Merge branch 'master' of git.lekensteyn.nl:tue/5XIB0-Venus/code

7 files changed, 74 insertions, 55 deletions

diff --git a/.gitignore b/.gitignore
index 4fe7862..492658d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,3 +2,4 @@
 .*.sw?
 __pycache__/
 *.py[oc]
+bin/
diff --git a/Venus_Skeleton/Makefile b/Venus_Skeleton/Makefile
index c2c5198..f150b58 100644
--- a/Venus_Skeleton/Makefile
+++ b/Venus_Skeleton/Makefile
@@ -1,35 +1,16 @@
-#CC = /usr/share/arduino/hardware/tools/avr/bin/avr-gcc
-CC = avr-gcc
-WFLAGS = -Wall -Wextra -Wno-attributes
-WFLAGS += -fdiagnostics-color=auto
-EXTRA_CFLAGS = $(shell cat .syntastic_c_config) -O2 $(CFLAGS)
 
-MY_SOURCES = Venus_Skeleton.ino comm.cpp
-MY_OBJECTS = $(patsubst %.cpp,%.o,$(patsubst %.ino,%.o,$(MY_SOURCES)))
-LIBS_SOURCES = $(wildcard libs/*/*.cpp)
-LIBS_OBJECTS = $(patsubst %.cpp,%.o,$(LIBS_SOURCES))
-SOURCES = $(MY_SOURCES) $(LIBS_SOURCES)
-OBJECTS = $(MY_OBJECTS) $(LIBS_OBJECTS)
-PROGRAM ?= main
+PROJECT = Venus_Skeleton
+ARDUINO_MODEL = uno
+#PORT = /dev/ttyACM*
+ARDUINO = 163
+#ARDUINO_DIR =	/usr/share/arduino
+#ARDUINO_VARIANT = $(ARDUINO_DIR)/hardware/arduino/avr/variants/standard
 
-_V_0 = @
-_V = $(_V_$(V))
+ARDUINO_LIBS = Serial Servo Wire
+USER_LIBDIR = ./libs
+USER_LIBS = HMC5883L IRremote TrueRandom
 
-.PHONY: main clean check
-check:
-	rm -f $(MY_OBJECTS)
-	$(MAKE) $(MY_OBJECTS)
-# Note: does not compile due to link errors.
-$(PROGRAM): $(OBJECTS)
-	$(_V)$(CC) $(WFLAGS) $(EXTRA_CFLAGS) $(OBJECTS) -o $@
+CEXTRA = -fdiagnostics-color=auto
+#CEXTRA += -Wall -Wextra -Wno-attributes
 
-clean:
-	$(_V)rm -f $(PROGRAM) $(OBJECTS)
-
-# Not my code...
-libs/%.o: libs/%.cpp
-	$(_V)$(CC) -w $(EXTRA_CFLAGS) -c -o $@ $<
-%.o: %.cpp
-	$(_V)$(CC) $(WFLAGS) $(EXTRA_CFLAGS) -c -o $@ $<
-%.o: %.ino
-	$(_V)$(CC) $(WFLAGS) $(EXTRA_CFLAGS) -c -x c++ -o $@ $<
+include ~/Arduino/arduino-makefile/Makefile
diff --git a/Venus_Skeleton/Venus_Skeleton.ino b/Venus_Skeleton/Venus_Skeleton.ino
index f766a75..82ebc3d 100644
--- a/Venus_Skeleton/Venus_Skeleton.ino
+++ b/Venus_Skeleton/Venus_Skeleton.ino
@@ -16,14 +16,6 @@
 // 2		Error: Sensor Obstacle detection on the turret
 // 3		Error: Sensor IR Line detection
 
-#define DEBUG true
-
-#ifdef DEBUG
-#define DEBUG_PRINT(str) Serial.print(str)
-#else
-#define DEBUG_PRINT(str) do { } while (0)
-#endif
-
 #include <Servo.h>
 #include <HMC5883L.h>
 #include <Wire.h>
@@ -43,6 +35,24 @@
 #include "calibration_wall-e.h"
 //#include "calibration.eve.h"
 
+#include "comm.h"
+
+// set 0 to disable debugging
+// set 1 for debugging with Serial.print (default)
+// set 2 for debugging over RPi serial
+#ifndef DEBUG
+# define DEBUG 1
+#endif
+
+#if DEBUG == 1
+# define DEBUG_PRINT(str) Serial.print(str)
+#elif DEBUG == 2
+# define DEBUG_PRINT(str) serial_print_debug(str)
+#else
+# define DEBUG_PRINT(str) do { } while (0)
+#endif
+
+
 
 // *****************
 // ** DEFINITIONS **
@@ -93,10 +103,10 @@ int currValDirection = 0;
 int currValDirectionDegree = 0;
 
 // Timers
-long timerMovementStart = 0;
-long timerMovementStop = 0;
-long timerInitialSequence = 0;
-long timerTurret = 0;
+unsigned long timerMovementStart = 0;
+unsigned long timerMovementStop = 0;
+//unsigned long timerInitialSequence = 0; // TODO unused?
+unsigned long timerTurret = 0;
 
 // Counters
 int counterInit = 0;
@@ -264,20 +274,17 @@ float sensMagnetometer() {
 	return(north);                                // Returns angle difference
 }
 void sensCompass() {
-	int degree = -1;
-	float reading[NUM_COMPASS_CHECKS];
+	int degree;
 	float readingtotal = 0;
 	
+	// take multiple samples and use the average
 	for(int i = 0; i < NUM_COMPASS_CHECKS; i++){
 		readingtotal += sensMagnetometer();
 	}
 	
-	readingtotal /= NUM_COMPASS_CHECKS;
-  
-	if (readingtotal >= 0 && readingtotal <= 360)
-		degree = (int) readingtotal;
-	
-	if (data.compass != degree) {
+	// if compass reading is sane, save it.
+	degree = readingtotal / NUM_COMPASS_CHECKS;
+	if (degree >= 0 && degree <= 360 && data.compass != degree) {
 		data.compass = degree;
 		// mark as changed
 		dataToPiChangedBits |= CHANGED_SENS_COMPASS;
@@ -404,6 +411,7 @@ int sensIRRemote() {
 	}
 	return LabFound;
 }
+
 void sensBeaconTurret() {
 	// BE AWARE, LOCALISATION OF OBSTACLE IS y DISTANCE FROM CENTER OF ROBOT 
 	// (creates triangle with centerOfRobot, centerOfSensor and Obstacle as its corners)
@@ -456,9 +464,9 @@ void stopAllServos() {
 	timerMovementStop = 0;
 }
 
-bool moveTurnTo(int direction) {
+void moveTurnTo(int direction) {
 	if (direction == 0 || direction == NUM_DIRECTIONS) {
-		return true;
+		return;
 	}
 	
 	// Make sure turret doesn't move
@@ -777,7 +785,8 @@ void checkSample() {
 	}
 }
 
-bool confirmSample(int turretVal) {
+void confirmSample(int turretVal) {
+	// TODO use turretVal
 	if (!counterSampleConfirm) {
 		stopAllServos();
 		// Turret direction in degrees calculated from forward. (negative is left, positive is right)
diff --git a/Venus_Skeleton/calibration_wall-e.h b/Venus_Skeleton/calibration_wall-e.h
index 16e0ebe..c859a84 100644
--- a/Venus_Skeleton/calibration_wall-e.h
+++ b/Venus_Skeleton/calibration_wall-e.h
@@ -1,3 +1,5 @@
+#ifndef CALIBRATION_WALL_E_H
+#define CALIBRATION_WALL_E_H
 // WALLY configuration file
 
 #define calObstacleTurretMaxDist 50
@@ -27,4 +29,6 @@
 
 #define CAL_TURRET_TO_CENTER_DIST 6
 
-#define CAL_SAMPLE_TURRET_MAX_DIST 27
\ No newline at end of file
+#define CAL_SAMPLE_TURRET_MAX_DIST 27
+
+#endif /* !CALIBRATION_WALL_E_H */
diff --git a/Venus_Skeleton/comm.h b/Venus_Skeleton/comm.h
index 7f3b43c..bca5aab 100644
--- a/Venus_Skeleton/comm.h
+++ b/Venus_Skeleton/comm.h
@@ -1,3 +1,6 @@
+#ifndef COMM_H
+#define COMM_H
+
 typedef enum {
 	RESET1      = 0x81,
 	RESET2      = 0x82,
@@ -26,3 +29,19 @@ extern serial_state_t serial_state;
 
 void handle_serial(data_t *data, int changedBits);
 void serial_print_debug(const char *str);
+
+/* simple wrappers for Serial.print compatibility */
+static inline void serial_print_debug(String str) {
+	serial_print_debug(str.c_str());
+}
+static inline void serial_print_debug(int n) {
+	serial_print_debug(String(n));
+}
+static inline void serial_print_debug(long n) {
+	serial_print_debug(String(n));
+}
+static inline void serial_print_debug(float n) {
+	serial_print_debug(String(n));
+}
+
+#endif /* !COMM_H */
diff --git a/Venus_Skeleton/comm.cpp b/Venus_Skeleton/comm.ino
index d60138e..d60138e 100644
--- a/Venus_Skeleton/comm.cpp
+++ b/Venus_Skeleton/comm.ino
diff --git a/Venus_Skeleton/dataTypes.h b/Venus_Skeleton/dataTypes.h
index f19eaf5..2f2aa69 100644
--- a/Venus_Skeleton/dataTypes.h
+++ b/Venus_Skeleton/dataTypes.h
@@ -1,3 +1,6 @@
+#ifndef DATATYPES_H
+#define DATATYPES_H
+
 // ****************
 // ** Data types **
 // ****************
@@ -63,3 +66,5 @@ typedef enum {
 	OPMODE_LABSEQUENCE,
 	OPMODE_ERROR
 } opmode_t;
+
+#endif /* !DATATYPES_H */