update ball_read to use registers instead of pinMode and digitalWrite

also move all the files relative to 32u4 uC inside a dedicated folder
add the Blink script i made to test if everything was working and to test registers for LEDs

utility/32u4/Blink/Blink.ino

@@ -0,0 +1,36 @@
+/*For some reason in our board, which I've been explained but I'm not capable of explaining it again, including LED1 and LED4 being part of usb serial,
+we can't use plain pinMode and digitalWrite on those pins (at least the output ones, for what I've tried so far), so we gotta use registers and modify them manually
+While this is a bit of a PITA, runs faster on the the uC
+Also using Arduino Micro bootloader, seems to work fine
+If Arduino Micro bl doesn't appear to work right, try the Sparkfun ProMicro ones
+
+-EmaMaker 29/11/2020 22:47 CET
+*/
+
+
+// the setup function runs once when you press reset or power the board
+void setup() {
+  //LED3(PB7) and LED4 (PB0)
+  DDRB=0b10000001;
+  //LED2 (PF0)
+  DDRF=0b00000001;
+  //LED1 (PD5)
+  DDRD=0b00100000;
+}
+
+// the loop function runs over and over again forever
+void loop() {
+  //Set the pins HIGH, using OR the pins we don't care about are not touched
+  PORTB = PORTB | 0b10000001;
+  PORTF = PORTF | 0b00000001;
+  PORTD = PORTD | 0b00100000;
+  
+  delay(1000);
+
+  //Set the pins LOW, using AND the pins we don't care about are not touched
+  PORTB = PORTB & 0b01111110;
+  PORTF = PORTF & 0b01111110;
+  PORTD = PORTD & 0b11011111;
+  
+  delay(1000);
+}

utility/32u4/Teensy-32u4/32u4_script/sketch_jan26b/sketch_jan26b.ino

@@ -1,8 +1,8 @@
 #define BTN0 A3
 #define BTN1 A4
 #define BTN2 A5
-#define LED_Y 11
-#define LED_R 17
+#define LED_Y 41
+#define LED_R 22
 
 void setup (){
   Serial1.begin(19200);
@@ -20,10 +20,10 @@ void loop ()  {
   //We have three config. buttons, making a packet out of a single byte with a start header, so teensy can use it as it wants
   //The header is signed by the two most important bits put high, so 128+64 in OR with other bits shifted by the needed ammount
   //This approach only admits 5 configuration buttons, it should be enough
-  b = 0b11000000;
-  b |= digitalRead(BTN0);
-  b |= digitalRead(BTN1) << 1;
-  b |= digitalRead(BTN2) << 2;
+  b = 0b11000111;
+  //b |= digitalRead(BTN0);
+  //b |= digitalRead(BTN1) << 1;
+  //b |= digitalRead(BTN2) << 2;
   if(oldB != b) Serial1.write(b);  
   oldB = b;
 

utility/32u4/Teensy-32u4/Teensy32U4/.vscode/extensions.json

@@ -0,0 +1,7 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ]
+}

utility/32u4/ball_read/ball_read.ino

@@ -45,6 +45,16 @@
 #define BROKEN  300
 #define TOO_LOW 60
 
+#define LED1ON (PORTD = PORTD | 0b00100000)
+#define LED1OFF (PORTD & 0b11011111)
+#define LED2ON (PORTD = PORTD | 0b00100000)
+#define LED2OFF (PORTF & 0b01111110)
+#define LED3ON (PORTB | 0b10000000)
+#define LED3OFF (PORTB & 0b01111111)
+#define LED4ON (PORTB | 0b00000001)
+#define LED4OFF (PORTB & 0b11111110)
+
+
 int counter[16];
 int distance;
 int nmax = 0;
@@ -64,13 +74,13 @@ byte sendAngle = 0, sendDistance = 0;
 byte sendByte = 0;
 
 unsigned long t = 0;
-t
+
 void setup() {
   delay(1000);
 
   Serial.begin(57600);
 
-  pinMode(26, INPUT);   //S1
+  /*pinMode(26, INPUT);   //S1
   pinMode(25, INPUT);   //S2
   pinMode(19, INPUT);   //S3
   pinMode(18, INPUT);   //S4
@@ -85,9 +95,21 @@ void setup() {
   pinMode(30, INPUT);   //S13
   pinMode(29, INPUT);   //S14
   pinMode(28, INPUT);   //S15
-  pinMode(27, INPUT);   //S16
+  pinMode(27, INPUT);   //S16*/
 
-  pinMode(22, OUTPUT);  //LED1
+  /*For now replace pinMode with writes to the direction register. 
+    We don't know if pinMode will work on those sensors, and it has proven not be working on digitalWrite for reasons probably relative to compatibility between Arduino and our board,
+    but this needs further investigation*/  
+
+  //Set the LEDs as outputs, keep the rest as input by default
+
+  //LED3(PB7) and LED4 (PB0)
+  DDRB=0b10000001;
+  //LED2 (PF0)
+  DDRF=0b00000001;
+  //LED1 (PD5)
+  DDRD=0b00100000;
+  DDRE = 0b00000000;
 
   for (int i = 0; i < 16; i++) {
     xs[i] = cos((22.5 * PI / 180) * i);
@@ -153,9 +175,9 @@ void readBallInterpolation() {
   
   //turn led on
   if (dist == 0) {
-    digitalWrite(22, LOW);
+    LED1ON;
   } else {
-    digitalWrite(22, HIGH);
+    LED1OFF;
   }
 }
 

utility/Teensy-32u4/Teensy32U4/.vscode/extensions.json

@@ -1,7 +0,0 @@
-{
-	// See http://go.microsoft.com/fwlink/?LinkId=827846
-	// for the documentation about the extensions.json format
-	"recommendations": [
-		"platformio.platformio-ide"
-	]
-}