Changed some structure and fixed some compile errors

Some C++ structures don't work for Arduino, unless you put them in a header file.

3 files changed, 132 insertions, 92 deletions

diff --git a/Venus_Skeleton/Venus_Skeleton.ino b/Venus_Skeleton/Venus_Skeleton.ino
index 9b4dd54..9b18248 100644
--- a/Venus_Skeleton/Venus_Skeleton.ino
+++ b/Venus_Skeleton/Venus_Skeleton.ino
@@ -17,13 +17,14 @@
 // 3		Error: Sensor IR Line detection
 
 #include <Servo.h>
+#include "dataTypes.h"
 
 // **********************
 // ** Calibration file **
 // **********************
 
 // Include Wally of Eve, (un)comment the right one.
-#include "calibration.wall-e.h"
+#include "calibration_wall-e.h"
 //#include "calibration.eve.h"
 
 
@@ -32,7 +33,6 @@
 // *****************
 
 // Pin configuration
-#
 #define PIN_SENS_COMPASS
 #define PIN_SENS_OBSTACLE_TURRET 9
 #define PIN_SENS_IR_LEFT A1
@@ -48,61 +48,10 @@
 Servo servoLeft;	// Declare left servo signal
 Servo servoRight;	// Declare right servo signal
 
-// Types
-
-// Sensor data
-typedef struct {
-	// ir
-	bool IR_left_detected;
-	bool IR_right_detected; // usually an integer (16-bit)
-	bool sample_turret_detected;
-	bool sample_gripper_detected;
-	int distance; // 16-bit
-	// ..
-	long timer; // 32-bit
-} sensor_data_t;
-
-enum {
-	CHANGED_SENS_COMPASS = 1 << 0,
-	CHANGED_SENS_OBSTACLETURRET = 1 << 1,
-	CHANGED_SENS_IRLEFT = 1 << 2,
-	CHANGED_SENS_IRRIGHT = 1 << 3,
-	CHANGED_SENS_SAMPLETURRET = 1 << 4,
-	CHANGED_SENS_SAMPLEGRIPPER = 1 << 5
-};
-
+// Raspberry PI data variables
 sensor_data_t data;
 int dataToPiChangedBits = 0;
 
-
-// Raspberry Pi Data type declarations
-typedef enum {
-	PI_DATATYPE_COMPASS, 
-	PI_DATATYPE_OBSTACLETURRET, 
-	PI_DATATYPE_IRLEFT, 
-	PI_DATATYPE_IRRIGHT, 
-	PI_DATATYPE_SAMPLETURRET, 
-	PI_DATATYPE_SAMPLEGRIPPER, 
-	PI_DATATYPE_BEACONTURRET, 
-	PI_DATATYPE_LAB, 
-	PI_DATATYPE_MOVETO, 
-	PI_DATATYPE_GRIPPER, 
-	PI_DATATYPE_TURRET
-} pi_datatype_t;
-// Operation modes
-typedef enum {
-	OPMODE_WAIT,
-	OPMODE_INITIALSEQUENCE,
-	OPMODE_RANDOM,
-	OPMODE_MAPPING,
-	OPMODE_CHECKSAMPLE,
-	OPMODE_GRABSAMPLE,
-	OPMODE_GOTOLABLOCATION,
-	OPMODE_WAITFORLAB,
-	OPMODE_FINDMAGNET,
-	OPMODE_LABSEQUENCE
-} opmode_t;
-
 // Current operation mode
 opmode_t operationMode = OPMODE_WAIT;
 unsigned long operationChange = 0;
@@ -135,22 +84,10 @@ int counterMovement = 0;
 // **********************
 
 // sendData to Raspberry Pi
-void sendData(pi_datatype_t method, int data, int data1 = null, int data2 = null) {
+void sendData(pi_datatype_t method, int data, int data1 = NULL, int data2 = NULL, int data3 = NULL) {
   
 }
 
-// receive data from Raspberry Pi
-// sequence = ... ?????
-void readData() {
-  
-	// if data received -> interpretate it
-	// change operation mode + update timer
-	operationMode = OPMODE_WAIT;
-	operationChange = millis();
-	// for example:
-	interpretData(PI_DATATYPE_MOVETO, 0);
-}
-
 void interpretData(pi_datatype_t dataType, int message) {
   switch(dataType) {
     case PI_DATATYPE_MOVETO:
@@ -168,6 +105,18 @@ void interpretData(pi_datatype_t dataType, int message) {
   }
 }
 
+// receive data from Raspberry Pi
+// sequence = ... ?????
+void readData() {
+  
+	// if data received -> interpretate it
+	// change operation mode + update timer
+	operationMode = OPMODE_WAIT;
+	operationChange = millis();
+	// for example:
+	interpretData(PI_DATATYPE_MOVETO, 0);
+}
+
 
 // **********************
 // ** SENSOR FUNCTIONS **
@@ -190,11 +139,11 @@ int sensObstacleTurret() {
 }
 
 // sensor IR, line detection
-bool sensIRLine(char LorR) {
+bool sensIRLine(lr_t LorR) {
   int i;
 	bool inaccessible = false;
   
-	if (LorR == 'L') {
+	if (LorR == L) {
 	  i = analogRead(PIN_SENS_IR_LEFT);
 	  if (i > CAL_IR_LEFT_THRESHOLD)
 	    inaccessible = true;
@@ -208,7 +157,7 @@ bool sensIRLine(char LorR) {
 	  return inaccessible;
 	} 
 	
-	if (LorR == 'R') {
+	if (LorR == R) {
 	  i = analogRead(PIN_SENS_IR_RIGHT);
 	  if (i > CAL_IR_RIGHT_THRESHOLD)
 	    inaccessible = true;
@@ -306,7 +255,7 @@ bool moveTurnTo(int direction) {
 	}
 }
 
-void moveStraight(int direction) {
+void moveStraight(int direction, int distance) {
 	if (direction != 0 && direction != NUM_DIRECTIONS) {
 		return;
 	}
@@ -324,7 +273,7 @@ void opMode(opmode_t opmode) {
 }
 
 void checkFreePath() {
-	if ((dataToPiChangedBits & (CHANGED_SENS_IRLEFT | CHANGED_SENS_IRRIGHT))) && (data.IR_left_detected || data.IR_right_detected)) {
+	if ((dataToPiChangedBits & (CHANGED_SENS_IRLEFT | CHANGED_SENS_IRRIGHT)) && (data.IR_left_detected || data.IR_right_detected)) {
 		// Left or Right IR sensor sees inaccessible terrain
 		opMode(OPMODE_WAIT);
 		stopMovement();
@@ -335,8 +284,6 @@ void checkFreePath() {
 }
 
 int checkBestRoute() {
-	// IMPLEMENT SOME TIMER HERE...
-	// DON'T RUN EVERY TIME, TOO MUCH JITTER THEN
 	// possibly use time instead of boolean values, to remember them, default value = default time, possible to let pi change this
 	// possibly change directionArray to global variable
 	if (counterMovement) {
@@ -372,7 +319,7 @@ int eliminateDirections(int directionArray[]) {
 	
 	for (int i = 0; i < NUM_DIRECTIONS * 2; i++) {
 		// LINE PANIC! If a line is detected on the left, only a right turn is allowed between 90deg and 180deg
-		if (data.IR_left_detected && ( (i < ((float)NUM_DIRECTIONS / 4.0) + NUM_DIRECTIONS) || (i > ((float)NUM_DIRECTIONS / 4.0) * 2.0 + NUM_DIRECTIONS)) )) {
+		if (data.IR_left_detected && ((i < ((float)NUM_DIRECTIONS / 4.0) + NUM_DIRECTIONS) || (i > ((float)NUM_DIRECTIONS / 4.0) * 2.0 + NUM_DIRECTIONS)) ) {
 			directionArray[i] = 0;
 		}
 		// LINE PANIC! If a line is detected on the right, only a left turn is allowed between 90deg and 180deg
@@ -400,7 +347,7 @@ int eliminateDirections(int directionArray[]) {
 }
 
 void checkSample() {
-	if ((dataToPiChangedBits & (CHANGED_SENS_SAMPLETURRET | CHANGED_SENS_SAMPLEGRIPPER))) && (data.sample_turret_detected || data.sample_gripper_detected)) {
+	if ((dataToPiChangedBits & (CHANGED_SENS_SAMPLETURRET | CHANGED_SENS_SAMPLEGRIPPER)) && (data.sample_turret_detected || data.sample_gripper_detected)) {
 		// One of the turret sees a sample (or the lab)
 		opMode(OPMODE_CHECKSAMPLE);
 		stopAllServos();
@@ -433,8 +380,8 @@ void setup() {
 void loop() {
 	sensCompass();
 	sensObstacleTurret();
-	sensIRLine('L');
-	sensIRLine('R');
+	sensIRLine(L);
+	sensIRLine(R);
 	sensSampleTurret();
 	sensSampleGripper();
 	sensBeaconTurret();
@@ -445,7 +392,7 @@ void loop() {
 	
 	// calculateLocation();
 	
-	sendData();
+	sendData(PI_DATATYPE_ALL, 'lala', 'lala');
 	dataToPiChangedBits = 0; // Clear changed bits
 	readData();
 	
@@ -463,26 +410,45 @@ void loop() {
 	
 	switch(operationMode) {
 		case OPMODE_WAIT:
+			counterMovement = 0;
+			timerMovement = 0;
+			break;
+		case OPMODE_INITIALSEQUENCE:
+			
+			break;
+		case OPMODE_RANDOM:
 			
 			break;
-		// ...
 		case OPMODE_MAPPING:
 			checkBestRoute();
 			moveTurnTo(currValDirection);
-			moveStraight(currValDirection, SOMEDISTANCE!!!!!!!!!!!!!);
+			moveStraight(currValDirection, 1); // 1 is supposed to be some distance / time
 			break;
 		case OPMODE_CHECKSAMPLE:
 			
 			break;
+		case OPMODE_GRABSAMPLE:
+			
+			break;
+		case OPMODE_GOTOLABLOCATION:
+			
+			break;
+		case OPMODE_WAITFORLAB:
+			
+			break;
+		case OPMODE_FINDMAGNET:
+			
+			break;
+		case OPMODE_LABSEQUENCE:
+			
+			break;
+		default:
+			// ??
+			break;
 	}
-	// Operations (probably in a switch or something, according to operation modes)
-	// Opmode WAIT: set counterMovement to zero
-	//							set timerMovement to zero
-	checkBestRoute();
-	moveTurnTo(currValDirection);
-	moveStraight(currValDirection, SOMEDISTANCE!!!!!!!!!!!!!);
-	
 	
+	// Delay for stability.
+	delay(20);
 }
 
 // **********************
@@ -490,10 +456,24 @@ void loop() {
 // **********************
 
 // error helper
-error(int errorCode) {
-	opMode(OPMODE_WAIT);
+void error(int errorCode) {
+	opMode(OPMODE_ERROR);
 	stopAllServos();
-	//errorSequence();
+	errorSequence(errorCode);
+}
+void errorSequence(int errorCode) {
+	while(1) {
+		// - move turret to middle (fast)
+		// - move turret to left (slow)
+		// - move turret to middle (slow)
+		delay(1000);
+		for(int i = 0; i < errorCode; i++) {
+			// - move turret to right (fast)
+			// - move turret to middle (fast)
+			delay(500);
+		}
+		delay(3000);
+	}
 }
 
 long microsecondsToInches(long microseconds)
@@ -570,4 +550,4 @@ if ((changedBits & (CHANGED_IR_LEFT | CHANGED_IR_RIGHT))) &&
 // 3. send to pi or other calculations (and clear bits)
 sendData(PIN_IR_LEFT, data.left_detected);
 // clear bits
-changedBits &= ~CHANGED_IR_LEFT;
\ No newline at end of file
+changedBits &= ~CHANGED_IR_LEFT;dataTypes.h
\ No newline at end of file
diff --git a/Venus_Skeleton/calibration.wall-e.h b/Venus_Skeleton/calibration_wall-e.h
index a7adf7a..a7adf7a 100644
--- a/Venus_Skeleton/calibration.wall-e.h
+++ b/Venus_Skeleton/calibration_wall-e.h
diff --git a/Venus_Skeleton/dataTypes.h b/Venus_Skeleton/dataTypes.h
new file mode 100644
index 0000000..374f23b
--- /dev/null
+++ b/Venus_Skeleton/dataTypes.h
@@ -0,0 +1,60 @@
+// ****************
+// ** Data types **
+// ****************
+
+// Left and Right
+typedef enum {
+	L,
+	R
+} lr_t;
+
+// Sensor data
+typedef struct {
+	// ir
+	bool IR_left_detected;
+	bool IR_right_detected; // usually an integer (16-bit)
+	bool sample_turret_detected;
+	bool sample_gripper_detected;
+	int distance; // 16-bit
+	// ..
+	long timer; // 32-bit
+} sensor_data_t;
+enum {
+	CHANGED_SENS_COMPASS = 1 << 0,
+	CHANGED_SENS_OBSTACLETURRET = 1 << 1,
+	CHANGED_SENS_IRLEFT = 1 << 2,
+	CHANGED_SENS_IRRIGHT = 1 << 3,
+	CHANGED_SENS_SAMPLETURRET = 1 << 4,
+	CHANGED_SENS_SAMPLEGRIPPER = 1 << 5
+};
+
+// Raspberry Pi Data type declarations
+typedef enum {
+	PI_DATATYPE_COMPASS, 
+	PI_DATATYPE_OBSTACLETURRET, 
+	PI_DATATYPE_IRLEFT, 
+	PI_DATATYPE_IRRIGHT, 
+	PI_DATATYPE_SAMPLETURRET, 
+	PI_DATATYPE_SAMPLEGRIPPER, 
+	PI_DATATYPE_BEACONTURRET, 
+	PI_DATATYPE_LAB, 
+	PI_DATATYPE_MOVETO, 
+	PI_DATATYPE_GRIPPER, 
+	PI_DATATYPE_TURRET,
+	PI_DATATYPE_ALL
+} pi_datatype_t;
+
+// Operation modes
+typedef enum {
+	OPMODE_WAIT,
+	OPMODE_INITIALSEQUENCE,
+	OPMODE_RANDOM,
+	OPMODE_MAPPING,
+	OPMODE_CHECKSAMPLE,
+	OPMODE_GRABSAMPLE,
+	OPMODE_GOTOLABLOCATION,
+	OPMODE_WAITFORLAB,
+	OPMODE_FINDMAGNET,
+	OPMODE_LABSEQUENCE,
+	OPMODE_ERROR
+} opmode_t;