Robot firmware release 2024

.clang-format

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+# using clang-format 10
+
+Language: Cpp
+Standard: c++14
+# BasedOnStyle: LLVM
+
+UseTab: Never
+IndentWidth: 2
+ColumnLimit: 100
+
+# class preferences
+AccessModifierOffset: -1
+
+# aligns
+AlignEscapedNewlines: Right
+AlignAfterOpenBracket: Align
+AlignOperands: true
+AlignTrailingComments: true
+AlignConsecutiveMacros: true
+
+# allows
+AllowAllArgumentsOnNextLine: false
+AllowAllConstructorInitializersOnNextLine: false
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: Never
+AllowShortCaseLabelsOnASingleLine: true
+
+# AllowShortEnumsOnASingleLine: false # clang-format 12 option.
+
+AllowShortFunctionsOnASingleLine: false
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLambdasOnASingleLine: None
+AllowShortLoopsOnASingleLine: false
+
+# always
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: true
+
+# bin packs
+BinPackArguments: false
+BinPackParameters: false
+
+# breaks
+BreakStringLiterals: false
+BreakBeforeBinaryOperators: None
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializers: AfterColon
+BreakConstructorInitializersBeforeComma: true
+
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+
+MaxEmptyLinesToKeep: 1
+
+PointerAlignment: Left
+
+SortIncludes: false
+SortUsingDeclarations: false
+
+# spaces
+SpaceAfterCStyleCast: true
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceBeforeSquareBrackets: false
+SpaceInEmptyBlock: false
+SpaceInEmptyParentheses: false
+SpacesInAngles: false
+SpacesInCStyleCastParentheses: false
+SpacesInConditionalStatement: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+
+CompactNamespaces: false
+NamespaceIndentation: All
+
+IndentCaseLabels: true
+
+IndentPPDirectives: BeforeHash

.github/pull_request_template.md

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+## Description
+
+Please include a summary of the change and if applicable the issue is fixed. Please also include the context of the PR.
+
+## Type of change
+
+Please delete options that are not relevant.
+
+- [ ] Bug fix (non-breaking change which fixes an issue)
+- [ ] New feature (non-breaking change which adds functionality)
+- [ ] Breaking change (fix or feature that expects additional changes)
+- [ ] This change requires a documentation update
+
+## How Has This Been Tested?
+
+Please describe the tests that you ran to verify your changes. 
+Also, check the steps you've tested below:
+**Test Septs**:
+* Custom tested:
+* Locally tested (tested in robot's firmware):
+* Online tested (tested in SSL full network):

.github/workflows/build_firmware.yml

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+# This is a basic workflow to help you get started with Actions
+
+name: PlatformIO CI
+
+# Controls when the action will run. Triggers the workflow on push or pull request
+# events but only for the master branch
+on:
+  push:
+    branches: [ master, validation ]
+  pull_request:
+    branches: [ master ]
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+
+  build:
+    # The type of runner that the job will run on
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest]
+
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+
+    # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+    - uses: actions/checkout@v3
+      with:
+        token: ${{ secrets.RC_PAT_TOKEN_ACTIONS_ONLY }}
+        submodules: recursive 
+
+    # Install Python
+    - name: Set up Python
+      uses: actions/setup-python@v3
+      with:
+          python-version: '3.9'
+
+    # Installing pip and platformIO
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install platformio
+        
+    - name: Run PlatformIO
+      run: |
+        platformio run
+

.gitignore

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+.DS_Store
+.pio/*
+.vscode/*
+.pyc
+**/*.csv

.gitmodules

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+[submodule "lib/nRF24Communication"]
+	path = lib/nRF24Communication
+	url = [email protected]:robocin/communication-embedded.git

README.md

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+# ssl-embedded
+
+![PlatformIO CI](https://github.com/robocin/ssl-embedded/workflows/PlatformIO%20CI/badge.svg?branch=master)
+
+<img src="./assets/graph.png" height="180">
+
+- Firmware
+    - Robot codes with folder for which version.
+    - Board: [NUCLEO-F767ZI](https://os.mbed.com/platforms/ST-Nucleo-F767ZI/) 
+    - API: [MbedOS](https://os.mbed.com/docs/v5.10/apis/index.html) 
+    - Software IDE: [Visual Studio Code](https://code.visualstudio.com/)
+        - Programming Extension: [PlatformIO](https://platformio.org/platformio-ide), installed with VS Code package manager.
+    - Updating Firmware: [instructions here](https://os.mbed.com/teams/ST/wiki/Nucleo-Firmware)
+
+- Tests 
+    - Folder with all tests and auxiliar softwares.
+
+## Dependencies
+### - nRF24Communication lib
+It's submodule of [communication-embedded](https://github.com/robocin/communication-embedded/).
+- So, to clone this repository please use: 
+
+       git clone --recurse-submodules -j8 <link>
+- Whener you want to update the nRF24Communication lib to the latest version on [communication-embedded](https://github.com/robocin/communication-embedded/) (master), use:
+
+       git submodule update --init --recursive
+
+### - ST STM32 Platform
+The [ST STM32](https://docs.platformio.org/en/latest/platforms/ststm32.html) is a device platform responsible for interface mbed to ARM boards, so it's necessary to install at the PlatformIO extension.
+

lib/CurrentSensor/CurrentSensor.cpp

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+#include "CurrentSensor.h"
+
+CurrentSensor::CurrentSensor(){};
+
+void CurrentSensor::setMuxWiremap(Wiremap& wiremap) {
+  this->A2.write(wiremap.a2);
+  this->A1.write(wiremap.a1);
+  this->A0.write(wiremap.a0);
+}
+
+double CurrentSensor::calculateCurrentFromVoltage(Voltage voltage) {
+  double vref = voltage.first * 3.3;
+  double vout = voltage.second * 3.3;
+
+  return (vout - vref) / SENSITIVITY;
+}
+
+Voltage CurrentSensor::readVoltageFromMuxOutput() {
+  return std::make_pair(vReference.read(), vOut.read());
+}
+
+Motors CurrentSensor::getMotorsCurrent() {
+  Voltage voltage;
+  Motors motorCurrent;
+
+  // Motor 1
+  this->setMuxWiremap(this->motorOneWiremap);
+  voltage = this->readVoltageFromMuxOutput();
+  motorCurrent.m1 = this->calculateCurrentFromVoltage(voltage);
+
+  // Motor 2
+  this->setMuxWiremap(this->motorTwoWiremap);
+  voltage = this->readVoltageFromMuxOutput();
+  motorCurrent.m2 = this->calculateCurrentFromVoltage(voltage);
+
+  // Motor 3
+  this->setMuxWiremap(this->motorThreeWiremap);
+  voltage = this->readVoltageFromMuxOutput();
+  motorCurrent.m3 = this->calculateCurrentFromVoltage(voltage);
+
+  // Motor 4
+  this->setMuxWiremap(this->motorFourWiremap);
+  voltage = this->readVoltageFromMuxOutput();
+  motorCurrent.m4 = this->calculateCurrentFromVoltage(voltage);
+
+  return motorCurrent;
+}
+
+double CurrentSensor::getDribblerCurrent() {
+  // Setup wiremap to dribbler output
+  this->setMuxWiremap(this->dribblerWiremap);
+
+  // Read output
+  Voltage voltage = this->readVoltageFromMuxOutput();
+
+  // Do not use utils getCurrent, refactor this later on
+  return this->calculateCurrentFromVoltage(voltage);
+}

lib/CurrentSensor/CurrentSensor.h

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+#ifndef CURRENT_SENSOR_H
+#define CURRENT_SENSOR_H
+
+#include <utils.h>
+
+#define SENSITIVITY 0.025
+
+using Voltage = std::pair<double, double>;
+
+class CurrentSensor {
+ public:
+  class Wiremap {
+   public:
+    int a0;
+    int a1;
+    int a2;
+
+    Wiremap(int a0, int a1, int a2) : a0(a0), a1(a1), a2(a2){};
+  };
+
+  CurrentSensor();
+  double getDribblerCurrent();
+  Motors getMotorsCurrent();
+
+ private:
+  DigitalOut A2 = CURRENT_SENSOR_A2;
+  DigitalOut A1 = CURRENT_SENSOR_A1;
+  DigitalOut A0 = CURRENT_SENSOR_A0;
+  AnalogIn vReference = PIN_CURR_REF;
+  AnalogIn vOut = PIN_CURR_OUT;
+  Wiremap motorOneWiremap{0, 0, 1};
+  Wiremap motorTwoWiremap{0, 1, 1};
+  Wiremap motorThreeWiremap{1, 1, 1};
+  Wiremap motorFourWiremap{1, 0, 0};
+  Wiremap dribblerWiremap{0, 1, 0};
+
+  void setMuxWiremap(Wiremap& wiremap);
+  double calculateCurrentFromVoltage(Voltage voltage);
+  Voltage readVoltageFromMuxOutput();
+};
+
+#endif // CURRENT_SENSOR_H