Orientation

components/rpc/include/CommunicationRouter.h

@@ -9,6 +9,7 @@
 #include <functional>
 #include <memory>
 #include <chrono>
+#include <OrientationDetection.h>
 #include <WifiManager.h>
 
 #include "freertos/FreeRTOS.h"
@@ -40,6 +41,7 @@ public:
             m_pc_connection(std::move(pc_connection)),
             m_module_id(ConfigManager::get_module_id()),
             m_last_leader_updated(std::chrono::system_clock::now()){
+        OrientationDetection::init();
         update_leader();
 
         xTaskCreate(router_thread, "communication_router", 4096, this, 3, &this->m_router_thread);

components/rpc/include/OrientationDetection.h

@@ -0,0 +1,20 @@
+//
+// Created by Johnathon Slightham on 2025-07-26.
+//
+
+#ifndef ORIENTATIONDETECTION_H
+#define ORIENTATIONDETECTION_H
+#include <flatbuffers_generated/RobotModule_generated.h>
+#include "driver/gpio.h"
+
+class OrientationDetection {
+public:
+    static void init();
+    static Orientation get_orientation(uint8_t channel);
+
+private:
+    static void setup_gpio(gpio_num_t pin);
+
+};
+
+#endif //ORIENTATIONDETECTION_H