From 9547cf935b4d86d00414805310fbeaa15f547e52 Mon Sep 17 00:00:00 2001
From: u-siri-ous <sanninosiria@gmail.com>
Date: Mon, 18 Nov 2019 15:07:46 +0100
Subject: [PATCH] Using enums instead of ints for transmission protocols

---
 include/data_source.h      | 11 ++++++-----
 include/data_source_ball.h |  2 +-
 src/data_source.cpp        | 25 ++++++++++++-------------
 src/data_source_ball.cpp   |  2 +-
 src/data_source_bno055.cpp |  2 +-
 src/main.cpp               |  3 ++-
 src/sensors.cpp            |  2 +-
 7 files changed, 24 insertions(+), 23 deletions(-)

diff --git a/include/data_source.h b/include/data_source.h
index f5596b8..6952b68 100644
--- a/include/data_source.h
+++ b/include/data_source.h
@@ -9,8 +9,8 @@ class DataSource {
 
     public:
         DataSource();
-        DataSource(usb_serial_class, int);
-        DataSource(TwoWire);
+        DataSource(HardwareSerial*, int);
+        DataSource(TwoWire*);
         DataSource(int, bool);
 
     public: 
@@ -23,17 +23,18 @@ class DataSource {
 
     public:
         enum Protocols {
+            P_NULL,
             P_I2C,
             P_RXTX,
             P_APIN,
-            P_PIND            
+            P_DPIN            
         };
         
-        usb_serial_class* ser;
+        HardwareSerial* ser;
         TwoWire* i2c;
 
+        Protocols protocol;
         int pin;
-        int protocol;
         int value;
         
 
diff --git a/include/data_source_ball.h b/include/data_source_ball.h
index 857df3e..c6b7886 100644
--- a/include/data_source_ball.h
+++ b/include/data_source_ball.h
@@ -3,7 +3,7 @@
 class DataSourceBall : public DataSource{
 
     public:
-        DataSourceBall(usb_serial_class ser, int baud);
+        DataSourceBall(HardwareSerial* ser, int baud);
         void postProcess() override;
         void test() override;
         int angle,distance;
diff --git a/src/data_source.cpp b/src/data_source.cpp
index 9324adf..56535c9 100644
--- a/src/data_source.cpp
+++ b/src/data_source.cpp
@@ -1,29 +1,28 @@
 #include "data_source.h"
 
 DataSource::DataSource(void){
-    protocol = 0;
+    protocol = P_NULL;
 }
 
-DataSource::DataSource(TwoWire i2c_){
-    
-    this->i2c = &(i2c_);
-    protocol = 1;
-    
+DataSource::DataSource(TwoWire* i2c_){
+    protocol = P_I2C;
+    this->i2c = i2c_;    
     i2c->begin();
-
 }
 
-DataSource::DataSource(usb_serial_class ser_, int baud){
-    this->ser = &(ser_);
-    protocol = 2;
-    
+DataSource::DataSource(HardwareSerial* ser_, int baud){
+    protocol = P_RXTX;
+    this->ser = ser_;    
     ser->begin(baud);
 }
 
 DataSource::DataSource(int pin_, bool analog){
     this->pin = pin_;
-    if(analog) protocol = 3;
-    else protocol = 4;
+    if(analog) protocol = P_APIN;
+    else {
+        protocol = P_DPIN;
+        digitalWrite(pin, OUTPUT);
+    }
 }
 
 int DataSource::getValue(){
diff --git a/src/data_source_ball.cpp b/src/data_source_ball.cpp
index 6434c51..bf4cd39 100644
--- a/src/data_source_ball.cpp
+++ b/src/data_source_ball.cpp
@@ -1,7 +1,7 @@
 #include "data_source_ball.h"
 #include "vars.h"
 
-DataSourceBall::DataSourceBall(usb_serial_class ser_, int baud) : DataSource(ser_, baud) {
+DataSourceBall::DataSourceBall(HardwareSerial* ser_, int baud) : DataSource(ser_, baud) {
 }
 
 void DataSourceBall :: postProcess(){
diff --git a/src/data_source_bno055.cpp b/src/data_source_bno055.cpp
index 9d37b2a..aff1970 100644
--- a/src/data_source_bno055.cpp
+++ b/src/data_source_bno055.cpp
@@ -3,7 +3,7 @@
 //bool loaded = false;
 
 DataSourceBNO055::DataSourceBNO055(){
-  // protocol = Protocols.P_I2C;
+  protocol = P_I2C;
   
   bno = Adafruit_BNO055();
   bno.begin(bno.OPERATION_MODE_IMUPLUS);  //Posizione impostata a P7 alle righe 105,107 di Adafruit_BNO55.cpp
diff --git a/src/main.cpp b/src/main.cpp
index 0ef2899..bec2e0b 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -17,5 +17,6 @@ void loop() {
   updateSensors();
   //should recenter using predefined values
  // drive->drive(0, 0, 0);
- ball->test();
+ compass->test();
+ delay(100);
 }
\ No newline at end of file
diff --git a/src/sensors.cpp b/src/sensors.cpp
index 29efefb..fa0c6f8 100644
--- a/src/sensors.cpp
+++ b/src/sensors.cpp
@@ -4,7 +4,7 @@
 void initSensors(){
     compass = new DataSourceBNO055();
     drive = new DriveController(new Motor(12, 11, 2, 45),new  Motor(25, 24, 5, 135), new Motor(27, 26, 6, 225), new Motor(21, 22, 23, 315));
-    ball = new DataSourceBall(Serial, 57600);
+    ball = new DataSourceBall(&Serial4, 57600);
 }
 
 void updateSensors(){