(DORD) : 0) |
-      (dataMode & SPI_MODE_MASK) | ((clockDiv >> 1) & SPI_CLOCK_MASK);
-    spsr = clockDiv & SPI_2XCLOCK_MASK;
-  }
-  uint8_t spcr;
-  uint8_t spsr;
-  friend class SPIClass;
-};
-
-
-class SPIClass {
-public:
-  // Initialize the SPI library
-  static void begin();
-
-  // If SPI is used from within an interrupt, this function registers
-  // that interrupt with the SPI library, so beginTransaction() can
-  // prevent conflicts.  The input interruptNumber is the number used
-  // with attachInterrupt.  If SPI is used from a different interrupt
-  // (eg, a timer), interruptNumber should be 255.
-  static void usingInterrupt(uint8_t interruptNumber);
-  // And this does the opposite.
-  static void notUsingInterrupt(uint8_t interruptNumber);
-  // Note: the usingInterrupt and notUsingInterrupt functions should
-  // not to be called from ISR context or inside a transaction.
-  // For details see:
-  // https://github.com/arduino/Arduino/pull/2381
-  // https://github.com/arduino/Arduino/pull/2449
-
-  // Before using SPI.transfer() or asserting chip select pins,
-  // this function is used to gain exclusive access to the SPI bus
-  // and configure the correct settings.
-  inline static void beginTransaction(SPISettings settings) {
-    if (interruptMode > 0) {
-      uint8_t sreg = SREG;
-      noInterrupts();
-
-      #ifdef SPI_AVR_EIMSK
-      if (interruptMode == 1) {
-        interruptSave = SPI_AVR_EIMSK;
-        SPI_AVR_EIMSK &= ~interruptMask;
-        SREG = sreg;
-      } else
-      #endif
-      {
-        interruptSave = sreg;
-      }
-    }
-
-    #ifdef SPI_TRANSACTION_MISMATCH_LED
-    if (inTransactionFlag) {
-      pinMode(SPI_TRANSACTION_MISMATCH_LED, OUTPUT);
-      digitalWrite(SPI_TRANSACTION_MISMATCH_LED, HIGH);
-    }
-    inTransactionFlag = 1;
-    #endif
-
-    SPCR = settings.spcr;
-    SPSR = settings.spsr;
-  }
-
-  // Write to the SPI bus (MOSI pin) and also receive (MISO pin)
-  inline static uint8_t transfer(uint8_t data) {
-    SPDR = data;
-    /*
-     * The following NOP introduces a small delay that can prevent the wait
-     * loop form iterating when running at the maximum speed. This gives
-     * about 10% more speed, even if it seems counter-intuitive. At lower
-     * speeds it is unnoticed.
-     */
-    asm volatile("nop");
-    while (!(SPSR & _BV(SPIF))) ; // wait
-    return SPDR;
-  }
-  inline static uint16_t transfer16(uint16_t data) {
-    union { uint16_t val; struct { uint8_t lsb; uint8_t msb; }; } in, out;
-    in.val = data;
-    if (!(SPCR & _BV(DORD))) {
-      SPDR = in.msb;
-      asm volatile("nop"); // See transfer(uint8_t) function
-      while (!(SPSR & _BV(SPIF))) ;
-      out.msb = SPDR;
-      SPDR = in.lsb;
-      asm volatile("nop");
-      while (!(SPSR & _BV(SPIF))) ;
-      out.lsb = SPDR;
-    } else {
-      SPDR = in.lsb;
-      asm volatile("nop");
-      while (!(SPSR & _BV(SPIF))) ;
-      out.lsb = SPDR;
-      SPDR = in.msb;
-      asm volatile("nop");
-      while (!(SPSR & _BV(SPIF))) ;
-      out.msb = SPDR;
-    }
-    return out.val;
-  }
-  inline static void transfer(void *buf, size_t count) {
-    if (count == 0) return;
-    uint8_t *p = (uint8_t *)buf;
-    SPDR = *p;
-    while (--count > 0) {
-      uint8_t out = *(p + 1);
-      while (!(SPSR & _BV(SPIF))) ;
-      uint8_t in = SPDR;
-      SPDR = out;
-      *p++ = in;
-    }
-    while (!(SPSR & _BV(SPIF))) ;
-    *p = SPDR;
-  }
-  // After performing a group of transfers and releasing the chip select
-  // signal, this function allows others to access the SPI bus
-  inline static void endTransaction(void) {
-    #ifdef SPI_TRANSACTION_MISMATCH_LED
-    if (!inTransactionFlag) {
-      pinMode(SPI_TRANSACTION_MISMATCH_LED, OUTPUT);
-      digitalWrite(SPI_TRANSACTION_MISMATCH_LED, HIGH);
-    }
-    inTransactionFlag = 0;
-    #endif
-
-    if (interruptMode > 0) {
-      #ifdef SPI_AVR_EIMSK
-      uint8_t sreg = SREG;
-      #endif
-      noInterrupts();
-      #ifdef SPI_AVR_EIMSK
-      if (interruptMode == 1) {
-        SPI_AVR_EIMSK = interruptSave;
-        SREG = sreg;
-      } else
-      #endif
-      {
-        SREG = interruptSave;
-      }
-    }
-  }
-
-  // Disable the SPI bus
-  static void end();
-
-  // This function is deprecated.  New applications should use
-  // beginTransaction() to configure SPI settings.
-  inline static void setBitOrder(uint8_t bitOrder) {
-    if (bitOrder == LSBFIRST) SPCR |= _BV(DORD);
-    else SPCR &= ~(_BV(DORD));
-  }
-  // This function is deprecated.  New applications should use
-  // beginTransaction() to configure SPI settings.
-  inline static void setDataMode(uint8_t dataMode) {
-    SPCR = (SPCR & ~SPI_MODE_MASK) | dataMode;
-  }
-  // This function is deprecated.  New applications should use
-  // beginTransaction() to configure SPI settings.
-  inline static void setClockDivider(uint8_t clockDiv) {
-    SPCR = (SPCR & ~SPI_CLOCK_MASK) | (clockDiv & SPI_CLOCK_MASK);
-    SPSR = (SPSR & ~SPI_2XCLOCK_MASK) | ((clockDiv >> 2) & SPI_2XCLOCK_MASK);
-  }
-  // These undocumented functions should not be used.  SPI.transfer()
-  // polls the hardware flag which is automatically cleared as the
-  // AVR responds to SPI's interrupt
-  inline static void attachInterrupt() { SPCR |= _BV(SPIE); }
-  inline static void detachInterrupt() { SPCR &= ~_BV(SPIE); }
-
-private:
-  static uint8_t initialized;
-  static uint8_t interruptMode; // 0=none, 1=mask, 2=global
-  static uint8_t interruptMask; // which interrupts to mask
-  static uint8_t interruptSave; // temp storage, to restore state
-  #ifdef SPI_TRANSACTION_MISMATCH_LED
-  static uint8_t inTransactionFlag;
-  #endif
-};
-
-extern SPIClass SPI;
-
-#endif

From e70165caf858d2af6ecde6e3969f4cdf199def34 Mon Sep 17 00:00:00 2001
From: Arribe <47125808+Arribe@users.noreply.github.com>
Date: Mon, 8 Apr 2024 09:34:16 -0500
Subject: [PATCH 20/20] Fixed spelling

CI still doesn't work.
---
 .../4A9A1-THROTTLE_CONTROLLER.ino              |  8 ++++----
 .../4A9A1A1-THROTTLE_INNER_GRIP.ino            | 18 +++++++++---------
 2 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
index 0a16f47..cb67358 100644
--- a/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
+++ b/embedded/OH4_Left_Console/4A9A1-THROTTLE_CONTROLLER/4A9A1-THROTTLE_CONTROLLER.ino
@@ -112,12 +112,12 @@
 
 /** 
 * Inner grip control with index 
-* CAGE_UNCAGE, SPEEDBREAK_RETRACT, SPEEDBREAK_EXTEND, COUNTERMEASURES_AFT, COUNTERMEASURES_FWD, D, C, B, A, PUSH, JOY_SW, JOY_X, JOY_Y, ANTENNA_ELEVATION
+* CAGE_UNCAGE, SPEEDBRAKE_RETRACT, SPEEDBRAKE_EXTEND, COUNTERMEASURES_AFT, COUNTERMEASURES_FWD, D, C, B, A, PUSH, JOY_SW, JOY_X, JOY_Y, ANTENNA_ELEVATION
 *
 */
 #define CAGE_UNCAGE 0
-#define SPEEDBREAK_RETRACT 1
-#define SPEEDBREAK_EXTEND 2
+#define SPEEDBRAKE_RETRACT 1
+#define SPEEDBRAKE_EXTEND 2
 #define COUNTERMEASURES_AFT 3
 #define COUNTERMEASURES_FWD 4
 #define D 5
@@ -272,7 +272,7 @@ void setup() {
 *  `Joystick.setRxAxis(mapHallSensor(outboardThrottle.readRawAngle21(), 0, 750000, 0, 65535));`
 *
 * @note Inner grip values sent to throttle controller in this order: 
-* CAGE_UNCAGE, SPEEDBREAK_RETRACT, SPEEDBREAK_EXTEND, COUNTERMEASURES_AFT, COUNTERMEASURES_FWD, D, C, B, A, PUSH, JOY_SW,
+* CAGE_UNCAGE, SPEEDBRAKE_RETRACT, SPEEDBRAKE_EXTEND, COUNTERMEASURES_AFT, COUNTERMEASURES_FWD, D, C, B, A, PUSH, JOY_SW,
 * JOY_X, JOY_Y, ANTENNA_ELEVATION
 */
 void loop() {
diff --git a/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino b/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino
index 5c5eab3..1475914 100644
--- a/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino
+++ b/embedded/OH4_Left_Console/4A9A1A1-THROTTLE_INNER_GRIP/4A9A1A1-THROTTLE_INNER_GRIP.ino
@@ -48,8 +48,8 @@
  * PIN | Function
  * --- | ---
  * 2   | CAGE_UNCAGE
- * 3   | SPEEDBREAK_RETRACT
- * 4   | SPEEDBREAK_EXTEND
+ * 3   | SPEEDBRAKE_RETRACT
+ * 4   | SPEEDBRAKE_EXTEND
  * 7   | COUNTERMEASURES_AFT
  * 8   | COUNTERMEASURES_FWD
  * 9   | PUSH - coms switch
@@ -70,8 +70,8 @@
 
 // Define pins inner grip pro-mini
 #define CAGE_UNCAGE 2          ///< CAGE_UNCAGE
-#define SPEEDBREAK_RETRACT 3   ///< SPEEDBREAK_RETRACT
-#define SPEEDBREAK_EXTEND 4    ///< SPEEDBREAK_EXTEND
+#define SPEEDBRAKE_RETRACT 3   ///< SPEEDBRAKE_RETRACT
+#define SPEEDBRAKE_EXTEND 4    ///< SPEEDBRAKE_EXTEND
 #define COUNTERMEASURES_AFT 7  ///< COUNTERMEASURES_AFT
 #define COUNTERMEASURES_FWD 8  ///< COUNTERMEASURES_FWD
 #define PUSH 9                 ///< PUSH - coms switch
@@ -101,8 +101,8 @@ void setup() {
 
 
   pinMode(CAGE_UNCAGE, INPUT_PULLUP);
-  pinMode(SPEEDBREAK_RETRACT, INPUT_PULLUP);
-  pinMode(SPEEDBREAK_EXTEND, INPUT_PULLUP);
+  pinMode(SPEEDBRAKE_RETRACT, INPUT_PULLUP);
+  pinMode(SPEEDBRAKE_EXTEND, INPUT_PULLUP);
   pinMode(COUNTERMEASURES_AFT, INPUT_PULLUP);
   pinMode(COUNTERMEASURES_FWD, INPUT_PULLUP);
   pinMode(ANTENNA_ELEVATION, INPUT_PULLUP);
@@ -134,7 +134,7 @@ void loop() {
 * so the controller can properly reassemble the 2 byte numeric value.
 *
 * Passes inner grip reads to throttle controller in this order: 
-* CAGE_UNCAGE, SPEEDBREAK_RETRACT, SPEEDBREAK_EXTEND, COUNTERMEASURES_AFT, COUNTERMEASURES_FWD, D, C, B, A, PUSH, JOY_SW,
+* CAGE_UNCAGE, SPEEDBRAKE_RETRACT, SPEEDBRAKE_EXTEND, COUNTERMEASURES_AFT, COUNTERMEASURES_FWD, D, C, B, A, PUSH, JOY_SW,
 * JOY_X, JOY_Y, ANTENNA_ELEVATION
 *
 *  @note There is minimal logic for the inner grip pro-mini given the extra steps for reprogramming.
@@ -143,8 +143,8 @@ void loop() {
 void requestEvent() {
 
   Wire.write(!digitalRead(CAGE_UNCAGE));
-  Wire.write(!digitalRead(SPEEDBREAK_RETRACT));
-  Wire.write(!digitalRead(SPEEDBREAK_EXTEND));
+  Wire.write(!digitalRead(SPEEDBRAKE_RETRACT));
+  Wire.write(!digitalRead(SPEEDBRAKE_EXTEND));
   Wire.write(!digitalRead(COUNTERMEASURES_AFT));
   Wire.write(!digitalRead(COUNTERMEASURES_FWD));
   Wire.write(!digitalRead(D));