started porting bt, corrected smth

include/data_source_bt.h

@@ -0,0 +1,14 @@
+#pragma once
+#include "data_source.h"
+#include "vars.h"
+
+class DataSourceBT : public DataSource{
+
+    public:
+        DataSourceBT(HardwareSerial* ser, int baud);
+        void test() override;
+        void connect();
+        void reconnect();
+
+        bool b, comrade;
+};

include/sensors.h

@@ -16,6 +16,7 @@
 #include "motor.h"
 #include "ds_ctrl.h"
 #include "drivecontroller.h"
+#include "data_source_bt.h"
 
 void initSensors();
 void updateSensors();
@@ -31,5 +32,6 @@ s_extr DataSourceBNO055* compass;
 s_extr DataSourceBall* ball;
 s_extr DataSourceCamera* camera;
 s_extr DriveController* drive;
+s_extr DataSourceBT* bt;
 
 s_extr int role;

src/data_source_bt.cpp

@@ -0,0 +1,38 @@
+#include "data_source_bt.h"
+
+DataSourceBT :: DataSourceBT(HardwareSerial* ser_, int baud) : DataSource(ser_, baud){
+    connect();
+}
+
+void DataSourceBT :: connect(){
+    Serial3.print("$");
+    Serial3.print("$");
+    Serial3.print("$");
+    delay(100);
+    Serial3.println("C");
+}
+
+void DataSourceBT :: reconnect(){
+    if(!comrade){
+    if(!b){
+      Serial3.print("$");
+      Serial3.print("$");
+      Serial3.print("$");
+    }else{
+      Serial3.println("C");
+    }
+
+    b = !b;
+  }else{
+    Serial3.println("---");
+  }
+}
+
+void DataSourceBT :: test(){
+    if (DEBUG.available()) {
+    DEBUG.println((char)DEBUG.read());
+    }
+    if (Serial3.available()) {
+    Serial3.write((char)Serial3.read());
+  }
+}

src/drivecontroller.cpp

@@ -34,7 +34,7 @@ DriveController::DriveController(Motor* m1_, Motor* m2_, Motor* m3_, Motor* m4_)
     integral = 0;
 }
 
-void DriveController::prepareDrive(int dir=0, int speed=0, int tilt=0){
+void DriveController::prepareDrive(int dir, int speed, int tilt){
     pDir = dir;
     pSpeed = speed;
     pTilt = tilt;
@@ -48,7 +48,7 @@ float DriveController::torad(float f){
     return (f * PI / 180.0);
 }
 
-void DriveController::drive(int dir=0, int speed=0, int tilt=0){
+void DriveController::drive(int dir, int speed, int tilt){
     vx = ((speed * cosins[dir]));
     vy = ((-speed * sins[dir]));
 

src/game.cpp

@@ -2,6 +2,6 @@
 
 Game::Game() {}
 
-void Game::play(bool condition=true){
+void Game::play(bool condition){
     if(condition) realPlay();
 }

src/goalie.cpp

@@ -12,6 +12,7 @@ void Goalie::realPlay(){
 }
 
 void Goalie::goalie() {
+  compass->readSensor();
   if(ball->angle >= 350 || ball->angle <= 10)  {
     if(ball->distance > 190) atk_direction = 0;
     else atk_direction = ball->angle;

src/main.cpp

@@ -24,5 +24,7 @@ void loop() {
   linesCtrl->update();
 
   // Last thing to do: movement  
-  drive->drivePrepared();
+  drive->drivePrepared(); 
+
+/*   compass->test(); */
 } 

src/sensors.cpp

@@ -17,6 +17,7 @@ void initSensors(){
     camera = new DataSourceCamera(&Serial2, 19200);
     usCtrl = new DataSourceCtrl(dUs);
     linesCtrl = new DataSourceCtrlLines(lIn, lOut);
+    bt = new DataSourceBT(&Serial3, 115200);
 
     /*game = new Game();
     goalie = new Goalie();