first commit, starting to work with a new setup

include/sensors/linesys_2019.h

@@ -7,14 +7,14 @@
 
 #include "vars.h" 
 
-#define S1I A14
+#define S1I 21 //A14 N
-#define S1O A15
+#define S1O 20 //A15
-#define S2I A16
+#define S2I 17 //A16 E
-#define S2O A17
+#define S2O 16 //A17
-#define S3I A20
+#define S3I 15 //A20 S
-#define S3O A0
+#define S3O 14 //A0
-#define S4I A1
+#define S4I 23 //A1  O
-#define S4O A2
+#define S4O 22 //A2
 
 #define LINE_THRESH 90
 #define EXTIME 200

include/sensors/linesys_camera.h

@@ -7,14 +7,14 @@
 
 #include "vars.h" 
 
-#define S1I A14
+#define S1I 21 //A14 N
-#define S1O A15
+#define S1O 20 //A15
-#define S2I A16
+#define S2I 17 //A16 E
-#define S2O A17
+#define S2O 16 //A17
-#define S3I A20
+#define S3I 15 //A20 S
-#define S3O A0
+#define S3O 14 //A0
-#define S4I A1
+#define S4I 23 //A1  O
-#define S4O A2
+#define S4O 22 //A2
 
 #define LINE_THRESH_CAM 90
 #define EXIT_TIME 100

include/vars.h

@@ -3,6 +3,10 @@
 
 #define GLOBAL_SPD_MULT 1.0
 
+/*SWS and LEDS are to be tested and implemented in the code. 
+the new setup is the one commented, leds have to be written 
+in the 32U4 code*/
+
 #define LED_R 20
 #define LED_Y 17
 #define LED_G 13
@@ -10,3 +14,8 @@
 #define BUZZER 30
 #define SWITCH_SX 28
 #define SWITCH_DX 29
+
+/*#define BUZZER 6
+#define SWITCH_1 39
+#define SWITCH_2 38
+#define SWITCH_3 33*/

src/sensors/data_source_bt.cpp

@@ -1,30 +1,32 @@
 #include "sensors/data_source_bt.h"
 
+//if needed, substitute Serial1 with Serial3 to return to the old code setup
+
 DataSourceBT :: DataSourceBT(HardwareSerial* ser_, int baud) : DataSource(ser_, baud){
     // connect();
 }
 
 void DataSourceBT :: connect(){
-    Serial3.print("$");
+    Serial1.print("$");
-    Serial3.print("$");
+    Serial1.print("$");
-    Serial3.print("$");
+    Serial1.print("$");
     delay(100);
-    Serial3.println("C");
+    Serial1.println("C");
 }
 
 void DataSourceBT :: reconnect(){
     if(!comrade){
     if(!b){
-      Serial3.print("$");
+      Serial1.print("$");
-      Serial3.print("$");
+      Serial1.print("$");
-      Serial3.print("$");
+      Serial1.print("$");
     }else{
-      Serial3.println("C");
+      Serial1.println("C");
     }
 
     b = !b;
   }else{
-    Serial3.println("---");
+    Serial1.println("---");
   }
 }
 
@@ -32,7 +34,7 @@ void DataSourceBT :: test(){
     if (DEBUG.available()) {
     DEBUG.println((char)DEBUG.read());
     }
-    if (Serial3.available()) {
+    if (Serial1.available()) {
-    Serial3.write((char)Serial3.read());
+    Serial1.write((char)Serial1.read());
   }
 }

src/sensors/sensors.cpp

@@ -11,13 +11,16 @@ void initSensors(){
 
     dUs = { new DataSourceUS(&Wire1, int(112)), new DataSourceUS(&Wire1, int(113)), 
     new DataSourceUS(&Wire1, int(114)), new DataSourceUS(&Wire1, int(115)) };
-
+    drive = new DriveController(new Motor(11, 12, 4, 45),new  Motor(24, 25, 5, 135), new Motor(26, 27, 2, 225), new Motor(28, 29, 3, 315));
-    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));
+    //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));
     compass = new DataSourceBNO055();
-    ball = new DataSourceBall(&Serial4, 57600);
+    ball = new DataSourceBall(&Serial2, 57600);
-    camera = new DataSourceCameraConic(&Serial2, 19200);
+    //ball = new DataSourceBall(&Serial4, 57600);
+    camera = new DataSourceCameraConic(&Serial3, 19200);
+    //camera = new DataSourceCameraConic(&Serial2, 19200);
     usCtrl = new DataSourceCtrl(dUs);
-    bt = new DataSourceBT(&Serial3, 115200);
+    bt = new DataSourceBT(&Serial1, 115200);
+    //bt = new DataSourceBT(&Serial3, 115200);
  }
 
 void updateSensors(){