organized code in 5 folders, left vars.h and main.cpp out of them for easy changing purposes. also did two currently_unused folder in sensors for us and things soon-to-be taken out from the robot (like v-shaped mirror)

include/behaviour_control/ds_ctrl.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "data_source.h"
+#include "behaviour_control/data_source.h"
 #include "vars.h"
 #include <Arduino.h>
 #include <vector>

include/behaviour_control/status_vector.h

@@ -1,7 +1,7 @@
 #pragma once
 #include <Arduino.h>
-#include "game.h"
+#include "strategy_roles/game.h"
-#include "systems.h"
+#include "position/systems.h"
 
 /**
  * STATUS VECTOR:

include/motors_movement/drivecontroller.h

@@ -1,9 +1,12 @@
 #pragma once
 
 #include <Arduino.h>
-#include "motor.h"
+
+#include "behaviour_control/complementary_filter.h"
+#include "motors_movement/motor.h"
+
 #include "PID_v2.h"
-#include "complementary_filter.h"
+
 
 //PID Constants
 #define KP 1.5

include/position/linesys_2019.h

@@ -1,10 +1,12 @@
 #pragma once
 
-#include "ds_ctrl.h"
-#include "systems.h"
-#include "vars.h" 
 #include <Arduino.h>
 
+#include "behaviour_control/ds_ctrl.h"
+#include "position/systems.h"
+
+#include "vars.h" 
+
 #define S1I A14
 #define S1O A15
 #define S2I A16

include/position/positionsys_camera.h

@@ -1,5 +1,6 @@
 #include "PID_v2.h"
-#include "systems.h"
+
+#include "position/systems.h"
 
 #define CAMERA_CENTER_X 0
 #define CAMERA_CENTER_Y -18

include/position/positionsys_zone.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "systems.h"
+#include "position/systems.h"
 
 //POSITION
 #define CENTERGOALPOST_VEL1 220

include/sensors.h

@@ -1,38 +0,0 @@
-#pragma once
-
-
-#ifdef SENSORS_CPP
-#define s_extr 
-#else
-#define s_extr extern
-#endif
-
-#include <Arduino.h>
-#include "data_source_bno055.h"
-#include "data_source_ball.h"
-#include "data_source_camera_conicmirror.h"
-#include "data_source_camera_vshapedmirror.h"
-#include "data_source_us.h"
-#include "motor.h"
-#include "ds_ctrl.h"
-#include "drivecontroller.h"
-#include "data_source_bt.h"
-#include "systems.h"
-#include "linesys_2019.h"
-#include "positionsys_zone.h"
-
-void initSensors();
-void updateSensors();
-
-s_extr vector<DataSource*> dUs;
-
-s_extr DataSourceCtrl* usCtrl;
-s_extr LineSys2019* linesCtrl;
-
-s_extr DataSourceBNO055* compass;
-s_extr DataSourceBall* ball;
-s_extr DataSourceCameraConic* camera;
-s_extr DriveController* drive;
-s_extr DataSourceBT* bt;
-
-s_extr int role;

include/sensors/currently_unused/data_source_us.h

@@ -1,5 +1,5 @@
 #pragma once
-#include "data_source.h"
+#include "behaviour_control/data_source.h"
 
 #define US_WAIT_TIME 70
 

include/sensors/data_source_ball.h

@@ -1,5 +1,5 @@
 #pragma once
-#include "data_source.h"
+#include "behaviour_control/data_source.h"
 
 class DataSourceBall : public DataSource{
 

include/sensors/data_source_bno055.h

@@ -1,9 +1,10 @@
 #pragma once
 
 #include <Adafruit_BNO055.h>
-#include "data_source.h"
 #include <Arduino.h>
 
+#include "behaviour_control/data_source.h"
+
 #define DATA_CLOCK 10
 
 class DataSourceBNO055 : public DataSource{

include/sensors/data_source_bt.h

@@ -1,5 +1,6 @@
 #pragma once
-#include "data_source.h"
+
+#include "behaviour_control/data_source.h"
 #include "vars.h"
 
 class DataSourceBT : public DataSource{

include/sensors/data_source_camera_conicmirror.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "data_source.h"
+#include "behaviour_control/data_source.h"
 
 #define startp 105
 #define endp 115

include/sensors/data_source_camera_vshapedmirror.h

@@ -1,5 +1,6 @@
 #pragma once
-#include "data_source.h"
+
+#include "behaviour_control/data_source.h"
 
 class DataSourceCameraVShaped : public DataSource{
 

include/sensors/sensors.h

@@ -0,0 +1,41 @@
+#pragma once
+
+
+#ifdef SENSORS_CPP
+#define s_extr 
+#else
+#define s_extr extern
+#endif
+
+#include <Arduino.h>
+
+#include "behaviour_control/ds_ctrl.h"
+#include "motors_movement/drivecontroller.h"
+#include "motors_movement/motor.h"
+#include "position/linesys_2019.h"
+#include "position/positionsys_zone.h"
+#include "position/systems.h"
+#include "sensors/data_source_ball.h"
+#include "sensors/data_source_bt.h"
+#include "sensors/data_source_bno055.h"
+#include "sensors/data_source_camera_conicmirror.h"
+#include "sensors/data_source_camera_vshapedmirror.h"
+#include "sensors/currently_unused/data_source_us.h"
+
+
+
+void initSensors();
+void updateSensors();
+
+s_extr vector<DataSource*> dUs;
+
+s_extr DataSourceCtrl* usCtrl;
+s_extr LineSys2019* linesCtrl;
+
+s_extr DataSourceBNO055* compass;
+s_extr DataSourceBall* ball;
+s_extr DataSourceCameraConic* camera;
+s_extr DriveController* drive;
+s_extr DataSourceBT* bt;
+
+s_extr int role;

include/strategy_roles/game.h

@@ -1,8 +1,8 @@
 #pragma once
 
 #include "vars.h"
-#include "sensors.h"
+#include "position/systems.h"
-#include "systems.h"
+#include "sensors/sensors.h"
 
 class Game {
     public:

include/strategy_roles/games.h

@@ -7,9 +7,9 @@
 #endif
 
 #include <Arduino.h>
-#include "game.h"
+#include "strategy_roles/game.h"
-#include "goalie.h"
+#include "strategy_roles/goalie.h"
-#include "keeper.h"
+#include "strategy_roles/keeper.h"
 
 void initGames();
 

include/strategy_roles/goalie.h

@@ -1,8 +1,8 @@
 #pragma once
 
-#include "game.h"
+#include "sensors/data_source_camera_vshapedmirror.h"
-#include "sensors.h"
+#include "sensors/sensors.h"
-#include "data_source_camera_vshapedmirror.h"
+#include "strategy_roles/game.h"
 
 #define TILT_MULT 1.8
 #define TILT_DIST 180

include/strategy_roles/keeper.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "game.h"
+#include "strategy_roles/game.h"
 
 #define KEEPER_ATTACK_DISTANCE 190
 #define KEEPER_ALONE_ATTACK_TIME 5000 //in millis

src/behaviour_control/complementary_filter.cpp

@@ -1,4 +1,4 @@
-#include "complementary_filter.h"
+#include "behaviour_control/complementary_filter.h"
 
 ComplementaryFilter::ComplementaryFilter(float k){
     this->K = k;

src/behaviour_control/data_source.cpp

@@ -1,4 +1,4 @@
-#include "data_source.h"
+#include "behaviour_control/data_source.h"
 
 DataSource::DataSource(void){
     protocol = P_NULL;

src/behaviour_control/ds_ctrl.cpp

@@ -1,4 +1,4 @@
-#include "ds_ctrl.h"
+#include "behaviour_control/ds_ctrl.h"
 
 using namespace std;
 

src/behaviour_control/status_vector.cpp

@@ -1,5 +1,5 @@
 #define STATUS_VECTOR_CPP
-#include "status_vector.h"
+#include "behaviour_control/status_vector.h"
 
 void initStatusVector(){
     currentSVIndex = 0;

src/main.cpp

@@ -1,9 +1,9 @@
 #include <Arduino.h>
 
-#include "sensors.h"
+#include "behaviour_control/status_vector.h"
-#include "games.h"
+#include "position/positionsys_zone.h"
-#include "status_vector.h"
+#include "sensors/sensors.h"
-#include "positionsys_zone.h"
+#include "strategy_roles/games.h"
 
 void setup() {
   delay(1500);

src/motors_movement/drivecontroller.cpp

@@ -1,6 +1,6 @@
-#include "drivecontroller.h"
+#include "motors_movement/drivecontroller.h"
-#include "sensors.h"
+#include "sensors/sensors.h"
-#include "status_vector.h"
+#include "behaviour_control/status_vector.h"
 
 DriveController::DriveController(Motor* m1_, Motor* m2_, Motor* m3_, Motor* m4_){
     m1 = m1_;

src/motors_movement/motor.cpp

@@ -1,4 +1,4 @@
-#include "motor.h"
+#include "motors_movement/motor.h"
 #include "vars.h"
 #include <Arduino.h>
 

src/position/positionsys_camera.cpp

@@ -1,7 +1,7 @@
-#include "positionsys_camera.h"
+#include "behaviour_control/status_vector.h"
-#include "status_vector.h"
+#include "position/positionsys_camera.h"
+#include "sensors/sensors.h"
 #include "vars.h"
-#include "sensors.h"
 
 PositionSysCamera::PositionSysCamera() {
     setCameraPID();

src/position/positionsys_zone.cpp

@@ -1,7 +1,7 @@
-#include "positionsys_zone.h"
+#include "behaviour_control/status_vector.h"
+#include "position/positionsys_zone.h"
+#include "sensors/sensors.h"
 #include "vars.h"
-#include "sensors.h"
-#include "status_vector.h"
 
 PositionSysZone::PositionSysZone(){
     for(int i = 0; i < 3; i++){

src/sensors/currently_unused/data_source_us.cpp

@@ -1,6 +1,6 @@
-#include "data_source_us.h"
+#include "behaviour_control/status_vector.h"
+#include "sensors/currently_unused/data_source_us.h"
 #include "vars.h"
-#include "status_vector.h"
 
 
 DataSourceUS::DataSourceUS(TwoWire* i2c_, int addr) : DataSource(i2c_, addr){

src/sensors/data_source_ball.cpp

@@ -1,6 +1,6 @@
-#include "data_source_ball.h"
+#include "behaviour_control/status_vector.h"
+#include "sensors/data_source_ball.h"
 #include "vars.h"
-#include "status_vector.h"
 
 DataSourceBall :: DataSourceBall(HardwareSerial* ser_, int baud) : DataSource(ser_, baud) {
   ballSeen = false;

src/sensors/data_source_bno055.cpp

@@ -1,5 +1,5 @@
-#include "data_source_bno055.h"
+#include "behaviour_control/status_vector.h"
-#include "status_vector.h"
+#include "sensors/data_source_bno055.h"
 
 //bool loaded = false;
 

src/sensors/data_source_bt.cpp

@@ -1,4 +1,4 @@
-#include "data_source_bt.h"
+#include "sensors/data_source_bt.h"
 
 DataSourceBT :: DataSourceBT(HardwareSerial* ser_, int baud) : DataSource(ser_, baud){
     // connect();

src/sensors/data_source_camera_conicmirror.cpp

@@ -1,5 +1,5 @@
-#include "data_source_camera_conicmirror.h"
+#include "behaviour_control/status_vector.h"
-#include "status_vector.h"
+#include "sensors/data_source_camera_conicmirror.h"
 
 DataSourceCameraConic::DataSourceCameraConic(HardwareSerial *ser_, int baud) : DataSource(ser_, baud)
 {
@@ -31,7 +31,7 @@ void DataSourceCameraConic ::readSensor() {
       count = 0;
     } else if (value == endp) {
       data_received = false;
-      if (count = 4 && start == true) {
+      if ((count = 4) && (start == true)) {
         data_received = true;
 
         true_xb = xb - 50;

src/sensors/data_source_camera_vshapedmirror.cpp

@@ -1,6 +1,6 @@
-#include "data_source_camera_vshapedmirror.h"
+#include "behaviour_control/status_vector.h"
-#include "sensors.h"
+#include "sensors/data_source_camera_vshapedmirror.h"
-#include "status_vector.h"
+#include "sensors/sensors.h"
 
 
 DataSourceCameraVShaped::DataSourceCameraVShaped(HardwareSerial* ser_, int baud) : DataSource(ser_, baud){}

src/sensors/linesys_2019.cpp

@@ -1,5 +1,5 @@
-#include "linesys_2019.h"
+#include "position/linesys_2019.h"
-#include "sensors.h"
+#include "sensors/sensors.h"
 
 using namespace std;
 LineSys2019::LineSys2019() {}

src/sensors/sensors.cpp

@@ -1,5 +1,5 @@
 #define SENSORS_CPP
-#include "sensors.h"
+#include "sensors/sensors.h"
 
 void initSensors(){
     pinMode(SWITCH_DX, INPUT);

src/strategy_roles/game.cpp

@@ -1,5 +1,5 @@
-#include "game.h"
+#include "behaviour_control/status_vector.h"
-#include "status_vector.h"
+#include "strategy_roles/game.h"
 
 Game::Game() {}
 Game::Game(LineSystem* ls_, PositionSystem* ps_) {

src/strategy_roles/games.cpp

@@ -1,9 +1,9 @@
 #define GAMES_CPP
 
-#include "games.h"
+#include "position/linesys_2019.h"
-#include "linesys_2019.h"
+#include "position/positionsys_zone.h"
-#include "positionsys_zone.h"
+#include "position/positionsys_camera.h"
-#include "positionsys_camera.h"
+#include "strategy_roles/games.h"
 
 void initGames(){
     vector<DataSource*> lIn = { new DataSource(S1I, true), new DataSource(S2I, true), new DataSource(S3I, true), new DataSource(S4I, true) };

src/strategy_roles/goalie.cpp

@@ -1,9 +1,11 @@
-#include "goalie.h"
+#include "behaviour_control/status_vector.h"
-#include "sensors.h"
+#include "position/positionsys_camera.h"
+#include "sensors/sensors.h"
+#include "strategy_roles/goalie.h"
 #include "vars.h"
-#include "status_vector.h"
+
 #include "math.h"
-#include "positionsys_camera.h"
+
 
 Goalie::Goalie() : Game() {
   init();

src/strategy_roles/keeper.cpp

@@ -1,9 +1,11 @@
-#include "keeper.h"
-#include "sensors.h"
-#include "games.h"
-#include "linesys_2019.h"
 #include <Arduino.h>
-#include "status_vector.h"
+
+#include "behaviour_control/status_vector.h"
+#include "position/linesys_2019.h"
+#include "sensors/sensors.h"
+#include "strategy_roles/keeper.h"
+#include "strategy_roles/games.h"
+
 
 Keeper::Keeper() : Game() {
     init();