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+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+# define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+# define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+# define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+# define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+# define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+# define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+# define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+ the architecture of the compiler being used. This is because
+ the compilers do not have flags that can change the architecture,
+ but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+# define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+# define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+# if _M_ARM == 4
+# define ARCHITECTURE_ID "ARMV4I"
+# elif _M_ARM == 5
+# define ARCHITECTURE_ID "ARMV5I"
+# else
+# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+# endif
+
+# elif defined(_M_MIPS)
+# define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+# define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+# define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+# define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+# define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+# define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+# define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+# define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+# define ARCHITECTURE_ID "MSP430"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+# define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+# define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+#else
+# define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals. */
+#define DEC(n) \
+ ('0' + (((n) / 10000000)%10)), \
+ ('0' + (((n) / 1000000)%10)), \
+ ('0' + (((n) / 100000)%10)), \
+ ('0' + (((n) / 10000)%10)), \
+ ('0' + (((n) / 1000)%10)), \
+ ('0' + (((n) / 100)%10)), \
+ ('0' + (((n) / 10)%10)), \
+ ('0' + ((n) % 10))
+
+/* Convert integer to hex digit literals. */
+#define HEX(n) \
+ ('0' + ((n)>>28 & 0xF)), \
+ ('0' + ((n)>>24 & 0xF)), \
+ ('0' + ((n)>>20 & 0xF)), \
+ ('0' + ((n)>>16 & 0xF)), \
+ ('0' + ((n)>>12 & 0xF)), \
+ ('0' + ((n)>>8 & 0xF)), \
+ ('0' + ((n)>>4 & 0xF)), \
+ ('0' + ((n) & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+ COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+ '.', COMPILER_VERSION_MINOR,
+# ifdef COMPILER_VERSION_PATCH
+ '.', COMPILER_VERSION_PATCH,
+# ifdef COMPILER_VERSION_TWEAK
+ '.', COMPILER_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+ 'i','n','t','e','r','n','a','l','[',
+ COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+ SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+ '.', SIMULATE_VERSION_MINOR,
+# ifdef SIMULATE_VERSION_PATCH
+ '.', SIMULATE_VERSION_PATCH,
+# ifdef SIMULATE_VERSION_TWEAK
+ '.', SIMULATE_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if !defined(__STDC__)
+# if (defined(_MSC_VER) && !defined(__clang__)) \
+ || (defined(__ibmxl__) || defined(__IBMC__))
+# define C_DIALECT "90"
+# else
+# define C_DIALECT
+# endif
+#elif __STDC_VERSION__ >= 201000L
+# define C_DIALECT "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_DIALECT "99"
+#else
+# define C_DIALECT "90"
+#endif
+const char* info_language_dialect_default =
+ "INFO" ":" "dialect_default[" C_DIALECT "]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+ int require = 0;
+ require += info_compiler[argc];
+ require += info_platform[argc];
+ require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+ require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+ require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+ require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+ require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+ require += info_cray[argc];
+#endif
+ require += info_language_dialect_default[argc];
+ (void)argv;
+ return require;
+}
+#endif
diff --git a/cmake-build-debug/CMakeFiles/3.15.3/CompilerIdC/a.out b/cmake-build-debug/CMakeFiles/3.15.3/CompilerIdC/a.out
new file mode 100755
index 0000000..f3a1e6f
Binary files /dev/null and b/cmake-build-debug/CMakeFiles/3.15.3/CompilerIdC/a.out differ
diff --git a/cmake-build-debug/CMakeFiles/3.15.3/CompilerIdCXX/CMakeCXXCompilerId.cpp b/cmake-build-debug/CMakeFiles/3.15.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000..4761ea2
--- /dev/null
+++ b/cmake-build-debug/CMakeFiles/3.15.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,644 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+ recognize the extension without flags. Borland does not know .cxx for
+ example. */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+ Version date components: YYYY=Year, MM=Month, DD=Day */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+ /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+# endif
+ /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+ /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+ /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+ /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+ /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+ /* __SUNPRO_CC = 0xVRRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
+# else
+ /* __SUNPRO_CC = 0xVRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+ /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+ /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+ /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+ /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+ /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+ /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10)
+# endif
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+ /* __ARMCC_VERSION = VRRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#else
+ /* __ARMCC_VERSION = VRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+# define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+ /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+# if _MSC_VER >= 1400
+ /* _MSC_FULL_VER = VVRRPPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+# else
+ /* _MSC_FULL_VER = VVRRPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+# endif
+# endif
+# if defined(_MSC_BUILD)
+# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+ /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__))
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+ identification macro. Try to identify the platform and guess that
+ it is the native compiler. */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
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+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
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+#ifdef __QNXNTO__
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+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
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+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name. */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
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+# define PLATFORM_ID "Darwin"
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+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
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+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
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+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
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+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
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+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
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+# define PLATFORM_ID "QNX"
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+# define PLATFORM_ID "UNIX_SV"
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+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
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+# elif defined(__DOS__)
+# define PLATFORM_ID "DOS"
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+# elif defined(__OS2__)
+# define PLATFORM_ID "OS2"
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+# elif defined(__WINDOWS__)
+# define PLATFORM_ID "Windows3x"
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+# else /* unknown platform */
+# define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+# define PLATFORM_ID "Integrity178"
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+# else /* regular Integrity */
+# define PLATFORM_ID "Integrity"
+# endif
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+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
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+ but rather depend on which compiler is being used
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+# if defined(_M_IA64)
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+# define ARCHITECTURE_ID "MIPS"
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+# elif defined(_M_SH)
+# define ARCHITECTURE_ID "SHx"
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+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+# define ARCHITECTURE_ID "I86"
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+# elif defined(_M_IX86)
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+# define ARCHITECTURE_ID ""
+# endif
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+# if defined(__ICCARM__)
+# define ARCHITECTURE_ID "ARM"
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+# define ARCHITECTURE_ID "RX"
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+# define ARCHITECTURE_ID "RL78"
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+# define ARCHITECTURE_ID "RISCV"
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+# define ARCHITECTURE_ID "AVR"
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+# define ARCHITECTURE_ID "MSP430"
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+# define ARCHITECTURE_ID ""
+# endif
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+# if defined(__PPC64__)
+# define ARCHITECTURE_ID "PPC64"
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+# define ARCHITECTURE_ID "PPC"
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+# define ARCHITECTURE_ID "X86"
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+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+#else
+# define ARCHITECTURE_ID
+#endif
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+ ('0' + (((n) / 10000000)%10)), \
+ ('0' + (((n) / 1000000)%10)), \
+ ('0' + (((n) / 100000)%10)), \
+ ('0' + (((n) / 10000)%10)), \
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+ ('0' + (((n) / 100)%10)), \
+ ('0' + (((n) / 10)%10)), \
+ ('0' + ((n) % 10))
+
+/* Convert integer to hex digit literals. */
+#define HEX(n) \
+ ('0' + ((n)>>28 & 0xF)), \
+ ('0' + ((n)>>24 & 0xF)), \
+ ('0' + ((n)>>20 & 0xF)), \
+ ('0' + ((n)>>16 & 0xF)), \
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+ ('0' + ((n)>>8 & 0xF)), \
+ ('0' + ((n)>>4 & 0xF)), \
+ ('0' + ((n) & 0xF))
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+char const info_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+ COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+ '.', COMPILER_VERSION_MINOR,
+# ifdef COMPILER_VERSION_PATCH
+ '.', COMPILER_VERSION_PATCH,
+# ifdef COMPILER_VERSION_TWEAK
+ '.', COMPILER_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
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+char const info_version_internal[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+ 'i','n','t','e','r','n','a','l','[',
+ COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+ SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+ '.', SIMULATE_VERSION_MINOR,
+# ifdef SIMULATE_VERSION_PATCH
+ '.', SIMULATE_VERSION_PATCH,
+# ifdef SIMULATE_VERSION_TWEAK
+ '.', SIMULATE_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if defined(_MSC_VER) && defined(_MSVC_LANG)
+#define CXX_STD _MSVC_LANG
+#else
+#define CXX_STD __cplusplus
+#endif
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+const char* info_language_dialect_default = "INFO" ":" "dialect_default["
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+ "20"
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+ "14"
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+ "11"
+#else
+ "98"
+#endif
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+#ifdef COMPILER_VERSION_MAJOR
+ require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+ require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+ require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+ require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+ require += info_cray[argc];
+#endif
+ require += info_language_dialect_default[argc];
+ (void)argv;
+ return require;
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+set(CMAKE_SYSTEM_VERSION "5.3.7-arch1-2-ARCH")
+set(CMAKE_SYSTEM_PROCESSOR "x86_64")
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+set(CMAKE_SYSTEM_LOADED 1)
diff --git a/cmake-build-debug/CMakeFiles/3.15.5/CompilerIdC/CMakeCCompilerId.c b/cmake-build-debug/CMakeFiles/3.15.5/CompilerIdC/CMakeCCompilerId.c
new file mode 100644
index 0000000..917e8b9
--- /dev/null
+++ b/cmake-build-debug/CMakeFiles/3.15.5/CompilerIdC/CMakeCCompilerId.c
@@ -0,0 +1,665 @@
+#ifdef __cplusplus
+# error "A C++ compiler has been selected for C."
+#endif
+
+#if defined(__18CXX)
+# define ID_VOID_MAIN
+#endif
+#if defined(__CLASSIC_C__)
+/* cv-qualifiers did not exist in K&R C */
+# define const
+# define volatile
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+ Version date components: YYYY=Year, MM=Month, DD=Day */
+
+#if defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
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+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
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+# endif
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+# endif
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+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
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+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(__PATHCC__)
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+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
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+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF)
+
+#elif defined(__BORLANDC__)
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+ /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+ /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+ /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_C)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_C >= 0x5100
+ /* __SUNPRO_C = 0xVRRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF)
+# else
+ /* __SUNPRO_CC = 0xVRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF)
+# endif
+
+#elif defined(__HP_cc)
+# define COMPILER_ID "HP"
+ /* __HP_cc = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100)
+
+#elif defined(__DECC)
+# define COMPILER_ID "Compaq"
+ /* __DECC_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000)
+
+#elif defined(__IBMC__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+ /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800
+# define COMPILER_ID "XL"
+ /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10)
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800
+# define COMPILER_ID "VisualAge"
+ /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+ /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10)
+# endif
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+ /* __ARMCC_VERSION = VRRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#else
+ /* __ARMCC_VERSION = VRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+ /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+# if _MSC_VER >= 1400
+ /* _MSC_FULL_VER = VVRRPPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+# else
+ /* _MSC_FULL_VER = VVRRPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+# endif
+# endif
+# if defined(_MSC_BUILD)
+# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+ /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__))
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+ /* SDCC = VRP */
+# define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(SDCC % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+ identification macro. Try to identify the platform and guess that
+ it is the native compiler. */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name. */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+# define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+# define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+# define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+# define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+# define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+# define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+# define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+ the architecture of the compiler being used. This is because
+ the compilers do not have flags that can change the architecture,
+ but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+# define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+# define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+# if _M_ARM == 4
+# define ARCHITECTURE_ID "ARMV4I"
+# elif _M_ARM == 5
+# define ARCHITECTURE_ID "ARMV5I"
+# else
+# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+# endif
+
+# elif defined(_M_MIPS)
+# define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+# define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+# define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+# define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+# define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+# define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+# define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+# define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+# define ARCHITECTURE_ID "MSP430"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+# define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+# define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+#else
+# define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals. */
+#define DEC(n) \
+ ('0' + (((n) / 10000000)%10)), \
+ ('0' + (((n) / 1000000)%10)), \
+ ('0' + (((n) / 100000)%10)), \
+ ('0' + (((n) / 10000)%10)), \
+ ('0' + (((n) / 1000)%10)), \
+ ('0' + (((n) / 100)%10)), \
+ ('0' + (((n) / 10)%10)), \
+ ('0' + ((n) % 10))
+
+/* Convert integer to hex digit literals. */
+#define HEX(n) \
+ ('0' + ((n)>>28 & 0xF)), \
+ ('0' + ((n)>>24 & 0xF)), \
+ ('0' + ((n)>>20 & 0xF)), \
+ ('0' + ((n)>>16 & 0xF)), \
+ ('0' + ((n)>>12 & 0xF)), \
+ ('0' + ((n)>>8 & 0xF)), \
+ ('0' + ((n)>>4 & 0xF)), \
+ ('0' + ((n) & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+ COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+ '.', COMPILER_VERSION_MINOR,
+# ifdef COMPILER_VERSION_PATCH
+ '.', COMPILER_VERSION_PATCH,
+# ifdef COMPILER_VERSION_TWEAK
+ '.', COMPILER_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+ 'i','n','t','e','r','n','a','l','[',
+ COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+ SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+ '.', SIMULATE_VERSION_MINOR,
+# ifdef SIMULATE_VERSION_PATCH
+ '.', SIMULATE_VERSION_PATCH,
+# ifdef SIMULATE_VERSION_TWEAK
+ '.', SIMULATE_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if !defined(__STDC__)
+# if (defined(_MSC_VER) && !defined(__clang__)) \
+ || (defined(__ibmxl__) || defined(__IBMC__))
+# define C_DIALECT "90"
+# else
+# define C_DIALECT
+# endif
+#elif __STDC_VERSION__ >= 201000L
+# define C_DIALECT "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_DIALECT "99"
+#else
+# define C_DIALECT "90"
+#endif
+const char* info_language_dialect_default =
+ "INFO" ":" "dialect_default[" C_DIALECT "]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+ int require = 0;
+ require += info_compiler[argc];
+ require += info_platform[argc];
+ require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+ require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+ require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+ require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+ require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+ require += info_cray[argc];
+#endif
+ require += info_language_dialect_default[argc];
+ (void)argv;
+ return require;
+}
+#endif
diff --git a/cmake-build-debug/CMakeFiles/3.15.5/CompilerIdC/a.out b/cmake-build-debug/CMakeFiles/3.15.5/CompilerIdC/a.out
new file mode 100755
index 0000000..bae4a3c
Binary files /dev/null and b/cmake-build-debug/CMakeFiles/3.15.5/CompilerIdC/a.out differ
diff --git a/cmake-build-debug/CMakeFiles/3.15.5/CompilerIdCXX/CMakeCXXCompilerId.cpp b/cmake-build-debug/CMakeFiles/3.15.5/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000..4761ea2
--- /dev/null
+++ b/cmake-build-debug/CMakeFiles/3.15.5/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,644 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+ recognize the extension without flags. Borland does not know .cxx for
+ example. */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+ Version date components: YYYY=Year, MM=Month, DD=Day */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+ /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+# endif
+ /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+ /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+ /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+ /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+ /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+ /* __SUNPRO_CC = 0xVRRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
+# else
+ /* __SUNPRO_CC = 0xVRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+ /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+ /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+ /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+ /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+ /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+ /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10)
+# endif
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+ /* __ARMCC_VERSION = VRRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#else
+ /* __ARMCC_VERSION = VRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+# define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+ /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+# if _MSC_VER >= 1400
+ /* _MSC_FULL_VER = VVRRPPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+# else
+ /* _MSC_FULL_VER = VVRRPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+# endif
+# endif
+# if defined(_MSC_BUILD)
+# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+ /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__))
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+ identification macro. Try to identify the platform and guess that
+ it is the native compiler. */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name. */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+# define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+# define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+# define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+# define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+# define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+# define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+# define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+ the architecture of the compiler being used. This is because
+ the compilers do not have flags that can change the architecture,
+ but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+# define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+# define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+# if _M_ARM == 4
+# define ARCHITECTURE_ID "ARMV4I"
+# elif _M_ARM == 5
+# define ARCHITECTURE_ID "ARMV5I"
+# else
+# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+# endif
+
+# elif defined(_M_MIPS)
+# define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+# define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+# define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+# define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+# define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+# define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+# define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+# define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+# define ARCHITECTURE_ID "MSP430"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+# define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+# define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+#else
+# define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals. */
+#define DEC(n) \
+ ('0' + (((n) / 10000000)%10)), \
+ ('0' + (((n) / 1000000)%10)), \
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+ ('0' + ((n)>>4 & 0xF)), \
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+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+ COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
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+ '.', COMPILER_VERSION_PATCH,
+# ifdef COMPILER_VERSION_TWEAK
+ '.', COMPILER_VERSION_TWEAK,
+# endif
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+# endif
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+char const info_version_internal[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+ 'i','n','t','e','r','n','a','l','[',
+ COMPILER_VERSION_INTERNAL,']','\0'};
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+ 'I', 'N', 'F', 'O', ':',
+ 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+ SIMULATE_VERSION_MAJOR,
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+ '.', SIMULATE_VERSION_MINOR,
+# ifdef SIMULATE_VERSION_PATCH
+ '.', SIMULATE_VERSION_PATCH,
+# ifdef SIMULATE_VERSION_TWEAK
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+# endif
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+# endif
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+ require += info_compiler[argc];
+ require += info_platform[argc];
+#ifdef COMPILER_VERSION_MAJOR
+ require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+ require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+ require += info_simulate[argc];
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+ require += info_simulate_version[argc];
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+#if defined(__CRAYXE) || defined(__CRAYXC)
+ require += info_cray[argc];
+#endif
+ require += info_language_dialect_default[argc];
+ (void)argv;
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+# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10)
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800
+# define COMPILER_ID "VisualAge"
+ /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+ /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10)
+# endif
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+ /* __ARMCC_VERSION = VRRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#else
+ /* __ARMCC_VERSION = VRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+ /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+# if _MSC_VER >= 1400
+ /* _MSC_FULL_VER = VVRRPPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+# else
+ /* _MSC_FULL_VER = VVRRPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+# endif
+# endif
+# if defined(_MSC_BUILD)
+# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+ /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+ /* SDCC = VRP */
+# define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(SDCC % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+ identification macro. Try to identify the platform and guess that
+ it is the native compiler. */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name. */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+# define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+# define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+# define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+# define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+# define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+# define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+# define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+ the architecture of the compiler being used. This is because
+ the compilers do not have flags that can change the architecture,
+ but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+# define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+# define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+# if _M_ARM == 4
+# define ARCHITECTURE_ID "ARMV4I"
+# elif _M_ARM == 5
+# define ARCHITECTURE_ID "ARMV5I"
+# else
+# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+# endif
+
+# elif defined(_M_MIPS)
+# define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+# define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+# define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+# define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+# define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+# define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+# define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+# define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+# define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+# define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+# define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+# define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+# define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+#else
+# define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals. */
+#define DEC(n) \
+ ('0' + (((n) / 10000000)%10)), \
+ ('0' + (((n) / 1000000)%10)), \
+ ('0' + (((n) / 100000)%10)), \
+ ('0' + (((n) / 10000)%10)), \
+ ('0' + (((n) / 1000)%10)), \
+ ('0' + (((n) / 100)%10)), \
+ ('0' + (((n) / 10)%10)), \
+ ('0' + ((n) % 10))
+
+/* Convert integer to hex digit literals. */
+#define HEX(n) \
+ ('0' + ((n)>>28 & 0xF)), \
+ ('0' + ((n)>>24 & 0xF)), \
+ ('0' + ((n)>>20 & 0xF)), \
+ ('0' + ((n)>>16 & 0xF)), \
+ ('0' + ((n)>>12 & 0xF)), \
+ ('0' + ((n)>>8 & 0xF)), \
+ ('0' + ((n)>>4 & 0xF)), \
+ ('0' + ((n) & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+ COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+ '.', COMPILER_VERSION_MINOR,
+# ifdef COMPILER_VERSION_PATCH
+ '.', COMPILER_VERSION_PATCH,
+# ifdef COMPILER_VERSION_TWEAK
+ '.', COMPILER_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+ 'i','n','t','e','r','n','a','l','[',
+ COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+ SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+ '.', SIMULATE_VERSION_MINOR,
+# ifdef SIMULATE_VERSION_PATCH
+ '.', SIMULATE_VERSION_PATCH,
+# ifdef SIMULATE_VERSION_TWEAK
+ '.', SIMULATE_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if !defined(__STDC__)
+# if (defined(_MSC_VER) && !defined(__clang__)) \
+ || (defined(__ibmxl__) || defined(__IBMC__))
+# define C_DIALECT "90"
+# else
+# define C_DIALECT
+# endif
+#elif __STDC_VERSION__ >= 201000L
+# define C_DIALECT "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_DIALECT "99"
+#else
+# define C_DIALECT "90"
+#endif
+const char* info_language_dialect_default =
+ "INFO" ":" "dialect_default[" C_DIALECT "]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+ int require = 0;
+ require += info_compiler[argc];
+ require += info_platform[argc];
+ require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+ require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+ require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+ require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+ require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+ require += info_cray[argc];
+#endif
+ require += info_language_dialect_default[argc];
+ (void)argv;
+ return require;
+}
+#endif
diff --git a/cmake-build-debug/CMakeFiles/3.16.2/CompilerIdC/a.out b/cmake-build-debug/CMakeFiles/3.16.2/CompilerIdC/a.out
new file mode 100755
index 0000000..bae4a3c
Binary files /dev/null and b/cmake-build-debug/CMakeFiles/3.16.2/CompilerIdC/a.out differ
diff --git a/cmake-build-debug/CMakeFiles/3.16.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/cmake-build-debug/CMakeFiles/3.16.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000..69cfdba
--- /dev/null
+++ b/cmake-build-debug/CMakeFiles/3.16.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,660 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+ recognize the extension without flags. Borland does not know .cxx for
+ example. */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+ Version date components: YYYY=Year, MM=Month, DD=Day */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+ /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+# endif
+ /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+ /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+ /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+ /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
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+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
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+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
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+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
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+ # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000)
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+#elif defined(__clang__)
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+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
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+# if defined(__GNUC_MINOR__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
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+# if defined(_MSC_FULL_VER)
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+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+# endif
+# endif
+# if defined(_MSC_BUILD)
+# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
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+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+ /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+ identification macro. Try to identify the platform and guess that
+ it is the native compiler. */
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+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
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+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
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+char const* qnxnto = "INFO" ":" "qnxnto[]";
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+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name. */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
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+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
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+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
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+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
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+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+# define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+# define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+# define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+# define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+# define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+# define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+# define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+ the architecture of the compiler being used. This is because
+ the compilers do not have flags that can change the architecture,
+ but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+# define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
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+# elif defined(_M_IX86)
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+# else
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+# endif
+
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+# define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+# define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+# define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+# define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+# define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+# define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+# define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+# define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+# define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+# define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+# define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+# define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+# define ARCHITECTURE_ID "PPC"
+
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+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+#else
+# define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals. */
+#define DEC(n) \
+ ('0' + (((n) / 10000000)%10)), \
+ ('0' + (((n) / 1000000)%10)), \
+ ('0' + (((n) / 100000)%10)), \
+ ('0' + (((n) / 10000)%10)), \
+ ('0' + (((n) / 1000)%10)), \
+ ('0' + (((n) / 100)%10)), \
+ ('0' + (((n) / 10)%10)), \
+ ('0' + ((n) % 10))
+
+/* Convert integer to hex digit literals. */
+#define HEX(n) \
+ ('0' + ((n)>>28 & 0xF)), \
+ ('0' + ((n)>>24 & 0xF)), \
+ ('0' + ((n)>>20 & 0xF)), \
+ ('0' + ((n)>>16 & 0xF)), \
+ ('0' + ((n)>>12 & 0xF)), \
+ ('0' + ((n)>>8 & 0xF)), \
+ ('0' + ((n)>>4 & 0xF)), \
+ ('0' + ((n) & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+ COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+ '.', COMPILER_VERSION_MINOR,
+# ifdef COMPILER_VERSION_PATCH
+ '.', COMPILER_VERSION_PATCH,
+# ifdef COMPILER_VERSION_TWEAK
+ '.', COMPILER_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+ 'i','n','t','e','r','n','a','l','[',
+ COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+ SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+ '.', SIMULATE_VERSION_MINOR,
+# ifdef SIMULATE_VERSION_PATCH
+ '.', SIMULATE_VERSION_PATCH,
+# ifdef SIMULATE_VERSION_TWEAK
+ '.', SIMULATE_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L
+# if defined(__INTEL_CXX11_MODE__)
+# if defined(__cpp_aggregate_nsdmi)
+# define CXX_STD 201402L
+# else
+# define CXX_STD 201103L
+# endif
+# else
+# define CXX_STD 199711L
+# endif
+#elif defined(_MSC_VER) && defined(_MSVC_LANG)
+# define CXX_STD _MSVC_LANG
+#else
+# define CXX_STD __cplusplus
+#endif
+
+const char* info_language_dialect_default = "INFO" ":" "dialect_default["
+#if CXX_STD > 201703L
+ "20"
+#elif CXX_STD >= 201703L
+ "17"
+#elif CXX_STD >= 201402L
+ "14"
+#elif CXX_STD >= 201103L
+ "11"
+#else
+ "98"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+ int require = 0;
+ require += info_compiler[argc];
+ require += info_platform[argc];
+#ifdef COMPILER_VERSION_MAJOR
+ require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+ require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+ require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+ require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+ require += info_cray[argc];
+#endif
+ require += info_language_dialect_default[argc];
+ (void)argv;
+ return require;
+}
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+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+ set(CMAKE_INSTALL_PREFIX "/usr/local")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+ if(BUILD_TYPE)
+ string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+ CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+ else()
+ set(CMAKE_INSTALL_CONFIG_NAME "Debug")
+ endif()
+ message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+ if(COMPONENT)
+ message(STATUS "Install component: \"${COMPONENT}\"")
+ set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+ else()
+ set(CMAKE_INSTALL_COMPONENT)
+ endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+ set(CMAKE_INSTALL_SO_NO_EXE "0")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+ set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT)
+ set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+else()
+ set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+endif()
+
+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
+ "${CMAKE_INSTALL_MANIFEST_FILES}")
+file(WRITE "/home/charles/Vex_Projects/PYRO/vexu-2019-2020-24/cmake-build-debug/${CMAKE_INSTALL_MANIFEST}"
+ "${CMAKE_INSTALL_MANIFEST_CONTENT}")
diff --git a/cmake-build-debug/vexu_2019_2020_24.cbp b/cmake-build-debug/vexu_2019_2020_24.cbp
new file mode 100644
index 0000000..d73a43a
--- /dev/null
+++ b/cmake-build-debug/vexu_2019_2020_24.cbp
@@ -0,0 +1,782 @@
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diff --git a/common.mk b/common.mk
index d929614..488973e 100644
--- a/common.mk
+++ b/common.mk
@@ -5,7 +5,7 @@ MFLAGS=-mcpu=cortex-a9 -mfpu=neon-fp16 -mfloat-abi=softfp -Os -g
CPPFLAGS=-D_POSIX_THREADS -D_UNIX98_THREAD_MUTEX_ATTRIBUTES
GCCFLAGS=-ffunction-sections -fdata-sections -fdiagnostics-color -funwind-tables
-WARNFLAGS+=
+WARNFLAGS+=-Wno-psabi
SPACE :=
SPACE +=
@@ -14,7 +14,8 @@ COMMA := ,
DEPDIR := .d
$(shell mkdir -p $(DEPDIR))
DEPFLAGS = -MT $$@ -MMD -MP -MF $(DEPDIR)/$$*.Td
-RENAMEDEPENDENCYFILE = $(VV)mv -f $(DEPDIR)/$$*.Td $(DEPDIR)/$$*.d && touch $$@
+MAKEDEPFOLDER = -$(VV)mkdir -p $(DEPDIR)/$$(dir $$(patsubst $(BINDIR)/%, %, $(ROOT)/$$@))
+RENAMEDEPENDENCYFILE = -$(VV)mv -f $(DEPDIR)/$$*.Td $$(patsubst $(SRCDIR)/%, $(DEPDIR)/%.d, $(ROOT)/$$<) && touch $$@
LIBRARIES+=$(wildcard $(FWDIR)/*.a)
# Cannot include newlib and libc because not all of the req'd stubs are implemented
@@ -167,6 +168,8 @@ ifeq ($(USE_PACKAGE),1)
DEFAULT_BIN=$(HOT_BIN)
endif
+-include $(wildcard $(FWDIR)/*.mk)
+
.PHONY: all clean quick
quick: $(DEFAULT_BIN)
@@ -204,10 +207,10 @@ endif
# if project is a library source, compile the archive and link output.elf against the archive rather than source objects
ifeq ($(IS_LIBRARY),1)
-ELF_DEPS=$(filter-out $(call GETALLOBJ,$(EXCLUDE_SRC_FROM_LIB)), $(call GETALLOBJ,$(EXCLUDE_SRCDIRS)))
+ELF_DEPS+=$(filter-out $(call GETALLOBJ,$(EXCLUDE_SRC_FROM_LIB)), $(call GETALLOBJ,$(EXCLUDE_SRCDIRS)))
LIBRARIES+=$(LIBAR)
else
-ELF_DEPS=$(call GETALLOBJ,$(EXCLUDE_SRCDIRS))
+ELF_DEPS+=$(call GETALLOBJ,$(EXCLUDE_SRCDIRS))
endif
$(MONOLITH_BIN): $(MONOLITH_ELF) $(BINDIR)
@@ -249,7 +252,7 @@ define c_rule
$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1
$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1 $(DEPDIR)/$(basename $1).d
$(VV)mkdir -p $$(dir $$@)
- $(VV)mkdir -p $(DEPDIR)/$$(dir $$(patsubst bin/%, %, $$@))
+ $(MAKEDEPFOLDER)
$$(call test_output_2,Compiled $$< ,$(CC) -c $(INCLUDE) -iquote"$(INCDIR)/$$(dir $$*)" $(CFLAGS) $(EXTRA_CFLAGS) $(DEPFLAGS) -o $$@ $$<,$(OK_STRING))
$(RENAMEDEPENDENCYFILE)
endef
@@ -259,7 +262,7 @@ define cxx_rule
$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1
$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1 $(DEPDIR)/$(basename %).d
$(VV)mkdir -p $$(dir $$@)
- $(VV)mkdir -p $(DEPDIR)/$$(dir $$(patsubst bin/%, %, $$@))
+ $(MAKEDEPFOLDER)
$$(call test_output_2,Compiled $$< ,$(CXX) -c $(INCLUDE) -iquote"$(INCDIR)/$$(dir $$*)" $(CXXFLAGS) $(EXTRA_CXXFLAGS) $(DEPFLAGS) -o $$@ $$<,$(OK_STRING))
$(RENAMEDEPENDENCYFILE)
endef
@@ -282,4 +285,4 @@ cxx-sysroot:
$(DEPDIR)/%.d: ;
.PRECIOUS: $(DEPDIR)/%.d
-include $(wildcard $(patsubst ./src/%,$(DEPDIR)/%.d,$(basename $(CSRC) $(CXXSRC))))
+include $(wildcard $(patsubst $(SRCDIR)/%,$(DEPDIR)/%.d,$(CSRC) $(CXXSRC)))
diff --git a/firmware/libpros.a b/firmware/libpros.a
index 9bf13cb..bbe7263 100644
Binary files a/firmware/libpros.a and b/firmware/libpros.a differ
diff --git a/include/api.h b/include/api.h
index 6e57f57..cdc7b11 100644
--- a/include/api.h
+++ b/include/api.h
@@ -8,7 +8,7 @@
* This file should not be modified by users, since it gets replaced whenever
* a kernel upgrade occurs.
*
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
* All rights reserved.
*
* This Source Code Form is subject to the terms of the Mozilla Public
@@ -41,14 +41,15 @@
#define PROS_VERSION_MAJOR 3
#define PROS_VERSION_MINOR 2
-#define PROS_VERSION_PATCH 0
-#define PROS_VERSION_STRING "3.2.0"
+#define PROS_VERSION_PATCH 1
+#define PROS_VERSION_STRING "3.2.1"
#define PROS_ERR (INT32_MAX)
#define PROS_ERR_F (INFINITY)
#include "pros/adi.h"
#include "pros/colors.h"
+#include "pros/imu.h"
#include "pros/llemu.h"
#include "pros/misc.h"
#include "pros/motors.h"
@@ -57,6 +58,7 @@
#ifdef __cplusplus
#include "pros/adi.hpp"
+#include "pros/imu.hpp"
#include "pros/llemu.hpp"
#include "pros/misc.hpp"
#include "pros/motors.hpp"
diff --git a/include/arduino.h b/include/arduino.h
index fdbff3e..4d0dba6 100644
--- a/include/arduino.h
+++ b/include/arduino.h
@@ -5,17 +5,21 @@
* License, v. 2.0. If a copy of the MPL was not distributed with this
* file, You can obtain one at http://mozilla.org/MPL/2.0/.
*/
-#ifndef _ARDUINO_HPP_
-#define _ARDUINO_HPP_
+#ifndef _ARDUINO_H_
+#define _ARDUINO_H_
#include "api.h"
#include "okapi/api/control/controllerInput.hpp"
#include "okapi/api/device/rotarysensor/continuousRotarySensor.hpp"
#include "okapi/impl/device/rotarysensor/adiGyro.hpp"
+#include "okapi/api/filter/averageFilter.hpp"
+#include "okapi/api/filter/medianFilter.hpp"
// Include sstream for serial parsing
#include
+#include "localization.h"
+
// Prototypes for hidden vex functions to bypass PROS bug
extern "C" int32_t vexGenericSerialReceive( uint32_t index, uint8_t *buffer, int32_t length );
extern "C" void vexGenericSerialEnable( uint32_t index, uint32_t nu );
@@ -74,14 +78,409 @@ class BNO055 : public ADIGyro {
class PYRO_Arduino
{
+ private:
+ inline static int resetTimeout = 5000;
public:
PYRO_Arduino(int port);
okapi::BNO055 BNO055_Main;
+ inline static bool isCommumnicating = false;
+ static okapi::BNO055* bno;
+ static void update_differential_pos(void*)
+ {
+ while(1)
+ {
+ try
+ {
+
+ // Start serial on desired port
+ vexGenericSerialEnable( bno->get_port() - 1, 0 );
+
+ // Set BAUD rate
+ vexGenericSerialBaudrate( bno->get_port() - 1, 115200 );
+
+ // Let VEX OS configure port
+ pros::delay(10);
+
+ int i = 0;
+ int j = 0;
+
+ okapi::AverageFilter<5> avgFilterComms;
+ okapi::MedianFilter<3> medFilterAx;
+ okapi::MedianFilter<3> medFilterAy;
+ okapi::MedianFilter<3> medFilterAz;
+ okapi::MedianFilter<3> medFilterHead;
+
+ while (true)
+ {
+ isCommumnicating = 0;
+
+
+ // Buffer to store serial data
+ uint8_t buffer[256];
+ int len = 256;
+
+ // Get serial data
+ int32_t nRead = vexGenericSerialReceive(bno->get_port() - 1, buffer, len);
+ //pros::lcd::print(3, "at while true %d", nRead);
+
+ //std::cout << buffer << "|||||";
+
+ //std::string str( buffer, buffer+256 );
+
+ //std::cout << str << "asdfghjkl";
+
+
+ if(avgFilterComms.filter(nRead) > 0)
+ isCommumnicating = 1;
+
+
+ char* input = (char*) buffer;
+
+ char* ptr = input;
+
+ if(ptr != NULL)
+ {
+ //if(input[0] != 2)
+ //std::cout << ++j << "oops\n";
+
+
+ int count = 0;
+ while((*ptr != 2 || *ptr == '\0') && count < 255)
+ {
+ ptr+=sizeof(char);
+ count++;
+ // pros::delay(1);
+ }
+
+ if(*ptr == 2 && *(ptr+1)=='R')
+ {
+
+ int checksum = 0;
+
+ while(*ptr!=';' && count<60)
+ {
+
+
+ checksum += (int) *ptr;
+
+ std::string str(ptr);
+ ptr+=sizeof(char);
+ // pros::delay(1);
+ }
+
+ checksum += (int) *ptr;
+ ptr+=sizeof(char);
+
+ char key = *(ptr);
+
+
+ checksum = checksum % 128 + 3;
+
+ //std::cout << input << "\n";
+ //std::cout << (char)checksum << " = " << key<> std::hex >> time;
+ // std::cout << s_time_hex << " = " << time << std::endl;
+
+
+ float heading = stof(s_heading);
+ if(heading > 180)
+ heading -= 360;
+
+ bool gotMutex = false;
+
+ gotMutex = OrientationData::mutex.take(500);
+ if(gotMutex)
+ {
+ bno->set(medFilterHead.filter(heading));
+
+ float temp;
+
+ size_t position = s_ax.find("-");
+ if(position!=std::string::npos)
+ s_ax = s_ax.substr(position); // get from position to the end
+
+ position = s_ay.find("-");
+ if(position!=std::string::npos)
+ s_ay = s_ay.substr(position); // get from position to the end
+
+ position = s_az.find("-");
+ if(position!=std::string::npos)
+ s_az = s_az.substr(position); // get from position to the end
+
+
+ std::stringstream(s_ax) >> temp;
+ OrientationData::setAcceleration(x,medFilterAx.filter(temp));
+ std::stringstream(s_ay) >> temp;
+ OrientationData::setAcceleration(y,medFilterAy.filter(temp));
+ std::stringstream(s_az) >> temp;
+ OrientationData::setAcceleration(z,medFilterAz.filter(temp));
+
+ OrientationData::setTime(time);
+
+ OrientationData::mutex.give();
+
+ }
+
+
+ buffer[0]='\0';
+ while(vexGenericSerialReceive(bno->get_port() - 1, buffer, len) > 0){
+ buffer[0]='\0';
+ pros::delay(1);
+ }
+ pros::delay(20);
+
+
+
+
+
+
+ }
+ }
+
+
+ }
+ if(pros::millis() > resetTimeout || OrientationData::isOld())
+ {
+ resetTimeout += 10000;
+ setClock();
+ }
+
+ pros::delay(20);
+ }
+
+
+ }
+ catch(...){
+ isCommumnicating = 0;
+ }
+ pros::delay(20);
+
+
+ }
+
+ }
+ static void reset()
+ {
+ try
+ {
+ std::cout << "Trying to send RESET Arduino" << std::endl;
+ // // Start serial on desired port
+ // vexGenericSerialEnable( bno->get_port() - 1, 0 );
+ //
+ // // Set BAUD rate
+ // vexGenericSerialBaudrate( bno->get_port() - 1, 115200 );
+
+
+ FILE* port7 = fopen("/dev/7", "w");
+
+
+ // Let VEX OS configure port
+ pros::delay(10);
+
+ // Buffer to store serial data
+ // uint8_t buffer[6] = "C";
+ // int len = 6;
+
+
+ std::string str = "RESET";
+ const char *cstr = str.c_str();
+
+
+ fputs(cstr, port7);
+ fclose(port7);
+
+
+ // // Get serial data
+ // vexGenericSerialTransmit(bno->get_port() - 1, buffer, len);
+
+
+ pros::delay(10);
+ std::cout << "Successfully RESET Arduino" << std::endl;
+
+
+ }
+ catch(...)
+ {
+ std::cout << "ERROR ON RESET Arduino!!!" << std::endl;
+ }
+ }
+
+ static void setClock()
+ {
+ try
+ {
+ std::cout << "Trying to send SetClock" << std::endl;
+ // // Start serial on desired port
+ // vexGenericSerialEnable( bno->get_port() - 1, 0 );
+ //
+ // // Set BAUD rate
+ // vexGenericSerialBaudrate( bno->get_port() - 1, 115200 );
+
+
+ FILE* port7 = fopen("/dev/7", "w");
+
+
+ // Let VEX OS configure port
+ pros::delay(10);
+
+ // Buffer to store serial data
+ // uint8_t buffer[6] = "C";
+ // int len = 6;
+
+
+ std::string str = "CLOCK";
+ str += std::to_string(pros::millis());
+ const char *cstr = str.c_str();
+
+
+ fputs(cstr, port7);
+ fclose(port7);
+
+
+ // // Get serial data
+ // vexGenericSerialTransmit(bno->get_port() - 1, buffer, len);
+
+
+ pros::delay(10);
+ std::cout << "Successfully SetClock" << std::endl;
+
+
+ }
+ catch(...)
+ {
+ std::cout << "ERROR ON SETCLOCK!!!" << std::endl;
+ }
+ }
+
+ static void setADI(int port, int value)
+ {
+ try
+ {
+ std::cout << "Trying to send SetClock" << std::endl;
+ // // Start serial on desired port
+ // vexGenericSerialEnable( bno->get_port() - 1, 0 );
+ //
+ // // Set BAUD rate
+ // vexGenericSerialBaudrate( bno->get_port() - 1, 115200 );
+
+
+ FILE* port7 = fopen("/dev/7", "w");
+
+
+ // Let VEX OS configure port
+ pros::delay(10);
+
+ // Buffer to store serial data
+ // uint8_t buffer[6] = "C";
+ // int len = 6;
+
+
+ std::string str = "PISTON";
+ str += ":" + std::to_string(port - 8) + ":" + std::to_string(value);
+ const char *cstr = str.c_str();
+
+
+ fputs(cstr, port7);
+ fclose(port7);
+
+
+ // // Get serial data
+ // vexGenericSerialTransmit(bno->get_port() - 1, buffer, len);
+
+
+ pros::delay(10);
+ std::cout << "Successfully Sent Piston" << std::endl;
+
+
+ }
+ catch(...)
+ {
+ std::cout << "ERROR ON SETPiston!!!" << std::endl;
+ }
+ }
+
+
+ static void send(std::string str)
+ {
+ try
+ {
+ std::cout << "Trying to send SetClock" << std::endl;
+ // // Start serial on desired port
+ // vexGenericSerialEnable( bno->get_port() - 1, 0 );
+ //
+ // // Set BAUD rate
+ // vexGenericSerialBaudrate( bno->get_port() - 1, 115200 );
+
+
+ FILE* port7 = fopen("/dev/7", "w");
+
+
+ // Let VEX OS configure port
+ pros::delay(10);
+
+ // Buffer to store serial data
+ // uint8_t buffer[6] = "C";
+ // int len = 6;
+
+
+ const char *cstr = str.c_str();
+
+ fputs(cstr, port7);
+ fclose(port7);
+
+
+ // // Get serial data
+ // vexGenericSerialTransmit(bno->get_port() - 1, buffer, len);
+
+
+ pros::delay(10);
+ std::cout << "Successfully Sent Message" << std::endl;
+
+
+ }
+ catch(...)
+ {
+ std::cout << "ERROR ON Send Message!!!" << std::endl;
+ }
+ }
+
+
+ pros::Task t_arduino_update;
private:
int port;
};
+
+
+
} // namespace okapi
//extern okapi::BNO055 BNO055_Main;
diff --git a/include/autonomous.h b/include/autonomous.h
index 44c0d98..8d5e6af 100644
--- a/include/autonomous.h
+++ b/include/autonomous.h
@@ -1,5 +1,6 @@
#ifndef _AUTONOMOUS_H_
#define _AUTONOMOUS_H_
+#include "api.h"
//==================================START FILE==================================
//==============================================================================
@@ -17,19 +18,26 @@
enum autonNames
{
+ notSelected,
red0,
blue0,
- skills0
+ red1,
+ blue1,
+ redSkills0,
+ blueSkills0
};
-typedef autonNames autonID;
+// typedef autonNames autonID;
-static autonID selectedAutonID;
+// static autonNames selectedAutonID = notSelected;
-extern void autonomousSelector(autonID);
+extern void autonomousSelector(autonNames);
extern void auton_red0();
extern void auton_blue0();
+extern void auton_red1();
+extern void auton_blue1();
extern void auton_skills0();
+extern pros::Task lifttaskauto;
//------------------------------------------------------------------------------
//===================================END FILE===================================
diff --git a/include/chassis.h b/include/chassis.h
index 6aec6e3..ba1ffb7 100644
--- a/include/chassis.h
+++ b/include/chassis.h
@@ -6,6 +6,9 @@
#include "arduino.h"
#include "pid.h"
#include "okapi/api.hpp"
+#include
+#include
+
//==================================START FILE==================================
//==============================================================================
@@ -22,7 +25,9 @@
//------------------------------------------------------------------------------
#define WHEELBASE 16.5
-#define IDLER_WHEEL_DIAMETER 2.83
+#define IDLER_WHEEL_DIAMETER 2.95//2.83 //3.22
+extern double ecToDegrees(int ec);
+
namespace okapi
{
@@ -38,8 +43,8 @@ namespace okapi
okapi::MotorGroup left_motors;
okapi::MotorGroup right_motors;
- okapi::ADIEncoder encoder_left;
- okapi::ADIEncoder encoder_right;
+ static okapi::ADIEncoder encoder_left;
+ static okapi::ADIEncoder encoder_right;
PIDData pos_pid_data;
@@ -51,14 +56,55 @@ namespace okapi
void drive_PID_sync(double, bool = true);
void turn_PID(okapi::ADIEncoder*, okapi::ADIEncoder*);
void turn_PID_sync(double, bool = true);
- void drive_seconds(int,double);
- static void update_differential_pos(void*)
+ void drive_seconds(double,double);
+
+ void drive_to_coordinate(double, double, double, bool = false, float = 0.5, bool = true);
+ void drive_to_coordinate_old(double, double, double, bool = false, float = 0.5, bool = true);
+
+ static void update_position(void*)
{
- int i = 0;
+ encoder_left.reset();
+ encoder_right.reset();
+ std::cout << "ENC RESET"<< std::endl;
+
+ double enc_last = 0;
while(1)
{
- pros::lcd::print(6, "%d", i++);
+ // if(OrientationData::mutex_position.take(100))
+ // {
+ // ADIEncoder enc_l('A', 'B', 0);
+ // ADIEncoder enc_r('C', 'D', 1);
+ //OrientationData::setHeading(45);
+
+ float heading = OrientationData::getHeading();
+ // float xheading = abs(heading)>2&&abs(heading) < 180?heading:0;
+
+ std::stringstream tmp;
+ tmp << std::setprecision(3) << std::fixed << sin(PI/180.0*heading);
+ double headingCoeffX = stod(tmp.str()); // new_val = 3.143
+ tmp.str(std::string()); // clear tmp for future use
+
+ tmp << std::setprecision(3) << std::fixed << cos(PI/180.0*heading);
+ double headingCoeffY = stod(tmp.str()); // new_val = 3.143
+ tmp.str(std::string()); // clear tmp for future use
+
+
+ double enc_avg =(encoder_left.get() + encoder_right.get())/2.0;
+ double x_new = (ecToDegrees(enc_avg - enc_last))* headingCoeffX + OrientationData::getPosition(x);
+ double y_new = (ecToDegrees(enc_avg - enc_last))* headingCoeffY + OrientationData::getPosition(y);
+
+
+
+ OrientationData::setPosition(x, x_new);
+ OrientationData::setPosition(y, y_new);
+
+ // OrientationData::mutex_position.give();
+ // }
+
+ // std::cout << "(x, y, h):" << OrientationData::getPosition(x) << ", " << OrientationData::getPosition(y) << ", " <
+#include "matrix.h"
+#include "stdio.h"
+#include
+
+#define REFRESH 0.02
+
+class KalmanFilter1
+{
+private:
+ double* data1;
+ double* data2;
+
+ float gain;
+
+ double error_estimate_curr;
+ double error_estimate_prev;
+ double error_input;
+
+ double estimate_curr;
+ double estimate_prev;
+
+ void calculate_gain();
+ void calculate_curr_est();
+ void calculate_new_error(); // Uncertainty
+
+public:
+ KalmanFilter1(double*, double* = NULL, double = 100);
+ void update_kalman(void*)
+ {
+ while(1)
+ {
+ calculate_gain();
+ calculate_curr_est();
+ error_estimate_prev = error_estimate_curr; // Transition to next interval
+ calculate_new_error();
+ pros::delay(20);
+ }
+ }
+ //pros::Task t_kalman_update;
+};
+
+class KalmanFilter
+{
+private:
+ double* data1;
+ double* data2;
+
+ Matrix x_t;
+ Matrix A;
+ Matrix B;
+
+ float gain;
+
+ double error_estimate_curr;
+ double error_estimate_prev;
+ double error_input;
+
+ double estimate_curr;
+ double estimate_prev;
+
+ void calculate_gain();
+ void calculate_curr_est();
+ void calculate_new_error(); // Uncertainty
+
+public:
+ KalmanFilter(double*, double* = NULL, double = 100);
+ void update_kalman(void*)
+ {
+ while(1)
+ {
+ calculate_gain();
+ calculate_curr_est();
+ error_estimate_prev = error_estimate_curr; // Transition to next interval
+ calculate_new_error();
+ pros::delay(20);
+ }
+ }
+ //pros::Task t_kalman_update;
+};
+
+enum Point3D
+{
+ x,
+ y,
+ z
+};
+
+class OrientationData
+{
+private:
+ static double heading;
+ static std::tuple position;
+ static std::tuple velocity;
+ static std::tuple acceleration;
+ inline static int time = 0;
+
+public:
+ OrientationData();
+ inline static pros::Mutex mutex;
+ static bool isOld()
+ {
+ if( (pros::millis() - time) < 1000 )
+ return 0;
+ else
+ return 1;
+ }
+ static void setHeading(double heading)
+ {
+ OrientationData::heading = heading;
+ };
+ static void setPosition(Point3D id, double value)
+ {
+ switch (id) {
+ case x:
+ std::get<0>(OrientationData::position) = value;
+ break;
+ case y:
+ std::get<1>(OrientationData::position) = value;
+ break;
+ case z:
+ std::get<2>(OrientationData::position) = value;
+ break;
+ }
+ };
+ static void setPosition(double x1, double y1, double z1)
+ {
+ setPosition(x, x1);
+ setPosition(y, y1);
+ setPosition(z, z1);
+ };
+ static void setVelocity(Point3D id, double value)
+ {
+ switch (id) {
+ case x:
+ std::get<0>(OrientationData::velocity) = value;
+ break;
+ case y:
+ std::get<1>(OrientationData::velocity) = value;
+ break;
+ case z:
+ std::get<2>(OrientationData::velocity) = value;
+ break;
+ }
+ }
+ static void setAcceleration(Point3D id, double value)
+ {
+ switch (id) {
+ case x:
+ std::get<0>(OrientationData::acceleration) = value;
+ break;
+ case y:
+ std::get<1>(OrientationData::acceleration) = value;
+ break;
+ case z:
+ std::get<2>(OrientationData::acceleration) = value;
+ break;
+ }
+ }
+ static void reset()
+ {
+ setPosition(x,0.0);
+ setPosition(y,0.0);
+ setPosition(z,0.0);
+ }
+ static void setTime(int time) {OrientationData::time = time;}
+ static double getTime() {return time;}
+ static double getHeading() {return heading;}
+ static double getPosition(Point3D id)
+ {
+ switch (id) {
+ case x:
+ return std::get<0>(position);
+ case y:
+ return std::get<1>(position);
+ case z:
+ return std::get<2>(position);
+ }
+ }
+ double getVelocity(Point3D);
+ static double getAcceleration(Point3D id)
+ {
+ switch (id) {
+ case x:
+ return std::get<0>(acceleration);
+ case y:
+ return std::get<1>(acceleration);
+ case z:
+ return std::get<2>(acceleration);
+ }
+ }
+
+ static pros::Mutex mutex_position;
+
+ static void writePosToFile(void*)
+ {
+ // FILE* usd_file_write = fopen("/usd/position.csv", "w");
+ // fputs(" ", usd_file_write);
+ // fclose(usd_file_write);
+ //
+ while(1)
+ {
+ // FILE* usd_file_write = fopen("/usd/position.csv", "a");
+ //
+ // if(usd_file_write != NULL)
+ // {
+ // // std::string str = std::to_string(heading) + "," + std::to_string(std::get<0>(acceleration)) + ","
+ // // + std::to_string(std::get<1>(acceleration)) + "," + std::to_string(std::get<2>(acceleration));
+ // // str += "\n";
+ //
+ std::string str = std::to_string(OrientationData::getPosition(x)) + "," + std::to_string(OrientationData::getPosition(y)) + ","
+ + std::to_string(OrientationData::getHeading());
+ str += "\n";
+
+ //std::cout << " "<
+#include
+#include "okapi/api/filter/averageFilter.hpp"
+
// From: https://gist.github.com/bradley219/5373998
@@ -45,4 +49,76 @@ class PIDController
};
+struct PIDReturn
+{
+ int left, right;
+};
+
+class PIDControllerRemake
+{
+ private:
+ float kp, ki, kd, min, max, dt;
+ float& setpoint;
+ double tollerance;
+ double& pv;
+ double& cv;
+ double prev_error;
+ double integral;
+ okapi::AverageFilter<3> avgFilterError;
+
+
+ // const int id;
+
+ void iterate();
+
+ public:
+ // PIDControllerRemake(double&, double&, float, float, float, float, float, float = 333);
+ PIDControllerRemake(float&, double&, double&, float, float, float, float, float, double = 0.125, float = 333);//, int = PIDControllerManager.num_objects++);
+
+ void setSetpoint(double setpoint);
+ friend class PIDControllerManager;
+ double avgError();
+
+};
+
+class PIDControllerManager
+{
+private:
+ static void manager(void*)
+ {
+ while(1)
+ {
+ for(auto PID : controllerList)
+ PID.iterate();
+ pros::delay(20);
+ }
+ }
+ inline static std::vector controllerList;
+
+ pros::Task t_PIDManager;
+
+public:
+ PIDControllerManager();
+ friend class PIDControllerRemake;
+ inline static int num_objects = 0;
+ static void removePID(PIDControllerRemake& P)
+ {
+ // int pos = -1;
+ // for (int i = 0; i < controllerList.size(); i++) {
+ // if (controllerList.data()->id == P.id)
+ // pos = i;
+ // }
+ //
+ // if(pos >= 0)
+ // {
+ // controllerList.erase(controllerList.begin() + pos);
+ //
+ // num_objects--;
+ // std::cout << "Removed a PID at position: " << pos << std::endl;
+ // }
+
+ }
+
+};
+
#endif
diff --git a/include/piston.h b/include/piston.h
index ee93fa4..fb0032f 100644
--- a/include/piston.h
+++ b/include/piston.h
@@ -2,6 +2,7 @@
#define _PISTON_H_
#include "api.h"
+#include "arduino.h"
//==================================START FILE==================================
//==============================================================================
diff --git a/include/pros/adi.h b/include/pros/adi.h
index 7b13b10..a5ccd03 100644
--- a/include/pros/adi.h
+++ b/include/pros/adi.h
@@ -8,7 +8,7 @@
* This file should not be modified by users, since it gets replaced whenever
* a kernel upgrade occurs.
*
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -18,6 +18,7 @@
#ifndef _PROS_ADI_H_
#define _PROS_ADI_H_
+#include
#include
#ifndef PROS_ERR
#define PROS_ERR (INT32_MAX)
@@ -576,11 +577,11 @@ int32_t adi_ultrasonic_get(adi_ultrasonic_t ult);
* EADDRINUSE - The port is not configured as an ultrasonic
*
* \param port_ping
- * The port connected to the orange OUTPUT cable. This should be in the
- * next highest port following port_echo.
- * \param port_echo
- * The port connected to the yellow INPUT cable. This should be in port
+ * The port connected to the orange OUTPUT cable. This should be in port
* 1, 3, 5, or 7 ('A', 'C', 'E', 'G').
+ * \param port_echo
+ * The port connected to the yellow INPUT cable. This should be in the
+ * next highest port following port_ping.
*
* \return An adi_ultrasonic_t object to be stored and used for later calls to
* ultrasonic functions
diff --git a/include/pros/adi.hpp b/include/pros/adi.hpp
index 6bf3dd2..6d351be 100644
--- a/include/pros/adi.hpp
+++ b/include/pros/adi.hpp
@@ -8,7 +8,7 @@
* This file should not be modified by users, since it gets replaced whenever
* a kernel upgrade occurs.
*
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -424,11 +424,11 @@ class ADIUltrasonic : private ADIPort {
* ENXIO - The given value is not within the range of ADI Ports.
*
* \param port_ping
- * The port connected to the orange OUTPUT cable. This should be in the
- * next highest port following port_echo.
- * \param port_echo
- * The port connected to the yellow INPUT cable. This should be in port
+ * The port connected to the orange OUTPUT cable. This should be in port
* 1, 3, 5, or 7 ('A', 'C', 'E', 'G').
+ * \param port_echo
+ * The port connected to the yellow INPUT cable. This should be in the
+ * next highest port following port_ping.
*/
ADIUltrasonic(std::uint8_t port_ping, std::uint8_t port_echo);
diff --git a/include/pros/api_legacy.h b/include/pros/api_legacy.h
index 6d3f3f1..8768b51 100644
--- a/include/pros/api_legacy.h
+++ b/include/pros/api_legacy.h
@@ -10,7 +10,7 @@
* This file should not be modified by users, since it gets replaced whenever
* a kernel upgrade occurs.
*
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
* All rights reserved.
*
* This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/pros/apix.h b/include/pros/apix.h
index ca278b4..4614a4d 100644
--- a/include/pros/apix.h
+++ b/include/pros/apix.h
@@ -12,7 +12,7 @@
* This file should not be modified by users, since it gets replaced whenever
* a kernel upgrade occurs.
*
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
* All rights reserved.
*
* This Source Code Form is subject to the terms of the Mozilla Public
@@ -369,6 +369,7 @@ void queue_reset(queue_t queue);
typedef enum v5_device_e {
E_DEVICE_NONE = 0,
E_DEVICE_MOTOR = 2,
+ E_DEVICE_IMU = 6,
E_DEVICE_RADIO = 8,
E_DEVICE_VISION = 11,
E_DEVICE_ADI = 12,
diff --git a/include/pros/colors.h b/include/pros/colors.h
index 6903e86..0f5e3b9 100644
--- a/include/pros/colors.h
+++ b/include/pros/colors.h
@@ -6,7 +6,7 @@
* This file should not be modified by users, since it gets replaced whenever
* a kernel upgrade occurs.
*
- * Copyright (c) 2017-2019 Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020 Purdue University ACM SIGBots.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/imu.h b/include/pros/imu.h
new file mode 100644
index 0000000..48a2d02
--- /dev/null
+++ b/include/pros/imu.h
@@ -0,0 +1,256 @@
+/**
+ * \file pros/imu.h
+ *
+ * Contains prototypes for functions related to the VEX Inertial sensor.
+ *
+ * Visit https://pros.cs.purdue.edu/v5/tutorials/topical/imu.html to learn
+ * more.
+ *
+ * This file should not be modified by users, since it gets replaced whenever
+ * a kernel upgrade occurs.
+ *
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+
+#ifndef _PROS_IMU_H_
+#define _PROS_IMU_H_
+
+#include
+#include
+
+#ifdef __cplusplus
+extern "C" {
+namespace pros {
+namespace c {
+#endif
+
+typedef enum imu_status_e {
+ E_IMU_STATUS_CALIBRATING = 0x01,
+ E_IMU_STATUS_ERROR = 0xFF, // NOTE: used for returning an error from the get_status function, not that the IMU is
+ // necessarily in an error state
+} imu_status_e_t;
+
+typedef struct __attribute__((__packed__)) quaternion_s {
+ double x;
+ double y;
+ double z;
+ double w;
+} quaternion_s_t;
+
+struct imu_raw_s {
+ double x;
+ double y;
+ double z;
+};
+
+typedef struct imu_raw_s imu_gyro_s_t;
+typedef struct imu_raw_s imu_accel_s_t;
+
+typedef struct __attribute__((__packed__)) euler_s {
+ double pitch;
+ double roll;
+ double yaw;
+} euler_s_t;
+
+/**
+ * Calibrate IMU
+ *
+ * This takes approximately 2 seconds, and is a non-blocking operation.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is already calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+int32_t imu_reset(uint8_t port);
+
+/**
+ * Get the total number of degrees the Inertial Sensor has spun about the z-axis
+ *
+ * This value is theoretically unbounded. Clockwise rotations are represented
+ * with positive degree values, while counterclockwise rotations are represented
+ * with negative ones.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The degree value or PROS_ERR_F if the operation failed, setting
+ * errno.
+ */
+double imu_get_rotation(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's heading relative to the initial direction of its
+ * x-axis
+ *
+ * This value is bounded by (-360,360). Clockwise rotations are represented with
+ * positive degree values, while counterclockwise rotations are represented with
+ * negative ones.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The degree value or PROS_ERR_F if the operation failed, setting
+ * errno.
+ */
+double imu_get_heading(uint8_t port);
+
+/**
+ * Get a quaternion representing the Inertial Sensor's orientation
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The quaternion representing the sensor's orientation. If the
+ * operation failed, all the quaternion's members are filled with PROS_ERR_F and
+ * errno is set.
+ */
+quaternion_s_t imu_get_quaternion(uint8_t port);
+
+/**
+ * Get the Euler angles representing the Inertial Sensor's orientation
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The Euler angles representing the sensor's orientation. If the
+ * operation failed, all the structure's members are filled with PROS_ERR_F and
+ * errno is set.
+ */
+euler_s_t imu_get_euler(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's pitch angle
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The pitch angle, or PROS_ERR_F if the operation failed, setting
+ * errno.
+ */
+double imu_get_pitch(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's roll angle
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The roll angle, or PROS_ERR_F if the operation failed, setting errno.
+ */
+double imu_get_roll(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's yaw angle
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The yaw angle, or PROS_ERR_F if the operation failed, setting errno.
+ */
+double imu_get_yaw(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's raw gyroscope values
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The raw gyroscope values. If the operation failed, all the
+ * structure's members are filled with PROS_ERR_F and errno is set.
+ */
+imu_gyro_s_t imu_get_gyro_rate(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's raw acceleroneter values
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The raw accelerometer values. If the operation failed, all the
+ * structure's members are filled with PROS_ERR_F and errno is set.
+ */
+imu_accel_s_t imu_get_accel(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's status
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The Inertial Sensor's status code, or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+imu_status_e_t imu_get_status(uint8_t port);
+
+// NOTE: not used
+// void imu_set_mode(uint8_t port, uint32_t mode);
+// uint32_t imu_get_mode(uint8_t port);
+
+#ifdef __cplusplus
+}
+}
+}
+#endif
+
+#endif
diff --git a/include/pros/imu.hpp b/include/pros/imu.hpp
new file mode 100644
index 0000000..105a8ab
--- /dev/null
+++ b/include/pros/imu.hpp
@@ -0,0 +1,217 @@
+/**
+ * \file pros/imu.hpp
+ *
+ * Contains prototypes for functions related to the VEX Inertial sensor.
+ *
+ * Visit https://pros.cs.purdue.edu/v5/tutorials/topical/imu.html to learn
+ * more.
+ *
+ * This file should not be modified by users, since it gets replaced whenever
+ * a kernel upgrade occurs.
+ *
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#ifndef _PROS_IMU_HPP_
+#define _PROS_IMU_HPP_
+
+#include
+#include "pros/imu.h"
+
+namespace pros {
+class Imu {
+ const std::uint8_t _port;
+
+ public:
+ Imu(const std::uint8_t port) : _port(port){};
+
+ /**
+ * Calibrate IMU
+ *
+ * This takes approximately 2 seconds, and is a non-blocking operation.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is already calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+ virtual std::int32_t reset() const;
+ /**
+ * Get the total number of degrees the Inertial Sensor has spun about the z-axis
+ *
+ * This value is theoretically unbounded. Clockwise rotations are represented
+ * with positive degree values, while counterclockwise rotations are represented
+ * with negative ones.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The degree value or PROS_ERR_F if the operation failed, setting
+ * errno.
+ */
+ virtual double get_rotation() const;
+ /**
+ * Get the Inertial Sensor's heading relative to the initial direction of its
+ * x-axis
+ *
+ * This value is bounded by (-360,360). Clockwise rotations are represented with
+ * positive degree values, while counterclockwise rotations are represented with
+ * negative ones.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The degree value or PROS_ERR_F if the operation failed, setting
+ * errno.
+ */
+ virtual double get_heading() const;
+ /**
+ * Get a quaternion representing the Inertial Sensor's orientation
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The quaternion representing the sensor's orientation. If the
+ * operation failed, all the quaternion's members are filled with PROS_ERR_F and
+ * errno is set.
+ */
+ virtual pros::c::quaternion_s_t get_quaternion() const;
+ /**
+ * Get the Euler angles representing the Inertial Sensor's orientation
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The Euler angles representing the sensor's orientation. If the
+ * operation failed, all the structure's members are filled with PROS_ERR_F and
+ * errno is set.
+ */
+ virtual pros::c::euler_s_t get_euler() const;
+ /**
+ * Get the Inertial Sensor's pitch angle
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The pitch angle, or PROS_ERR_F if the operation failed, setting
+ * errno.
+ */
+ virtual double get_pitch() const;
+ /**
+ * Get the Inertial Sensor's roll angle
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The roll angle, or PROS_ERR_F if the operation failed, setting errno.
+ */
+ virtual double get_roll() const;
+ /**
+ * Get the Inertial Sensor's yaw angle
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The yaw angle, or PROS_ERR_F if the operation failed, setting errno.
+ */
+ virtual double get_yaw() const;
+ /**
+ * Get the Inertial Sensor's raw gyroscope values
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The raw gyroscope values. If the operation failed, all the
+ * structure's members are filled with PROS_ERR_F and errno is set.
+ */
+ virtual pros::c::imu_gyro_s_t get_gyro_rate() const;
+ /**
+ * Get the Inertial Sensor's raw acceleroneter values
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The raw accelerometer values. If the operation failed, all the
+ * structure's members are filled with PROS_ERR_F and errno is set.
+ */
+ virtual pros::c::imu_accel_s_t get_accel() const;
+ /**
+ * Get the Inertial Sensor's status
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ * The V5 Inertial Sensor port number from 1-21
+ * \return The Inertial Sensor's status code, or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+ virtual pros::c::imu_status_e_t get_status() const;
+ /**
+ * Check whether the IMU is calibrating
+ *
+ * \return true if the V5 Inertial Sensor is calibrating or false
+ * false if it is not.
+ */
+ virtual bool is_calibrating() const;
+};
+} // namespace pros
+
+#endif
diff --git a/include/pros/llemu.h b/include/pros/llemu.h
index a3be7a4..aef90d6 100644
--- a/include/pros/llemu.h
+++ b/include/pros/llemu.h
@@ -13,7 +13,7 @@
* This file should not be modified by users, since it gets replaced whenever
* a kernel upgrade occurs.
*
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -24,6 +24,7 @@
#define _PROS_LLEMU_H_
#include
+#include
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-parameter"
diff --git a/include/pros/llemu.hpp b/include/pros/llemu.hpp
index 904705a..a7eaa37 100644
--- a/include/pros/llemu.hpp
+++ b/include/pros/llemu.hpp
@@ -13,7 +13,7 @@
* This file should not be modified by users, since it gets replaced whenever
* a kernel upgrade occurs.
*
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/misc.h b/include/pros/misc.h
index 6bbbbaf..d1c5938 100644
--- a/include/pros/misc.h
+++ b/include/pros/misc.h
@@ -10,7 +10,7 @@
* This file should not be modified by users, since it gets replaced whenever
* a kernel upgrade occurs.
*
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
* All rights reservered.
*
* This Source Code Form is subject to the terms of the Mozilla Public
@@ -337,7 +337,8 @@ int32_t controller_clear_line(controller_id_e_t id, uint8_t line);
* Clears all of the lines on the controller screen.
*
* \note Controller text setting is currently in beta, so continuous, fast
- * updates will not work well.
+ * updates will not work well. On vexOS version 1.0.0 this function will block
+ * for 110ms.
*
* This function uses the following values of errno when an error state is
* reached:
@@ -423,6 +424,13 @@ double battery_get_temperature(void);
*/
double battery_get_capacity(void);
+/**
+ * Checks if the SD card is installed.
+ *
+ * \return 1 if the SD card is installed, 0 otherwise
+ */
+int32_t usd_is_installed(void);
+
#ifdef __cplusplus
}
}
diff --git a/include/pros/misc.hpp b/include/pros/misc.hpp
index f1e823c..5f991b7 100644
--- a/include/pros/misc.hpp
+++ b/include/pros/misc.hpp
@@ -10,7 +10,7 @@
* This file should not be modified by users, since it gets replaced whenever
* a kernel upgrade occurs.
*
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
* All rights reservered.
*
* This Source Code Form is subject to the terms of the Mozilla Public
@@ -241,7 +241,8 @@ class Controller {
* Clears all of the lines on the controller screen.
*
* \note Controller text setting is currently in beta, so continuous, fast
- * updates will not work well.
+ * updates will not work well. On vexOS version 1.0.0 this function will
+ * block for 110ms.
*
* This function uses the following values of errno when an error state is
* reached:
@@ -315,6 +316,15 @@ std::uint8_t is_autonomous(void);
std::uint8_t is_connected(void);
std::uint8_t is_disabled(void);
} // namespace competition
+
+namespace usd {
+/**
+ * Checks if the SD card is installed.
+ *
+ * \return 1 if the SD card is installed, 0 otherwise
+ */
+std::int32_t is_installed(void);
+} // namespace usd
} // namespace pros
#endif // _PROS_MISC_HPP_
diff --git a/include/pros/motors.h b/include/pros/motors.h
index 364f8d8..35ef6e4 100644
--- a/include/pros/motors.h
+++ b/include/pros/motors.h
@@ -9,7 +9,7 @@
* This file should not be modified by users, since it gets replaced whenever
* a kernel upgrade occurs.
*
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/motors.hpp b/include/pros/motors.hpp
index d2dbc15..adcce8a 100644
--- a/include/pros/motors.hpp
+++ b/include/pros/motors.hpp
@@ -814,6 +814,13 @@ class Motor {
*/
virtual std::int32_t get_voltage_limit(void) const;
+ /**
+ * Gets the port number of the motor.
+ *
+ * \return The motor's port number.
+ */
+ virtual std::uint8_t get_port(void) const;
+
private:
const std::uint8_t _port;
};
diff --git a/include/pros/rtos.h b/include/pros/rtos.h
index 56bab4d..de22af1 100644
--- a/include/pros/rtos.h
+++ b/include/pros/rtos.h
@@ -10,7 +10,7 @@
* This file should not be modified by users, since it gets replaced whenever
* a kernel upgrade occurs.
*
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
* All rights reserved.
*
* This Source Code Form is subject to the terms of the Mozilla Public
@@ -21,6 +21,7 @@
#ifndef _PROS_RTOS_H_
#define _PROS_RTOS_H_
+#include
#include
#ifdef __cplusplus
diff --git a/include/pros/rtos.hpp b/include/pros/rtos.hpp
index ba2c000..cab6f2e 100644
--- a/include/pros/rtos.hpp
+++ b/include/pros/rtos.hpp
@@ -10,7 +10,7 @@
* This file should not be modified by users, since it gets replaced whenever
* a kernel upgrade occurs.
*
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
* All rights reserved.
*
* This Source Code Form is subject to the terms of the Mozilla Public
@@ -25,6 +25,9 @@
#undef delay
#include
#include
+#include
+#include
+#include
namespace pros {
class Task {
@@ -76,7 +79,57 @@ class Task {
* debugging. The name may be up to 32 characters long.
*
*/
- Task(task_fn_t function, void* parameters = NULL, const char* name = "");
+ Task(task_fn_t function, void* parameters, const char* name);
+
+ /**
+ * Creates a new task and add it to the list of tasks that are ready to run.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENOMEM - The stack cannot be used as the TCB was not created.
+ *
+ * \param function
+ * Callable object to use as entry function
+ * \param prio
+ * The priority at which the task should run.
+ * TASK_PRIO_DEFAULT plus/minus 1 or 2 is typically used.
+ * \param stack_depth
+ * The number of words (i.e. 4 * stack_depth) available on the task's
+ * stack. TASK_STACK_DEPTH_DEFAULT is typically sufficienct.
+ * \param name
+ * A descriptive name for the task. This is mainly used to facilitate
+ * debugging. The name may be up to 32 characters long.
+ *
+ */
+ template
+ Task(F&& function, std::uint32_t prio = TASK_PRIORITY_DEFAULT, std::uint16_t stack_depth = TASK_STACK_DEPTH_DEFAULT,
+ const char* name = "")
+ : Task(
+ [](void* parameters) {
+ std::unique_ptr> ptr{static_cast*>(parameters)};
+ (*ptr)();
+ },
+ new std::function(std::forward(function)), prio, stack_depth, name) {
+ static_assert(std::is_invocable_r_v);
+ }
+
+ /**
+ * Creates a new task and add it to the list of tasks that are ready to run.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENOMEM - The stack cannot be used as the TCB was not created.
+ *
+ * \param function
+ * Callable object to use as entry function
+ * \param name
+ * A descriptive name for the task. This is mainly used to facilitate
+ * debugging. The name may be up to 32 characters long.
+ *
+ */
+ template
+ Task(F&& function, const char* name)
+ : Task(std::forward(function), TASK_PRIORITY_DEFAULT, TASK_STACK_DEPTH_DEFAULT, name) {}
/**
* Create a C++ task object from a task handle
diff --git a/include/pros/serial.h b/include/pros/serial.h
index 485410f..81de139 100644
--- a/include/pros/serial.h
+++ b/include/pros/serial.h
@@ -9,7 +9,7 @@
* This file should not be modified by users, since it gets replaced whenever
* a kernel upgrade occurs.
*
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/serial.hpp b/include/pros/serial.hpp
index 3eae4a1..07378e9 100644
--- a/include/pros/serial.hpp
+++ b/include/pros/serial.hpp
@@ -119,6 +119,13 @@ class Serial {
*/
virtual std::int32_t get_write_free() const;
+ /**
+ * Gets the port number of the serial port.
+ *
+ * \return The serial port's port number.
+ */
+ std::uint8_t get_port() const;
+
/**
* Reads the next byte avaliable in the port's input buffer without removing it.
*
diff --git a/include/pros/vision.h b/include/pros/vision.h
index 57634d6..a21db2d 100644
--- a/include/pros/vision.h
+++ b/include/pros/vision.h
@@ -9,7 +9,7 @@
* This file should not be modified by users, since it gets replaced whenever
* a kernel upgrade occurs.
*
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
* All rights reserved.
*
* This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/pros/vision.hpp b/include/pros/vision.hpp
index 4c8680e..edcc5a3 100644
--- a/include/pros/vision.hpp
+++ b/include/pros/vision.hpp
@@ -9,7 +9,7 @@
* This file should not be modified by users, since it gets replaced whenever
* a kernel upgrade occurs.
*
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
* All rights reserved.
*
* This Source Code Form is subject to the terms of the Mozilla Public
@@ -221,6 +221,13 @@ class Vision {
*/
std::int32_t get_white_balance(void) const;
+ /**
+ * Gets the port number of the Vision Sensor.
+ *
+ * \return The vision sensor's port number.
+ */
+ std::uint8_t get_port(void) const;
+
/**
* Reads up to object_count object descriptors into object_arr.
*
diff --git a/include/screen.h b/include/screen.h
index f6b3d62..41c087f 100644
--- a/include/screen.h
+++ b/include/screen.h
@@ -1,98 +1,713 @@
-#ifndef _GUI_HPP_
-#define _GUI_HPP_
+#ifndef _SCREEN_HPP_
+#define _SCREEN_HPP_
#include "api.h"
+#include "autonomous.h"
+#include "display/lv_objx/lv_btnm.h"
+#include "arduino.h"
+
+
+typedef FILE * pc_file_t;
+
class Screen
{
- public:
- Screen();
- ~Screen();
- void setup_styles();
- pros::Task t_screen;
- static void update(void*)
- {
- while(1)
- {
- if(Screen_Battery_Percent_Label != NULL){
- std::string text1 = std::to_string((int)pros::battery::get_capacity()) + "%";
- lv_label_set_text(Screen_Battery_Percent_Label, text1.c_str());}
- pros::delay(20);
- }
+private:
+ enum modeType
+ {
+ Competition,
+ DebugDriver,
+ DebugAuton,
+ Information,
+ None
+ } inline static currentMode = None;
+
+
+ /* Colors */
+ inline static lv_color_t COLOR_ASU_MAROON;
+ inline static lv_color_t COLOR_ASU_GOLD;
+
+ /* Styles */
+ inline static lv_style_t style_btn_main;
+ inline static lv_style_t style_btn_transp;
+ inline static lv_style_t style_bg;
+
+ /* Objects */
+ inline static lv_obj_t *Screen_Title_Page_Main;
+ inline static lv_obj_t *Screen_Bar;
+ inline static lv_obj_t *Screen_Battery_Percent_Label;
+ inline static lv_obj_t *Screen_Bar_Cont1;
+ inline static lv_obj_t *Screen_Bar_Cont2;
+ inline static lv_obj_t *Screen_Bar_Box;
+ inline static lv_obj_t *Screen_Bar_Box_Reset_Btn;
+ inline static lv_obj_t *Screen_Bar_Charging;
+ inline static lv_obj_t *Screen_Coordinates_Label;
+
+ inline static lv_obj_t *Screen_Title_PYRO;
+ inline static lv_obj_t *Screen_Title_Btn_Continue;
+ inline static lv_obj_t *Screen_Generic_Label;
+
+
+ inline static lv_obj_t *Screen_Competition_Btn_Main;
+ inline static lv_obj_t *Screen_Competition_Btn_Main_Label;
+ inline static lv_obj_t *Screen_Driver_Btn_Main;
+ inline static lv_obj_t *Screen_Driver_Btn_Main_Label;
+ inline static lv_obj_t *Screen_Auton_Btn_Main;
+ inline static lv_obj_t *Screen_Auton_Btn_Main_Label;
+ inline static lv_obj_t *Screen_Info_Btn_Main;
+ inline static lv_obj_t *Screen_Info_Btn_Main_Label;
+
+ inline static lv_obj_t *Screen_Mode_Help_Label;
+
+
+ inline static lv_obj_t *Screen_Mode_BG;
+
+ inline static lv_obj_t *Screen_Field_Ready_Label;
+
+ inline static lv_obj_t *Screen_Red_Auton_Btns;
+ inline static lv_obj_t *Screen_Blue_Auton_Btns;
+
+ inline static lv_obj_t *Screen_Mode_Title;
+ inline static lv_obj_t *Screen_Mode_REDBLUE_Label;
+ inline static lv_obj_t *Screen_Mode_Desc_Label;
+
+ inline static lv_obj_t *Screen_Auton_Start_Btn_Label;
+ inline static lv_obj_t *Screen_Driver_Start_Btn_Label;
+
+
+
+
+ // inline static lv_obj_t *Screen_Main_BG;
+ //
+ //
+ // inline static lv_obj_t *Screen_Mode_Select_Main;
+ // inline static lv_obj_t *Screen_Mode_Select_Comp;
+ // inline static lv_obj_t *Screen_Mode_Select_Comp_Label;
+ // inline static lv_obj_t *Screen_Mode_Select_Debug;
+ // inline static lv_obj_t *Screen_Mode_Select_Debug_Label;
+ //
+ // inline static lv_obj_t *Screen_CompSelect_Back;
+ // inline static lv_obj_t *Screen_CompSelect_Back_Label;
+
+ lv_obj_t *Screen_End_Image;
+
+ enum { arrsize = 2 };
+ inline static const char * red_auton_btnm_map[] = {"1", "2", "Skills",""};
+ inline static const char * blue_auton_btnm_map[] = {"1", "2", "Skills",""};
+
+
+ static lv_res_t button_title_continue_action(lv_obj_t * btn)
+ {
+ lv_obj_set_hidden(Screen_Title_PYRO,1);
+ lv_obj_set_hidden(Screen_Title_Btn_Continue,1);
+
+ lv_obj_set_hidden(Screen_Competition_Btn_Main,0);
+ lv_obj_set_hidden(Screen_Driver_Btn_Main,0);
+ lv_obj_set_hidden(Screen_Auton_Btn_Main,0);
+ lv_obj_set_hidden(Screen_Info_Btn_Main,0);
+ lv_obj_set_hidden(Screen_Mode_Help_Label,0);
+
+ // lv_obj_del(Screen_Title_PYRO);
+ // lv_obj_del(Screen_Title_Btn_Continue);
+
+ return LV_RES_OK; /*Return OK if the button is not deleted*/
+ }
+
+ static lv_res_t button_competition_select(lv_obj_t * btn)
+ {
+
+ switch (currentMode) {
+ case Competition:
+ lv_obj_set_hidden(Screen_Mode_BG,1);
+ lv_obj_set_hidden(Screen_Mode_Title,1);
+ lv_obj_set_hidden(Screen_Field_Ready_Label,1);
+ lv_obj_set_hidden(Screen_Red_Auton_Btns,1);
+ lv_obj_set_hidden(Screen_Blue_Auton_Btns,1);
+ lv_obj_set_hidden(Screen_Mode_REDBLUE_Label,1);
+ lv_obj_set_hidden(Screen_Mode_Desc_Label,1);
+ DriverEnabled = false;
+ AutonEnabled = false;
+ currentMode = None;
+ break;
+ default:
+ lv_label_set_text(Screen_Mode_Title, " Competition Mode");
+ lv_obj_set_hidden(Screen_Mode_Title,0);
+ lv_obj_set_hidden(Screen_Mode_BG,0);
+ lv_obj_set_hidden(Screen_Field_Ready_Label,0);
+ lv_obj_set_hidden(Screen_Red_Auton_Btns,0);
+ lv_obj_set_hidden(Screen_Blue_Auton_Btns,0);
+ lv_obj_set_hidden(Screen_Mode_REDBLUE_Label,0);
+ lv_obj_set_hidden(Screen_Mode_Desc_Label,0);
+ lv_obj_set_hidden(Screen_Auton_Start_Btn_Label,1);
+ lv_obj_set_hidden(Screen_Driver_Start_Btn_Label,1);
+ DriverEnabled = true;
+ AutonEnabled = false;
+ currentMode = Competition;
+ break;
}
- private:
- /* Colors */
- static lv_color_t COLOR_ASU_MAROON;
- static lv_color_t COLOR_ASU_GOLD;
+ return LV_RES_OK; /*Return OK if the button is not deleted*/
+ }
- /* Styles */
- static lv_style_t style_btn_main;
- static lv_style_t style_bg;
+ static lv_res_t button_driver_select(lv_obj_t * btn)
+ {
- /* Objects */
- static lv_obj_t *Screen_Title_Page_Main;
- static lv_obj_t *Screen_Title_PYRO;
- static lv_obj_t *Screen_Title_Btn_Continue;
- static lv_obj_t *Screen_Generic_Label;
+ switch (currentMode) {
+ case DebugDriver:
+ lv_obj_set_hidden(Screen_Mode_BG,1);
+ lv_obj_set_hidden(Screen_Mode_Title,1);
+ lv_obj_set_hidden(Screen_Driver_Start_Btn_Label,1);
+ currentMode = None;
+ DriverEnabled = false;
+ AutonEnabled = false;
+ break;
+ default:
+ lv_label_set_text(Screen_Mode_Title, " Driver Debug Mode");
+ lv_obj_set_hidden(Screen_Mode_Title,0);
+ lv_obj_set_hidden(Screen_Mode_BG,0);
+ lv_obj_set_hidden(Screen_Field_Ready_Label,1);
+ lv_obj_set_hidden(Screen_Red_Auton_Btns,1);
+ lv_obj_set_hidden(Screen_Blue_Auton_Btns,1);
+ lv_obj_set_hidden(Screen_Mode_REDBLUE_Label,1);
+ lv_obj_set_hidden(Screen_Mode_Desc_Label,1);
+ lv_obj_set_hidden(Screen_Auton_Start_Btn_Label,1);
+ lv_obj_set_hidden(Screen_Driver_Start_Btn_Label,0);
+ currentMode = DebugDriver;
+ DriverEnabled = true;
+ AutonEnabled = false;
+ break;
+ }
- static lv_obj_t *Screen_Main_BG;
- static lv_obj_t *Screen_Battery_Percent_Label;
+ return LV_RES_OK; /*Return OK if the button is not deleted*/
+ }
+ static lv_res_t button_auton_select(lv_obj_t * btn)
+ {
- static lv_obj_t *Screen_Mode_Select_Main;
- static lv_obj_t *Screen_Mode_Select_Comp;
- static lv_obj_t *Screen_Mode_Select_Comp_Label;
- static lv_obj_t *Screen_Mode_Select_Debug;
- static lv_obj_t *Screen_Mode_Select_Debug_Label;
+ switch (currentMode) {
+ case DebugAuton:
+ lv_obj_set_hidden(Screen_Mode_BG,1);
+ lv_obj_set_hidden(Screen_Mode_Title,1);
+ lv_obj_set_hidden(Screen_Red_Auton_Btns,1);
+ lv_obj_set_hidden(Screen_Blue_Auton_Btns,1);
+ lv_obj_set_hidden(Screen_Mode_REDBLUE_Label,1);
+ lv_obj_set_hidden(Screen_Mode_Desc_Label,1);
+ lv_obj_set_hidden(Screen_Auton_Start_Btn_Label,1);
+ currentMode = None;
+ DriverEnabled = false;
+ AutonEnabled = false;
+ break;
+ default:
+ lv_label_set_text(Screen_Mode_Title, " Auton. Debug Mode");
+ lv_obj_set_hidden(Screen_Mode_Title,0);
+ lv_obj_set_hidden(Screen_Mode_BG,0);
+ lv_obj_set_hidden(Screen_Field_Ready_Label,1);
+ lv_obj_set_hidden(Screen_Red_Auton_Btns,0);
+ lv_obj_set_hidden(Screen_Blue_Auton_Btns,0);
+ lv_obj_set_hidden(Screen_Mode_REDBLUE_Label,0);
+ lv_obj_set_hidden(Screen_Mode_Desc_Label,0);
+ lv_obj_set_hidden(Screen_Auton_Start_Btn_Label,0);
+ lv_obj_set_hidden(Screen_Driver_Start_Btn_Label,1);
+ currentMode = DebugAuton;
+ DriverEnabled = false;
+ AutonEnabled = true;
+ break;
+ }
+
+ return LV_RES_OK; /*Return OK if the button is not deleted*/
+ }
- static lv_obj_t *Screen_CompSelect_Back;
- static lv_obj_t *Screen_CompSelect_Back_Label;
+ static lv_res_t button_info_select(lv_obj_t * btn)
+ {
+ switch (currentMode) {
+ case Information:
+ lv_obj_set_hidden(Screen_Mode_BG,1);
+ lv_obj_set_hidden(Screen_Mode_Title,1);
+ currentMode = None;
+ DriverEnabled = false;
+ AutonEnabled = false;
+ break;
+ default:
+ lv_label_set_text(Screen_Mode_Title, " PYRO GUI 2.0\nThis program was created\nwith PROS (Purdue Robotics\nOperating System) and lvgl\n(Little v Graphics Library).\nThanks to both dev. teams!\n\n (c) 2020 Brandon Rice,\n PYRO Robotics");
+ lv_obj_set_hidden(Screen_Mode_Title,0);
+ lv_obj_set_hidden(Screen_Mode_BG,0);
+ lv_obj_set_hidden(Screen_Field_Ready_Label,1);
+ lv_obj_set_hidden(Screen_Red_Auton_Btns,1);
+ lv_obj_set_hidden(Screen_Blue_Auton_Btns,1);
+ lv_obj_set_hidden(Screen_Mode_REDBLUE_Label,1);
+ lv_obj_set_hidden(Screen_Mode_Desc_Label,1);
+ lv_obj_set_hidden(Screen_Auton_Start_Btn_Label,1);
+ lv_obj_set_hidden(Screen_Driver_Start_Btn_Label,1);
+ currentMode = Information;
+ DriverEnabled = false;
+ AutonEnabled = false;
+ break;
+ }
+ return LV_RES_OK; /*Return OK if the button is not deleted*/
+ }
- lv_obj_t *Screen_End_Image;
+ static lv_res_t button_box_reset(lv_obj_t * btn)
+ {
+ okapi::PYRO_Arduino::reset();
+ OrientationData::reset();
+ return LV_RES_OK; /*Return OK if the button is not deleted*/
+ }
- static lv_res_t button_title_continue_action(lv_obj_t * btn)
- {
- lv_obj_set_hidden(Screen_Title_PYRO,1);
- lv_obj_set_hidden(Screen_Title_Btn_Continue,1);
- lv_obj_set_hidden(Screen_Main_BG,0);
- lv_obj_set_hidden(Screen_Mode_Select_Main, 0);
- // lv_obj_del(Screen_Title_PYRO);
- // lv_obj_del(Screen_Title_Btn_Continue);
- return LV_RES_OK; /*Return OK if the button is not deleted*/
+ static lv_res_t btnm_action_red(lv_obj_t * btnm, const char *txt) {
+
+ int btnm_num = atoi(txt);
+
+ std::string str = " Red " + std::string(txt) + " Selected!";
+
+ lv_label_set_text(Screen_Mode_Desc_Label, str.c_str());
+ lv_label_set_text(Screen_Field_Ready_Label, "\n Ready - Good Luck!");
+
+ switch (btnm_num) {
+ case 1:
+ selectedAuton = red0;
+ break;
+ case 2:
+ selectedAuton = red1;
+ break;
+ case 0:
+ selectedAuton = redSkills0;
+ break;
+ default:
+ selectedAuton = notSelected;
+ break;
}
+ return LV_RES_OK; /*Return OK because the button matrix is not deleted*/
+}
- static lv_res_t button_competition_select(lv_obj_t * btn)
- {
- lv_obj_set_hidden(Screen_Mode_Select_Comp,1);
- lv_obj_set_hidden(Screen_Mode_Select_Debug,1);
- //lv_obj_set_hidden(Screen_Title_Btn_Continue,1);
- lv_obj_set_hidden(Screen_CompSelect_Back,0);
+static lv_res_t btnm_action_blue(lv_obj_t * btnm, const char *txt) {
+
+ int btnm_num = atoi(txt);
+
+ std::string str = " Blue " + std::string(txt) + " Selected!";
+ lv_label_set_text(Screen_Field_Ready_Label, "\n Ready - Good Luck!");
+
+ lv_label_set_text(Screen_Mode_Desc_Label, str.c_str());
+
+ switch (btnm_num) {
+ case 1:
+ selectedAuton = blue0;
+ break;
+ case 2:
+ selectedAuton = blue1;
+ break;
+ case 0:
+ selectedAuton = blueSkills0;
+ break;
+ default:
+ selectedAuton = notSelected;
+ break;
+ }
+return LV_RES_OK; /*Return OK because the button matrix is not deleted*/
+}
+
+
+ static void setup_styles()
+ {
+ COLOR_ASU_MAROON.red = 140;
+ COLOR_ASU_MAROON.green = 15;
+ COLOR_ASU_MAROON.blue = 32;
+
+ COLOR_ASU_GOLD.red = 255;
+ COLOR_ASU_GOLD.green = 198;
+ COLOR_ASU_GOLD.blue = 39;
+
+
+ lv_style_copy(&Screen::style_btn_main, &lv_style_btn_rel);
+ style_btn_main.body.main_color = LV_COLOR_BLACK;
+ style_btn_main.body.grad_color = LV_COLOR_BLACK;
+ style_btn_main.text.color = LV_COLOR_WHITE;
+ style_btn_main.body.border.color = COLOR_ASU_GOLD;
+ style_btn_main.body.border.width = 3;
+ style_btn_main.body.padding.hor = 5;
+ style_btn_main.body.padding.ver = 5;
+ style_btn_main.body.radius = 3;
+
+ lv_style_copy(&Screen::style_btn_transp, &lv_style_btn_rel);
+ style_btn_transp.body.main_color = LV_COLOR_TRANSP;
+ style_btn_transp.body.grad_color = LV_COLOR_TRANSP;
+ style_btn_transp.text.color = LV_COLOR_TRANSP;
+ style_btn_transp.body.border.color = LV_COLOR_TRANSP;
+ style_btn_transp.body.opa = 0;
+ style_btn_transp.body.border.width = 0;
+ style_btn_transp.body.padding.hor = 5;
+ style_btn_transp.body.padding.ver = 5;
+ style_btn_transp.body.radius = 0;
+
+
+ lv_style_copy(&Screen::style_bg, &lv_style_plain_color);
+ Screen::style_bg.body.main_color = LV_COLOR_BLACK;
+ Screen::style_bg.body.grad_color = LV_COLOR_BLACK;
+ }
+
+ static lv_fs_res_t pcfs_open( void * file_p, const char * fn, lv_fs_mode_t mode)
+ {
+ errno = 0;
+ const char * flags = "";
+ if(mode == LV_FS_MODE_WR) flags = "wb";
+ else if(mode == LV_FS_MODE_RD) flags = "rb";
+ else if(mode == (LV_FS_MODE_WR | LV_FS_MODE_RD)) flags = "a+";
+
+ char buf[256];
+ sprintf(buf, "/%s", fn);
+ pc_file_t f = fopen(buf, flags);
+
+ if(f == NULL)
+ return LV_FS_RES_UNKNOWN;
+ else {
+ fseek(f, 0, SEEK_SET);
+ pc_file_t * fp = (pc_file_t *)file_p;
+ *fp = f;
+ }
+
+ return LV_FS_RES_OK;
+ }
+
+ static lv_fs_res_t pcfs_close( void * file_p)
+ {
+ pc_file_t * fp = (pc_file_t *)file_p;
+ fclose(*fp);
+ return LV_FS_RES_OK;
+ }
+
+ static lv_fs_res_t pcfs_read( void * file_p, void * buf, uint32_t btr, uint32_t * br)
+ {
+ pc_file_t * fp = (pc_file_t *)file_p;
+ *br = fread(buf, 1, btr, *fp);
+ return LV_FS_RES_OK;
+ }
+
+ static lv_fs_res_t pcfs_seek( void * file_p, uint32_t pos)
+ {
+ pc_file_t * fp = (pc_file_t *)file_p;
+ fseek(*fp, pos, SEEK_SET);
+ return LV_FS_RES_OK;
+ }
- // lv_obj_del(Screen_Title_PYRO);
- // lv_obj_del(Screen_Title_Btn_Continue);
+ static lv_fs_res_t pcfs_tell( void * file_p, uint32_t * pos_p)
+ {
+ pc_file_t * fp = (pc_file_t *)file_p;
+ *pos_p = ftell(*fp);
+ return LV_FS_RES_OK;
+ }
- return LV_RES_OK; /*Return OK if the button is not deleted*/
+ static void initialize()
+ {
+ lv_fs_drv_t pcfs_drv; /*A driver descriptor*/
+ memset(&pcfs_drv, 0, sizeof(lv_fs_drv_t)); /*Initialization*/
+
+ pcfs_drv.file_size = sizeof(pc_file_t); /*Set up fields...*/
+ pcfs_drv.letter = 'D';
+ pcfs_drv.open = pcfs_open;
+ pcfs_drv.close = pcfs_close;
+ pcfs_drv.read = pcfs_read;
+ pcfs_drv.seek = pcfs_seek;
+ pcfs_drv.tell = pcfs_tell;
+ lv_fs_add_drv(&pcfs_drv);
+
+ pros::delay(20);
+
+
+
+ Screen_Title_Page_Main = lv_page_create(lv_scr_act(), NULL);
+ lv_obj_set_size(Screen_Title_Page_Main, 480, 240);
+ lv_obj_align(Screen_Title_Page_Main, NULL, LV_ALIGN_CENTER, 0, 0);
+ lv_page_set_style(Screen_Title_Page_Main, LV_PAGE_STYLE_BG, &Screen::style_bg);
+
+
+
+ Screen_Bar = lv_img_create(lv_scr_act(), NULL);
+ lv_img_set_src(Screen_Bar, "D:/usd/img_bar.bin");
+ lv_obj_align(Screen_Bar, NULL, LV_ALIGN_IN_BOTTOM_MID, 0, 0);
+
+ Screen_Battery_Percent_Label = lv_label_create(Screen_Bar, NULL);
+ lv_label_set_text(Screen_Battery_Percent_Label, "---%");
+ lv_obj_align(Screen_Battery_Percent_Label, Screen_Bar, LV_ALIGN_CENTER, 210, 0);
+
+ Screen_Bar_Charging = lv_img_create(Screen_Bar, NULL);
+ lv_img_set_src(Screen_Bar_Charging, "D:/usd/img_bolt.bin");
+ lv_obj_align(Screen_Bar_Charging, Screen_Bar, LV_ALIGN_CENTER, 155, 0);
+ lv_obj_set_hidden(Screen_Bar_Charging,1);
+
+
+ Screen_Bar_Cont1 = lv_img_create(Screen_Bar, NULL);
+ lv_img_set_src(Screen_Bar_Cont1, "D:/usd/img_cont1w.bin");
+ lv_obj_align(Screen_Bar_Cont1, Screen_Bar, LV_ALIGN_CENTER, -189, 0);
+
+
+ Screen_Bar_Cont2 = lv_img_create(Screen_Bar, NULL);
+ lv_img_set_src(Screen_Bar_Cont2, "D:/usd/img_cont2w.bin");
+ lv_obj_align(Screen_Bar_Cont2, Screen_Bar, LV_ALIGN_CENTER, -147, 0);
+
+ Screen_Bar_Box = lv_img_create(Screen_Bar, NULL);
+ lv_img_set_src(Screen_Bar_Box, "D:/usd/img_boxw.bin");
+ lv_obj_align(Screen_Bar_Box, Screen_Bar, LV_ALIGN_CENTER, -104, 0);
+
+ Screen_Bar_Box_Reset_Btn = lv_btn_create(Screen_Bar, NULL);
+ //lv_obj_set_event_cb(btn1, event_handler);
+ lv_obj_align(Screen_Bar_Box_Reset_Btn, Screen_Bar, LV_ALIGN_CENTER, -56, 25);
+ lv_obj_set_size(Screen_Bar_Box_Reset_Btn, 32, 32);
+ lv_obj_set_style(Screen_Bar_Box_Reset_Btn, &style_btn_transp);
+ lv_btn_set_action(Screen_Bar_Box_Reset_Btn, LV_BTN_ACTION_CLICK, button_box_reset);
+
+ Screen_Coordinates_Label = lv_label_create(Screen_Bar, NULL);
+ lv_label_set_text(Screen_Coordinates_Label, "(x,y,h)");
+ lv_obj_align(Screen_Coordinates_Label, Screen_Bar, LV_ALIGN_CENTER, 85, 0);
+
+ lv_obj_set_hidden(Screen_Bar_Cont1,1);
+ lv_obj_set_hidden(Screen_Bar_Cont2,1);
+ lv_obj_set_hidden(Screen_Bar_Box,1);
+
+
+
+ Screen_Title_PYRO = lv_img_create(lv_scr_act(), NULL);
+ lv_img_set_src(Screen_Title_PYRO, "D:/usd/img_pyro_large.bin");
+ lv_obj_align(Screen_Title_PYRO, NULL, LV_ALIGN_CENTER, 0, -20);
+
+ Screen_Title_Btn_Continue = lv_btn_create(Screen_Title_PYRO, NULL);
+ //lv_obj_set_event_cb(btn1, event_handler);
+ lv_obj_align(Screen_Title_Btn_Continue, Screen_Title_PYRO, LV_ALIGN_IN_BOTTOM_MID, 6, 10);
+ lv_obj_set_size(Screen_Title_Btn_Continue, 110, 50);
+ lv_obj_set_style(Screen_Title_Btn_Continue, &style_btn_main);
+ lv_btn_set_action(Screen_Title_Btn_Continue, LV_BTN_ACTION_CLICK, button_title_continue_action);
+
+ Screen_Generic_Label = lv_label_create(Screen_Title_Btn_Continue, NULL);
+ lv_label_set_text(Screen_Generic_Label, "CONTINUE");
+
+
+
+
+///
+ Screen_Competition_Btn_Main = lv_btn_create(lv_scr_act(), NULL);
+ //lv_obj_set_event_cb(btn1, event_handler);
+ lv_obj_align(Screen_Competition_Btn_Main, lv_scr_act(), LV_ALIGN_CENTER, -160, -70);
+ lv_obj_set_size(Screen_Competition_Btn_Main, 150, 40);
+ lv_obj_set_style(Screen_Competition_Btn_Main, &style_btn_main);
+ lv_btn_set_action(Screen_Competition_Btn_Main, LV_BTN_ACTION_CLICK, button_competition_select);
+ lv_obj_set_hidden(Screen_Competition_Btn_Main,1);
+ Screen_Competition_Btn_Main_Label = lv_label_create(Screen_Competition_Btn_Main, NULL);
+ lv_label_set_text(Screen_Competition_Btn_Main_Label, "Competition");
+
+ Screen_Driver_Btn_Main = lv_btn_create(lv_scr_act(), NULL);
+ //lv_obj_set_event_cb(btn1, event_handler);
+ lv_obj_align(Screen_Driver_Btn_Main, lv_scr_act(), LV_ALIGN_CENTER, -160, -20);
+ lv_obj_set_size(Screen_Driver_Btn_Main, 150, 40);
+ lv_obj_set_style(Screen_Driver_Btn_Main, &style_btn_main);
+ lv_btn_set_action(Screen_Driver_Btn_Main, LV_BTN_ACTION_CLICK, button_driver_select);
+ lv_obj_set_hidden(Screen_Driver_Btn_Main,1);
+ Screen_Driver_Btn_Main_Label = lv_label_create(Screen_Driver_Btn_Main, NULL);
+ lv_label_set_text(Screen_Driver_Btn_Main_Label, "Debug - Driver");
+
+ Screen_Auton_Btn_Main = lv_btn_create(lv_scr_act(), NULL);
+ //lv_obj_set_event_cb(btn1, event_handler);
+ lv_obj_align(Screen_Auton_Btn_Main, lv_scr_act(), LV_ALIGN_CENTER, -160, 30);
+ lv_obj_set_size(Screen_Auton_Btn_Main, 150, 40);
+ lv_obj_set_style(Screen_Auton_Btn_Main, &style_btn_main);
+ lv_btn_set_action(Screen_Auton_Btn_Main, LV_BTN_ACTION_CLICK, button_auton_select);
+ lv_obj_set_hidden(Screen_Auton_Btn_Main,1);
+ Screen_Auton_Btn_Main_Label = lv_label_create(Screen_Auton_Btn_Main, NULL);
+ lv_label_set_text(Screen_Auton_Btn_Main_Label, "Debug - Auton.");
+
+ Screen_Info_Btn_Main = lv_btn_create(lv_scr_act(), NULL);
+ //lv_obj_set_event_cb(btn1, event_handler);
+ lv_obj_align(Screen_Info_Btn_Main, lv_scr_act(), LV_ALIGN_CENTER, -160, 80);
+ lv_obj_set_size(Screen_Info_Btn_Main, 150, 40);
+ lv_obj_set_style(Screen_Info_Btn_Main, &style_btn_main);
+ lv_btn_set_action(Screen_Info_Btn_Main, LV_BTN_ACTION_CLICK, button_info_select);
+ lv_obj_set_hidden(Screen_Info_Btn_Main,1);
+ Screen_Info_Btn_Main_Label = lv_label_create(Screen_Info_Btn_Main, NULL);
+ lv_label_set_text(Screen_Info_Btn_Main_Label, "Information");
+
+ Screen_Mode_Help_Label = lv_label_create(lv_scr_act(), NULL);
+ lv_label_set_text(Screen_Mode_Help_Label, "Please Select a Mode\nto the Left");
+ lv_obj_align(Screen_Mode_Help_Label, lv_scr_act(), LV_ALIGN_CENTER, 90, -16);
+ lv_obj_set_hidden(Screen_Mode_Help_Label,1);
+
+ Screen_Mode_BG = lv_img_create(lv_scr_act(), NULL);
+ lv_img_set_src(Screen_Mode_BG, "D:/usd/img_modebg.bin");
+ lv_obj_align(Screen_Mode_BG, NULL, LV_ALIGN_CENTER, 90, -16);
+ lv_obj_set_hidden(Screen_Mode_BG,1);
+
+ Screen_Mode_Title = lv_label_create(Screen_Mode_BG, NULL);
+ lv_label_set_text(Screen_Mode_Title, "");
+ lv_obj_align(Screen_Mode_Title, Screen_Mode_BG, LV_ALIGN_CENTER, -112, -85);
+ lv_obj_set_hidden(Screen_Mode_Title,1);
+
+ Screen_Mode_Desc_Label = lv_label_create(Screen_Mode_BG, NULL);
+ lv_label_set_text(Screen_Mode_Desc_Label, "Choose an Autonomous:");
+ lv_obj_align(Screen_Mode_Desc_Label, Screen_Mode_BG, LV_ALIGN_CENTER, 0, -65);
+ lv_obj_set_hidden(Screen_Mode_Desc_Label,1);
+
+ Screen_Mode_REDBLUE_Label = lv_label_create(Screen_Mode_BG, NULL);
+ lv_label_set_text(Screen_Mode_REDBLUE_Label, "RED\n\nBLUE");
+ lv_obj_align(Screen_Mode_REDBLUE_Label, Screen_Mode_BG, LV_ALIGN_CENTER, -115, -2);
+ lv_obj_set_hidden(Screen_Mode_REDBLUE_Label,1);
+
+ Screen_Field_Ready_Label = lv_label_create(Screen_Mode_BG, NULL);
+ lv_obj_align(Screen_Field_Ready_Label, Screen_Mode_BG, LV_ALIGN_CENTER, -115, 50);
+ lv_label_set_text(Screen_Field_Ready_Label, "\n Choose an Autonomous!");
+ lv_obj_set_hidden(Screen_Field_Ready_Label,1);
+
+ Screen_Red_Auton_Btns = lv_btnm_create(Screen_Mode_BG, NULL);
+ lv_btnm_set_map(Screen_Red_Auton_Btns, red_auton_btnm_map);
+ lv_obj_align(Screen_Red_Auton_Btns, Screen_Mode_BG, LV_ALIGN_CENTER, 32, -10);
+ lv_obj_set_size(Screen_Red_Auton_Btns, 220, 35);
+ lv_obj_set_style(Screen_Red_Auton_Btns, &style_btn_main);
+ lv_btnm_set_action(Screen_Red_Auton_Btns, btnm_action_red);
+ lv_obj_set_hidden(Screen_Red_Auton_Btns,1);
+
+ Screen_Blue_Auton_Btns = lv_btnm_create(Screen_Mode_BG, NULL);
+ lv_btnm_set_map(Screen_Blue_Auton_Btns, blue_auton_btnm_map);
+ lv_obj_align(Screen_Blue_Auton_Btns, Screen_Mode_BG, LV_ALIGN_CENTER, 32, 28);
+ lv_obj_set_size(Screen_Blue_Auton_Btns, 220, 35);
+ lv_obj_set_style(Screen_Blue_Auton_Btns, &style_btn_main);
+ lv_btnm_set_action(Screen_Blue_Auton_Btns, btnm_action_blue);
+ lv_obj_set_hidden(Screen_Blue_Auton_Btns,1);
+
+
+ Screen_Auton_Start_Btn_Label = lv_label_create(Screen_Mode_BG, NULL);
+ lv_label_set_text(Screen_Auton_Start_Btn_Label, "Press (A) on the Cont. 1\n to start the routine.");
+ lv_obj_align(Screen_Auton_Start_Btn_Label, Screen_Mode_BG, LV_ALIGN_CENTER, 0, 60);
+ lv_obj_set_hidden(Screen_Auton_Start_Btn_Label,1);
+
+ Screen_Driver_Start_Btn_Label = lv_label_create(Screen_Mode_BG, NULL);
+ lv_obj_align(Screen_Driver_Start_Btn_Label, Screen_Mode_BG, LV_ALIGN_CENTER, -115, 50);
+ lv_label_set_text(Screen_Driver_Start_Btn_Label, " You are now enabled!\n Have fun and safety first!");
+ lv_obj_set_hidden(Screen_Driver_Start_Btn_Label,1);
+
+
+ Screen_Plate_R = lv_img_create(lv_scr_act(), NULL);
+ lv_img_set_src(Screen_Plate_R, "D:/usd/img_licencePlateR.bin");
+ lv_obj_align(Screen_Plate_R, NULL, LV_ALIGN_CENTER, 0, -20);
+ lv_obj_set_hidden(Screen_Plate_R,1);
+
+ Screen_Plate_B = lv_img_create(lv_scr_act(), NULL);
+ lv_img_set_src(Screen_Plate_B, "D:/usd/img_licencePlateB.bin");
+ lv_obj_align(Screen_Plate_B, NULL, LV_ALIGN_CENTER, 0, -20);
+ lv_obj_set_hidden(Screen_Plate_B,1);
+
+ Screen_Sponsors = lv_img_create(lv_scr_act(), NULL);
+ lv_img_set_src(Screen_Sponsors, "D:/usd/img_sponsors.bin");
+ lv_obj_align(Screen_Sponsors, NULL, LV_ALIGN_CENTER, 0, -20);
+ lv_obj_set_hidden(Screen_Sponsors,1);
+
+
+ Screen_Innovate = lv_img_create(lv_scr_act(), NULL);
+ lv_img_set_src(Screen_Innovate, "D:/usd/img_innovate.bin");
+ lv_obj_align(Screen_Innovate, NULL, LV_ALIGN_CENTER, 0, 0);
+ lv_obj_set_hidden(Screen_Innovate,1);
+
+ }
+
+ public:
+ Screen() : t_screen (pros::Task(update, (void*)NULL, TASK_PRIORITY_DEFAULT,
+ TASK_STACK_DEPTH_DEFAULT, "My Task"))
+ {
+ setup_styles();
+ Screen::initialize();
}
+ ~Screen(){}
+
+ inline static lv_obj_t *Screen_Plate_R;
+ inline static lv_obj_t *Screen_Plate_B;
+ inline static lv_obj_t *Screen_Sponsors;
+ inline static lv_obj_t *Screen_Innovate;
- static lv_res_t button_competition_back(lv_obj_t * btn)
+ inline static autonNames selectedAuton;
+ inline static bool DriverEnabled = false;
+ inline static bool AutonEnabled = false;
+
+ pros::Task t_screen;
+ static void update(void*)
{
- lv_obj_set_hidden(Screen_CompSelect_Back,1);
+ pros::delay(1000);
+ pros::Controller master(pros::E_CONTROLLER_MASTER);
+ pros::Controller partner(pros::E_CONTROLLER_PARTNER);
+ while(1)
+ {
+ if(Screen_Battery_Percent_Label != NULL){
+ std::string text1 = std::to_string((int)pros::battery::get_capacity()) + "%";
+ lv_label_set_text(Screen_Battery_Percent_Label, text1.c_str());
+ }
- lv_obj_set_hidden(Screen_Mode_Select_Comp,0);
- lv_obj_set_hidden(Screen_Mode_Select_Debug,0);
+ bool gotMutex = false;
+ try
+ {
+ gotMutex = OrientationData::mutex.take(3000);
+ std::string text1;
+ if(!OrientationData::isOld())
+ text1 = "(" + std::to_string((int)OrientationData::getPosition(x)) + ", " + std::to_string((int)OrientationData::getPosition(y)) + ", " + std::to_string((int)OrientationData::getHeading()) + ") ";
+ else
+ text1 = "Old Data!";
+ lv_label_set_text(Screen_Coordinates_Label, text1.c_str());
+ } catch(...){}
- // lv_obj_del(Screen_Title_PYRO);
- // lv_obj_del(Screen_Title_Btn_Continue);
+ if(gotMutex)
+ OrientationData::mutex.give();
- return LV_RES_OK; /*Return OK if the button is not deleted*/
- }
+
+ if(master.is_connected())
+ {
+ lv_obj_set_hidden(Screen_Bar_Cont1,0);
+ // okapi::PYRO_Arduino::send("CONNECTED");
+ }
+ else
+ {
+ lv_obj_set_hidden(Screen_Bar_Cont1,1);
+ // okapi::PYRO_Arduino::send("DISCONNECTED");
+ }
+
+ if(partner.is_connected())
+ {
+ lv_obj_set_hidden(Screen_Bar_Cont2,0);
+ // okapi::PYRO_Arduino::send("CONNECTED");
+ }
+ else
+ {
+ lv_obj_set_hidden(Screen_Bar_Cont2,1);
+ // okapi::PYRO_Arduino::send("DISCONNECTED");
+ }
+
+ if(okapi::PYRO_Arduino::isCommumnicating)
+ {
+ lv_obj_set_hidden(Screen_Bar_Box,0);
+ }
+ else
+ {
+ lv_obj_set_hidden(Screen_Bar_Box,1);
+ }
+
+ if(Screen_Field_Ready_Label != NULL)
+ {
+ if(!pros::competition::is_connected())
+ lv_label_set_text(Screen_Field_Ready_Label, "NOT CONNECTED TO THE FIELD!");
+ else
+ lv_label_set_text(Screen_Field_Ready_Label, "\n Choose an Autonomous!");
+
+ }
+
+ if(pros::battery::get_current() < 0)
+ {
+ lv_obj_set_hidden(Screen_Bar_Charging,0);
+ }
+ else
+ {
+ lv_obj_set_hidden(Screen_Bar_Charging,1);
+ }
+
+ pros::delay(20);
+ }
+ }
};
diff --git a/project.pros b/project.pros
index a80fd99..ab84d50 100644
--- a/project.pros
+++ b/project.pros
@@ -5,7 +5,7 @@
"target": "v5",
"templates": {
"kernel": {
- "location": "C:\\Users\\Brandon\\AppData\\Roaming\\PROS\\templates\\kernel@3.2.0",
+ "location": "/home/charles/.config/pros/templates/kernel@3.2.1",
"metadata": {
"cold_addr": "58720256",
"cold_output": "bin/cold.package.bin",
@@ -18,135 +18,137 @@
"py/object": "pros.conductor.templates.local_template.LocalTemplate",
"supported_kernels": null,
"system_files": [
+ "include/display/lv_core/lv_core.mk",
+ "include/display/lv_themes/lv_theme_templ.h",
+ "include/pros/api_legacy.h",
+ "include/display/lv_themes/lv_themes.mk",
+ "firmware/v5.ld",
"include/display/lv_misc/lv_task.h",
- "include/pros/llemu.hpp",
+ "include/display/lv_core/lv_vdb.h",
+ "include/display/README.md",
+ "include/display/lvgl.h",
+ "include/display/lv_objx/lv_bar.h",
+ "include/display/lv_misc/lv_symbol_def.h",
+ "include/display/lv_misc/lv_ll.h",
+ "include/display/lv_objx/lv_ta.h",
+ "include/display/lv_misc/lv_math.h",
+ "firmware/v5-hot.ld",
"include/display/lv_themes/lv_theme.h",
- "firmware/v5.ld",
- "include/display/lv_misc/lv_txt.h",
+ "include/display/lv_hal/lv_hal_indev.h",
+ "include/display/lv_objx/lv_table.h",
+ "include/pros/misc.h",
"include/display/lv_themes/lv_theme_alien.h",
- "include/pros/llemu.h",
- "include/display/lv_draw/lv_draw_line.h",
- "include/display/lv_themes/lv_theme_nemo.h",
- "include/pros/adi.h",
- "include/display/lv_objx/lv_objx.mk",
- "include/display/lv_objx/lv_label.h",
- "include/pros/rtos.hpp",
- "include/display/lv_misc/lv_fs.h",
- "include/display/lv_core/lv_group.h",
- "include/display/lv_objx/lv_kb.h",
- "include/display/lv_draw/lv_draw_label.h",
- "include/display/lv_objx/lv_list.h",
- "include/display/lv_draw/lv_draw.h",
- "include/display/lv_objx/lv_chart.h",
- "include/display/lv_misc/lv_gc.h",
- "include/display/lv_misc/lv_ll.h",
- "include/display/lv_draw/lv_draw_rect.h",
"include/display/lv_misc/lv_mem.h",
"include/display/lv_objx/lv_ddlist.h",
- "include/display/lv_misc/lv_circ.h",
- "include/display/lv_core/lv_obj.h",
- "include/display/lv_core/lv_lang.h",
- "include/pros/adi.hpp",
- "include/display/lv_conf_checker.h",
- "include/display/licence.txt",
"include/pros/vision.h",
- "include/display/lv_core/lv_core.mk",
- "include/pros/serial.h",
- "include/display/lv_hal/lv_hal_indev.h",
- "include/display/lv_objx/lv_preload.h",
- "include/display/lv_objx/lv_page.h",
- "include/display/lv_objx/lv_lmeter.h",
- "include/display/lv_objx/lv_tabview.h",
- "include/display/lv_misc/lv_ufs.h",
- "include/display/lv_draw/lv_draw_vbasic.h",
- "include/display/lv_hal/lv_hal.mk",
- "include/display/lv_themes/lv_theme_templ.h",
- "include/pros/vision.hpp",
- "include/display/lv_objx/lv_arc.h",
- "include/display/lv_objx/lv_mbox.h",
- "include/display/lv_themes/lv_theme_material.h",
- "include/display/lv_objx/lv_sw.h",
- "include/display/lv_objx/lv_gauge.h",
- "include/pros/motors.hpp",
- "include/display/lv_misc/lv_templ.h",
"include/pros/motors.h",
- "include/display/lv_objx/lv_img.h",
- "include/display/lv_core/lv_refr.h",
- "include/display/lv_draw/lv_draw.mk",
- "include/display/lv_core/lv_style.h",
+ "include/display/lv_themes/lv_theme_material.h",
+ "include/pros/colors.h",
+ "include/display/lv_objx/lv_objx.mk",
+ "include/pros/rtos.hpp",
+ "include/pros/rtos.h",
+ "include/display/lv_draw/lv_draw_arc.h",
+ "firmware/libpros.a",
"include/display/lv_fonts/lv_font_builtin.h",
- "firmware/libm.a",
- "include/display/lv_version.h",
- "include/display/lv_misc/lv_anim.h",
- "include/display/lv_objx/lv_spinbox.h",
+ "include/display/lv_draw/lv_draw_vbasic.h",
+ "include/pros/serial.hpp",
+ "include/display/lv_misc/lv_ufs.h",
+ "include/display/lv_objx/lv_led.h",
+ "include/display/lv_objx/lv_line.h",
+ "include/display/lv_objx/lv_tileview.h",
+ "include/display/lv_fonts/lv_fonts.mk",
+ "firmware/libc.a",
"include/display/lv_draw/lv_draw_rbasic.h",
- "include/pros/rtos.h",
- "include/display/lv_objx/lv_imgbtn.h",
- "include/display/lv_objx/lv_ta.h",
+ "firmware/v5-common.ld",
+ "include/display/lv_objx/lv_btnm.h",
+ "include/display/lv_objx/lv_lmeter.h",
+ "include/display/lv_draw/lv_draw_label.h",
+ "include/pros/imu.h",
+ "include/display/lv_objx/lv_canvas.h",
+ "include/display/lv_misc/lv_anim.h",
+ "include/display/lv_misc/lv_color.h",
+ "include/display/lv_misc/lv_templ.h",
"include/display/lv_themes/lv_theme_default.h",
+ "include/display/lv_objx/lv_mbox.h",
+ "include/pros/serial.h",
+ "include/display/lv_objx/lv_kb.h",
+ "include/display/lv_hal/lv_hal.h",
+ "include/display/lv_objx/lv_img.h",
+ "include/display/lv_themes/lv_theme_mono.h",
+ "include/pros/llemu.hpp",
+ "include/display/lv_objx/lv_chart.h",
+ "include/display/lv_objx/lv_cont.h",
"include/display/lv_draw/lv_draw_img.h",
- "include/display/lv_objx/lv_slider.h",
- "include/display/lv_themes/lv_themes.mk",
- "include/display/lv_objx/lv_tileview.h",
- "include/display/lv_misc/lv_area.h",
- "include/display/lv_misc/lv_misc.mk",
- "include/pros/misc.h",
+ "include/display/lv_core/lv_group.h",
+ "include/display/lv_objx/lv_sw.h",
+ "include/display/lv_objx/lv_btn.h",
+ "include/display/lv_core/lv_style.h",
+ "include/display/lv_draw/lv_draw_line.h",
+ "include/display/lv_objx/lv_page.h",
"include/display/lv_hal/lv_hal_tick.h",
- "include/display/lv_objx/lv_canvas.h",
- "include/api.h",
+ "include/display/lv_objx/lv_arc.h",
+ "include/display/lv_objx/lv_calendar.h",
+ "include/display/lv_misc/lv_txt.h",
+ "include/display/lv_objx/lv_cb.h",
+ "common.mk",
+ "include/display/lv_draw/lv_draw_triangle.h",
+ "include/pros/vision.hpp",
+ "include/pros/adi.hpp",
+ "include/display/lv_core/lv_refr.h",
+ "include/display/lv_core/lv_obj.h",
+ "include/display/lv_objx/lv_imgbtn.h",
+ "include/display/lv_misc/lv_font.h",
+ "include/display/lv_objx/lv_gauge.h",
+ "include/display/lv_misc/lv_circ.h",
"include/display/lv_conf.h",
- "include/display/lv_objx/lv_bar.h",
- "include/pros/apix.h",
+ "include/display/lv_themes/lv_theme_zen.h",
+ "include/display/lv_conf_checker.h",
+ "include/display/lv_misc/lv_misc.mk",
+ "include/pros/motors.hpp",
+ "include/display/lv_themes/lv_theme_night.h",
+ "include/display/lv_version.h",
+ "include/display/licence.txt",
+ "include/display/lv_objx/lv_tabview.h",
+ "include/display/lv_draw/lv_draw_rect.h",
+ "firmware/libm.a",
+ "include/display/lv_draw/lv_draw.h",
+ "include/display/lv_objx/lv_preload.h",
"include/display/lv_objx/lv_objx_templ.h",
- "include/display/lv_objx/lv_table.h",
- "include/display/lv_objx/lv_roller.h",
- "firmware/libc.a",
- "include/display/lv_hal/lv_hal_disp.h",
+ "include/display/lv_objx/lv_list.h",
+ "include/display/lv_objx/lv_spinbox.h",
"include/display/lv_objx/lv_win.h",
- "include/display/lv_core/lv_vdb.h",
- "include/display/README.md",
+ "include/display/lv_core/lv_indev.h",
+ "include/display/lv_misc/lv_area.h",
+ "include/display/lv_misc/lv_fs.h",
+ "include/display/lv_draw/lv_draw.mk",
+ "include/pros/imu.hpp",
+ "include/display/lv_hal/lv_hal.mk",
+ "include/display/lv_themes/lv_theme_nemo.h",
+ "include/display/lv_objx/lv_slider.h",
+ "include/display/lv_core/lv_lang.h",
+ "include/display/lv_objx/lv_roller.h",
"include/display/lv_misc/lv_log.h",
- "include/display/lv_objx/lv_line.h",
- "include/pros/api_legacy.h",
- "include/pros/colors.h",
- "firmware/v5-hot.ld",
- "include/display/lv_objx/lv_cont.h",
- "include/display/lvgl.h",
- "include/pros/serial.hpp",
- "firmware/v5-common.ld",
- "include/display/lv_misc/lv_math.h",
- "include/display/lv_objx/lv_btn.h",
- "include/display/lv_misc/lv_font.h",
- "include/display/lv_themes/lv_theme_zen.h",
- "common.mk",
- "include/display/lv_objx/lv_cb.h",
- "include/display/lv_objx/lv_calendar.h",
- "include/display/lv_misc/lv_symbol_def.h",
- "include/display/lv_objx/lv_led.h",
- "include/display/lv_misc/lv_color.h",
- "include/display/lv_themes/lv_theme_night.h",
- "include/display/lv_hal/lv_hal.h",
- "include/display/lv_themes/lv_theme_mono.h",
+ "include/pros/apix.h",
+ "include/pros/adi.h",
+ "include/api.h",
+ "include/display/lv_objx/lv_label.h",
"include/pros/misc.hpp",
- "firmware/libpros.a",
- "include/display/lv_draw/lv_draw_arc.h",
- "include/display/lv_fonts/lv_fonts.mk",
- "include/display/lv_core/lv_indev.h",
- "include/display/lv_objx/lv_btnm.h",
- "include/display/lv_draw/lv_draw_triangle.h"
+ "include/display/lv_misc/lv_gc.h",
+ "include/display/lv_hal/lv_hal_disp.h",
+ "include/pros/llemu.h"
],
"target": "v5",
"user_files": [
- "Makefile",
- "src/main.cpp",
- "include/main.hh",
"src/main.cc",
+ "include/main.hh",
+ "src/main.cpp",
+ "Makefile",
"include/main.h",
- "src/main.c",
+ "include/main.hpp",
".gitignore",
- "include/main.hpp"
+ "src/main.c"
],
- "version": "3.2.0"
+ "version": "3.2.1"
},
"okapilib": {
"location": "C:\\Users\\Brandon\\AppData\\Roaming\\PROS\\templates\\okapilib@3.3.13",
diff --git a/src/arduino.cpp b/src/arduino.cpp
index 963ffc2..e730c94 100644
--- a/src/arduino.cpp
+++ b/src/arduino.cpp
@@ -24,7 +24,9 @@ using namespace okapi;
// Global/Static Objects
// ---------------------
-PYRO_Arduino Arduino(16);
+PYRO_Arduino Arduino(7);
+okapi::BNO055* PYRO_Arduino::bno = NULL;
+
// Function Defintions
@@ -133,12 +135,18 @@ void t_update_BNO055(void*)
// BNO055_Main
//```
//------------------------------------------------------------------------------
-PYRO_Arduino::PYRO_Arduino(int port) : BNO055_Main(port)
+PYRO_Arduino::PYRO_Arduino(int port) : BNO055_Main(port), t_arduino_update(update_differential_pos,(void*)NULL, TASK_PRIORITY_DEFAULT,
+ TASK_STACK_DEPTH_DEFAULT, "Arduino task")
{
this->port = port;
+ bno = &BNO055_Main;
}
+
+
+
+
//------------------------------------------------------------------------------
// Method: BNO055() :
// ----------------------------
diff --git a/src/autonomous.cpp b/src/autonomous.cpp
index 4eb50c4..8eef99e 100644
--- a/src/autonomous.cpp
+++ b/src/autonomous.cpp
@@ -35,84 +35,912 @@ pros::Task lifttaskauto(lift.auton, (void*)NULL, TASK_PRIORITY_DEFAULT,
TASK_STACK_DEPTH_DEFAULT, "lift auton task");
+// okapi::PYROChassis* chassisptr = &chassis;
+// double coordinfo[] = {1,2,3};
+// asyncDriveStruct ds{
+// chassisptr,
+// coordinfo
+// };
+//
+// pros::Task t_test(drive_to_coordinate_async, (void*)&ds, TASK_PRIORITY_DEFAULT,
+// TASK_STACK_DEPTH_DEFAULT, "lift auton task");
+
// Function Defintions
// -------------------
-//------------------------------------------------------------------------------
-// Function: autonomousSelector(autonID) :
-// ---------------------------------------
-// Description:
-// Runs the autonomous routine currently selected with static autonID
-// selectedAutonID.
-//
-// Parameters:
-//```
-// autonID id - the id of the autonomous routine to be run.
-//```
-// Returns:
-//```
-// None
-//```
-//------------------------------------------------------------------------------
-void autonomousSelector(autonID id)
-{
- switch (id) {
- case red0:
- auton_red0();
- break;
- case blue0:
- auton_blue0();
- break;
- case skills0:
- auton_skills0();
- break;
- }
-}
+//------------------------------------------------------------------------------
+// Function: autonomousSelector(autonID) :
+// ---------------------------------------
+// Description:
+// Runs the autonomous routine currently selected with static autonID
+// selectedAutonID.
+//
+// Parameters:
+//```
+// autonID id - the id of the autonomous routine to be run.
+//```
+// Returns:
+//```
+// None
+//```
+//------------------------------------------------------------------------------
+void autonomousSelector(autonNames id)
+{
+ std::cout << id << std::endl;
+ switch (id) {
+ case red0:
+ lv_obj_set_hidden(Screen::Screen_Plate_R,0);
+ auton_red0();
+ break;
+ case blue0:
+ lv_obj_set_hidden(Screen::Screen_Plate_B,0);
+ auton_blue0();
+ break;
+ case red1:
+ lv_obj_set_hidden(Screen::Screen_Plate_R,0);
+ auton_red1();
+ break;
+ case blue1:
+ lv_obj_set_hidden(Screen::Screen_Plate_B,0);
+ auton_blue1();
+ break;
+ case redSkills0:
+ lv_obj_set_hidden(Screen::Screen_Plate_R,0);
+ auton_skills0();
+ break;
+ case blueSkills0:
+ lv_obj_set_hidden(Screen::Screen_Plate_B,0);
+ auton_skills0();
+ break;
+ default:
+ break;
+ }
+}
+
+
+//------------------------------------------------------------------------------
+// Function: autonomous() :
+// ------------------------
+// Description:
+// The function (task) that will be scheduled after initialize(), and after
+// competition_initialize() if connected to a competition switch. This
+// function will run until whichever happens first: (1) autonomous() exits,
+// (2) the autonomous period ends, or (3) the controllers are disconnected
+// from the competition switch.
+//
+// Parameters:
+//```
+// None
+//```
+// Returns:
+//```
+// None
+//```
+//------------------------------------------------------------------------------
+void autonomous()
+{
+ okapi::PYRO_Arduino::send("AUTONOMOUS");
+
+ // Initialize objects for auton
+ lift.piston_floor.retract();
+ lift.piston_door.retract();
+
+ std::cout << "Auton should be: " << Screen::selectedAuton << std::endl;
+
+ // Run selected auton routine
+ autonomousSelector(Screen::selectedAuton);
+
+ // Remove lift task from scheduler
+ lifttaskauto.suspend();
+ lifttaskauto.remove();
+
+ lv_obj_set_hidden(Screen::Screen_Sponsors,0);
+ pros::lcd::print(3, "DONE WITH AUTON");
+}
+
+
+//------------------------------------------------------------------------------
+// Function: auton_red0() :
+// ------------------------
+// Description:
+// The main code to control the robot using the red0 autonomous routine.
+//
+// Parameters:
+//```
+// None
+//```
+// Returns:
+//```
+// None
+//```
+//------------------------------------------------------------------------------
+void auton_red0()
+{
+ //-----Set Starting Coordinate-----//
+ // N/A
+
+ //chassis.MotionController.generatePath({Point{0_in,0_in,-17_deg}, Point{12_in,-3.25_in,0_deg}}, "0");
+
+ //-----Deploy-----//
+ lift.moveLiftToHeight(11, 50);
+ pros::delay(500);
+ // Turn on intake
+ intake.motors.moveVelocity(180);
+
+ //-----Drive into Cube 1-----//
+ chassis.MotionController.setTarget("0", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{15_in,0_in,0_deg}}, "1");
+ chassis.MotionController.waitUntilSettled();
+
+ //-----Pick Up Cube 1 (1)-----//
+ lifttaskauto.suspend();
+ lift.collectCube(true);
+ lifttaskauto.resume();
+ lift.moveLiftToHeight(29, 100);
+ pros::delay(200);
+
+ //-----Intake to U-----//
+ intake.motors.tarePosition();
+ intake.motors.setBrakeMode(AbstractMotor::brakeMode::hold);
+ intake.motors.moveAbsolute(-125, 25);//-42
+
+ //-----Drive Up to 4 Stack-----//
+ chassis.MotionController.setTarget("1", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{4_in,0_in,0_deg}}, "ALIGN STACK");
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{5_in,0_in,0_deg}}, "ALIGN STACK 2");
+
+ chassis.MotionController.waitUntilSettled();
+
+ //-----Slowly Align with 4 Stack-----//
+ chassis.MotionController.setTarget("ALIGN STACK", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{6_in,0_in,0_deg}}, "3");
+ chassis.MotionController.waitUntilSettled();
+
+ //-----Pick Up 4 Stack (5)-----//
+ lifttaskauto.suspend();
+ lift.collectCube();
+ lifttaskauto.resume();
+ lift.moveLiftToHeight(24, 80);
+
+ //-----Drive Forward to Laterally Align with 3 Stack-----//
+ chassis.MotionController.setTarget("3", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{15_in,0_in,1_deg}}, "4");
+ chassis.MotionController.waitUntilSettled();
+
+ //-----Turn Facing 3 Stack-----//
+ chassis.turn_PID_sync(89.5);//90.5
+
+ // Turn on intake
+ intake.motors.moveVelocity(25);
+ pros::delay(1750);
+ // intake.motors.moveVelocity(0);
+ // pros::delay(200);
+
+ //-----Intake to U-----//
+ intake.motors.setBrakeMode(AbstractMotor::brakeMode::hold);
+ pros::delay(50);
+ //intake.motors.moveRelative(-29, 25);//-37
+ Motor(15, true, AbstractMotor::gearset::red, AbstractMotor::encoderUnits::degrees).moveRelative(-27, 25);//-37
+ Motor(6, false, AbstractMotor::gearset::red, AbstractMotor::encoderUnits::degrees).moveRelative(-40, 25);//-37
+
+
+
+
+ //-----Drive Up to 3 Stack-----//
+ chassis.MotionController.setTarget("4", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{6_in,0_in,0_deg}}, "PUSH CUBES AWAY");//6
+ //chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{1_in,0_in,0_deg}}, "PUSH CUBES AWAY 2");//6
+ chassis.MotionController.waitUntilSettled();
+
+
+ //-----Align with 3 Stack and Push Extra Cubes Away-----//
+ chassis.MotionController.setTarget("ALIGN STACK 2", false); //Drive forward
+
+
+ //chassis.MotionController.waitUntilSettled();
+ //chassis.MotionController.setTarget("PUSH CUBES AWAY 2", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{6_in,0_in,0_deg}}, "6");//8
+
+ chassis.MotionController.waitUntilSettled();
+
+
+ //-----Pick Up Top 2 Cubes of 3 Stack (8)-----//
+ // lifttaskauto.suspend();
+ // lift.collectCube();
+ // lifttaskauto.resume();
+ lift.moveLiftToHeight(8, 50);
+
+ pros::delay(2000);
+ lift.moveLiftToHeight(13, 50);
+ intake.motors.moveVelocity(70);
+ pros::delay(500);
+
+
+ chassis.MotionController.setTarget("6", true); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{12_in,0_in,0_deg}}, "7");//24
+ chassis.MotionController.waitUntilSettled();
+
+ lifttaskauto.suspend();
+ lift.collectCube();
+ lifttaskauto.resume();
+
+ intake.motors.moveRelative(-100, 50);
+ chassis.MotionController.setTarget("7", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{58_in,16_in,0_deg}}, "8");//-12
+ chassis.MotionController.waitUntilSettled();
+ intake.motors.moveVelocity(100);
+ pros::delay(250);
+
+ lifttaskauto.suspend();
+ lift.collectCube();
+ lifttaskauto.resume();
+ intake.motors.moveVelocity(0);
+
+ chassis.turn_PID_sync(44);
+
+ chassis.MotionController.setTarget("8", false); //Drive forward
+ chassis.MotionController.waitUntilSettled();
+
+
+ lift.moveLiftToHeight(9, 50);
+
+ intake.motors.moveVelocity(0);
+ //pros::delay(200);
+ intake.motors.moveRelative(-190, 100);
+ pros::delay(1000);
+
+ //-----Ram into Corner-----//
+ chassis.driveController.driveVector(0.3, 0);
+ pros::delay(3000);
+ chassis.driveController.stop();
+
+ //-----Back Up Slightly-----// ???
+ chassis.driveController.driveVector(-0.05, 0);
+ pros::delay(500);
+ chassis.driveController.stop();
+
+ //-----Release Stack-----//
+ // Place stack on floor
+ lift.moveLiftToHeight(6.1, 50);
+ pros::delay(1000); // Wait for stack to settle
+
+ // Release piston holding cubes
+ lift.piston_floor.extend();
+ pros::delay(300);
+
+ // lift.moveLiftToHeight(36, 50);
+ // pros::delay(5000);
+ // lift.piston_floor.retract();
+ lift.moveLiftToHeight(20, 50);
+ //pros::delay(800);
+ //pros::delay(3000);
+ pros::delay(1500);
+ lift.piston_door.extend();
+
+
+ // Back away from stack
+ chassis.driveController.driveVector(-0.1, 0);
+ pros::delay(5000);
+ chassis.driveController.stop();
+ lift.moveLiftToHeight(6, 50);
+ lift.piston_door.retract();
+
+
+ chassis.MotionController.removePath("1");
+ chassis.MotionController.removePath("ALIGN STACK");
+ chassis.MotionController.removePath("ALIGN STACK 2");
+ chassis.MotionController.removePath("3");
+ chassis.MotionController.removePath("4");
+ chassis.MotionController.removePath("PUSH CUBES AWAY");
+ chassis.MotionController.removePath("6");
+ chassis.MotionController.removePath("7");
+ chassis.MotionController.removePath("8");
+
+
+
+ //-----END RED AUTON-----//
+
+}
+
+void auton_red0BOX()
+{
+ //-----Set Starting Coordinate-----//
+
+ //-----Deploy-----//
+ lift.moveLiftToHeight(11, 50);
+ pros::delay(500);
+ // Turn on intake
+ intake.motors.moveVelocity(150);
+
+ //-----Drive into Cube 1-----//
+
+ //-----Pick Up Cube 1 (1)-----//
+
+ //-----Drive Up to 4 Stack-----//
+
+ //-----Slowly Align with 4 Stack-----//
+
+ //-----Pick Up 4 Stack (5)-----//
+
+ //-----Drive Forward to Laterally Align with 3 Stack-----//
+
+ //-----Turn Facing 3 Stack-----//
+
+ //-----Intake to U-----//
+
+ //-----Drive Up to 3 Stack-----//
+
+ //-----Align with 3 Stack and Push Extra Cubes Away-----//
+
+ //-----Pick Up 3 Stack (8)-----//
+
+ {
+ //-----Drive Up to 2 Stack-----//
+ //-----Align with 2 Stack and Push Extra Cubes Away-----//
+ //-----Pick Up 2 Stack (10)-----//
+ }
+
+ //-----Wide Arc Turn into Corner; Pick up cubes alogn the way-----//
+
+ //-----Ram into Corner-----//
+
+ //-----Back Up Slightly-----//
+
+ //-----Release Stack-----//
+
+ //-----Back Up-----//
+
+ //-----Drive to Alliance Tower Cube-----//
+ //-----Drive to Bottom Tower Cube-----//
+ //-----Drive to Pyramid-----//
+}
+
+void auton_red2()
+{
+ //-----Set Starting Coordinate-----//
+ // N/A
+
+ //chassis.MotionController.generatePath({Point{0_in,0_in,-17_deg}, Point{12_in,-3.25_in,0_deg}}, "0");
+
+ //-----Deploy-----//
+ lift.moveLiftToHeight(11, 50);
+ pros::delay(500);
+ // Turn on intake
+ intake.motors.moveVelocity(180);
+
+ //-----Drive into Cube 1-----//
+ chassis.MotionController.setTarget("0", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{15_in,0_in,0_deg}}, "1");
+ chassis.MotionController.waitUntilSettled();
+
+ //-----Pick Up Cube 1 (1)-----//
+ lifttaskauto.suspend();
+ lift.collectCube(true);
+ lifttaskauto.resume();
+ lift.moveLiftToHeight(29, 100);
+ pros::delay(200);
+
+ //-----Intake to U-----//
+ intake.motors.tarePosition();
+ intake.motors.setBrakeMode(AbstractMotor::brakeMode::hold);
+ intake.motors.moveAbsolute(-125, 25);//-42
+
+ //-----Drive Up to 4 Stack-----//
+ chassis.MotionController.setTarget("1", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{3_in,0_in,0_deg}}, "ALIGN STACK");
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{5_in,0_in,0_deg}}, "ALIGN STACK 2");
+
+ chassis.MotionController.waitUntilSettled();
+
+ //-----Slowly Align with 4 Stack-----//
+ chassis.MotionController.setTarget("ALIGN STACK", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{6_in,0_in,0_deg}}, "3");
+ chassis.MotionController.waitUntilSettled();
+
+ //-----Pick Up 4 Stack (5)-----//
+ lifttaskauto.suspend();
+ lift.collectCube();
+ lifttaskauto.resume();
+ lift.moveLiftToHeight(24, 80);
+
+ //-----Drive Forward to Laterally Align with 3 Stack-----//
+ chassis.MotionController.setTarget("3", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{15_in,0_in,1_deg}}, "4");
+ chassis.MotionController.waitUntilSettled();
+
+ //-----Turn Facing 3 Stack-----//
+ chassis.turn_PID_sync(89.5);//90.5
+
+ // Turn on intake
+ intake.motors.moveVelocity(25);
+ pros::delay(1750);
+ // intake.motors.moveVelocity(0);
+ // pros::delay(200);
+
+ //-----Intake to U-----//
+ intake.motors.setBrakeMode(AbstractMotor::brakeMode::hold);
+ pros::delay(50);
+ //intake.motors.moveRelative(-29, 25);//-37
+ Motor(15, true, AbstractMotor::gearset::red, AbstractMotor::encoderUnits::degrees).moveRelative(-27, 25);//-37
+ Motor(6, false, AbstractMotor::gearset::red, AbstractMotor::encoderUnits::degrees).moveRelative(-40, 25);//-37
+
+
+
+
+ //-----Drive Up to 3 Stack-----//
+ chassis.MotionController.setTarget("4", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{6_in,0_in,0_deg}}, "PUSH CUBES AWAY");//6
+ //chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{1_in,0_in,0_deg}}, "PUSH CUBES AWAY 2");//6
+ chassis.MotionController.waitUntilSettled();
+
+
+ //-----Align with 3 Stack and Push Extra Cubes Away-----//
+ chassis.MotionController.setTarget("ALIGN STACK 2", false); //Drive forward
+
+
+ //chassis.MotionController.waitUntilSettled();
+ //chassis.MotionController.setTarget("PUSH CUBES AWAY 2", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{14_in,0_in,0_deg}}, "6");//8
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{8_in,0_in,0_deg}}, "6.1");//8
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{2_in,0_in,0_deg}}, "6.2");//8
+
+
+ chassis.MotionController.waitUntilSettled();
+
+
+ //-----Pick Up 3 Stack (8)-----//
+ lifttaskauto.suspend();
+ lift.collectCube();
+ lifttaskauto.resume();
+ lift.moveLiftToHeight(20, 50);
+
+ // pros::delay(4000);
+
+ // "Bear hug cube"
+ intake.motors.moveAbsolute(-100, 100);
+ pros::delay(300);
+
+ //-----Drive Up to 2 Stack-----//
+ chassis.MotionController.setTarget("6.1", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{6_in,0_in,0_deg}}, "6.5");
+ chassis.MotionController.waitUntilSettled();
+
+ // Turn on intake
+ intake.motors.moveVelocity(70);
+ pros::delay(500);
+ chassis.MotionController.setTarget("6.2", true); //Drive backward
+ chassis.MotionController.waitUntilSettled();
+
+ //-----Pick Up free cube ()-----//
+ lifttaskauto.suspend();
+ lift.collectCube();
+ lifttaskauto.resume();
+
+ intake.motors.moveVelocity(0);
+
+ lift.moveLiftToHeight(19, 50);
+
+ chassis.MotionController.setTarget("6.1", false); //Drive forward
+ chassis.MotionController.waitUntilSettled();
+
+
+ //-----Intake to U-----//
+ intake.motors.tarePosition();
+ intake.motors.setBrakeMode(AbstractMotor::brakeMode::hold);
+ intake.motors.moveAbsolute(-50, 100);
+
+ chassis.MotionController.setTarget("6.5", false); //Drive forward
+ chassis.MotionController.waitUntilSettled();
+
+ //-----Align with 2 Stack and Push Extra Cubes Away-----//
+ chassis.MotionController.setTarget("ALIGN STACK", false); //Drive forward
+ chassis.MotionController.waitUntilSettled();
+ chassis.MotionController.setTarget("PUSH CUBES AWAY 2", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{28_in,-31_in,-45_deg}}, "7");//25
+ chassis.MotionController.waitUntilSettled();
+
+ //-----Pick Up 2 Stack (10)-----//
+ // lifttaskauto.suspend();
+ // lift.collectCube();
+ // lifttaskauto.resume();
+ lift.moveLiftToHeight(7.5, 50);
+ pros::delay(1500);
+
+
+ //-----Wide Arc Turn into Corner; Pick up cubes alogn the way-----//
+ // Turn on intake
+ intake.motors.moveVelocity(150);
+ chassis.MotionController.setTarget("7", false); //Drive forward
+ chassis.MotionController.waitUntilSettled();
+
+ lift.moveLiftToHeight(9, 50);
+
+ intake.motors.moveVelocity(0);
+ pros::delay(200);
+ intake.motors.moveRelative(-190, 100);
+
+ //-----Ram into Corner-----//
+ chassis.driveController.driveVector(0.3, 0);
+ pros::delay(3000);
+ chassis.driveController.stop();
+
+ //-----Back Up Slightly-----// ???
+ chassis.driveController.driveVector(-0.05, 0);
+ pros::delay(500);
+ chassis.driveController.stop();
+
+ //-----Release Stack-----//
+ // Place stack on floor
+ lift.moveLiftToHeight(6.1, 50);
+ pros::delay(1000); // Wait for stack to settle
+
+ // Release piston holding cubes
+ lift.piston_floor.extend();
+ pros::delay(300);
+
+ // lift.moveLiftToHeight(36, 50);
+ // pros::delay(5000);
+ // lift.piston_floor.retract();
+ lift.moveLiftToHeight(42, 50);
+ pros::delay(800);
+ pros::delay(3000);
+ lift.piston_door.extend();
+
+
+ // Back away from stack
+ chassis.driveController.driveVector(-0.07, 0);
+ pros::delay(5000);
+ chassis.driveController.stop();
+ lift.moveLiftToHeight(6, 50);
+ lift.piston_door.retract();
+
+
+ //-----Back Up-----//
+
+ //-----Drive to Alliance Tower Cube-----//
+ //-----Drive to Bottom Tower Cube-----//
+ //-----Drive to Pyramid-----//
+ //-----END RED AUTON-----//
+}
+
+
+//------------------------------------------------------------------------------
+// Function: auton_blue0() :
+// -------------------------
+// Description:
+// The main code to control the robot using the blue0 autonomous routine.
+//
+// Parameters:
+//```
+// None
+//```40
+// Returns:
+//```
+// None
+//```
+//------------------------------------------------------------------------------
+void auton_blue0()
+{
+ //-----Set Starting Coordinate-----//
+ // N/A
+
+ //chassis.MotionController.generatePath({Point{0_in,0_in,-17_deg}, Point{12_in,-3.25_in,0_deg}}, "0");
+
+ //-----Deploy-----//
+ lift.moveLiftToHeight(11, 50);
+ pros::delay(500);
+ // Turn on intake
+ intake.motors.moveVelocity(180);
+
+ //-----Drive into Cube 1-----//
+ chassis.MotionController.setTarget("0 BLUE", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{15_in,0_in,0_deg}}, "1");
+ chassis.MotionController.waitUntilSettled();
+
+ //-----Pick Up Cube 1 (1)-----//
+ lifttaskauto.suspend();
+ lift.collectCube(true);
+ lifttaskauto.resume();
+ lift.moveLiftToHeight(29, 100);
+ pros::delay(200);
+
+ //-----Intake to U-----//
+ intake.motors.tarePosition();
+ intake.motors.setBrakeMode(AbstractMotor::brakeMode::hold);
+ intake.motors.moveAbsolute(-125, 25);//-42
+
+ //-----Drive Up to 4 Stack-----//
+ chassis.MotionController.setTarget("1", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{5_in,0_in,0_deg}}, "ALIGN STACK");
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{5_in,0_in,0_deg}}, "ALIGN STACK 2");
+
+ chassis.MotionController.waitUntilSettled();
+
+ //-----Slowly Align with 4 Stack-----//
+ chassis.MotionController.setTarget("ALIGN STACK", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{4_in,0_in,0_deg}}, "3");
+ chassis.MotionController.waitUntilSettled();
+
+ //-----Pick Up 4 Stack (5)-----//
+ lifttaskauto.suspend();
+ lift.collectCube();
+ lifttaskauto.resume();
+ lift.moveLiftToHeight(24, 80);
+
+ //-----Drive Forward to Laterally Align with 3 Stack-----//
+ chassis.MotionController.setTarget("3", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{15_in,0_in,-1_deg}}, "4");
+ chassis.MotionController.waitUntilSettled();
+
+ //-----Turn Facing 3 Stack-----//
+ chassis.turn_PID_sync(-89.5);//-89.5
+
+ // Turn on intake
+ intake.motors.moveVelocity(25);
+ pros::delay(1750);
+ // intake.motors.moveVelocity(0);
+ // pros::delay(200);
+
+ //-----Intake to U-----//
+ intake.motors.setBrakeMode(AbstractMotor::brakeMode::hold);
+ pros::delay(50);
+ //intake.motors.moveRelative(-29, 25);//-37
+ Motor(15, true, AbstractMotor::gearset::red, AbstractMotor::encoderUnits::degrees).moveRelative(-40, 25);//-37
+ Motor(6, false, AbstractMotor::gearset::red, AbstractMotor::encoderUnits::degrees).moveRelative(-32, 25);//-37
+
+
+
+
+ //-----Drive Up to 3 Stack-----//
+ chassis.MotionController.setTarget("4", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{6_in,0_in,0_deg}}, "PUSH CUBES AWAY");//6
+ //chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{1_in,0_in,0_deg}}, "PUSH CUBES AWAY 2");//6
+ chassis.MotionController.waitUntilSettled();
+
+
+ //-----Align with 3 Stack and Push Extra Cubes Away-----//
+ chassis.MotionController.setTarget("ALIGN STACK 2", false); //Drive forward
+
+
+ //chassis.MotionController.waitUntilSettled();
+ //chassis.MotionController.setTarget("PUSH CUBES AWAY 2", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{6_in,0_in,0_deg}}, "6");//8
+
+ chassis.MotionController.waitUntilSettled();
+
+
+ //-----Pick Up Top 2 Cubes of 3 Stack (8)-----//
+ // lifttaskauto.suspend();
+ // lift.collectCube();
+ // lifttaskauto.resume();
+ lift.moveLiftToHeight(8, 50);
+
+ pros::delay(2000);
+ lift.moveLiftToHeight(13, 50);
+ intake.motors.moveVelocity(70);
+ pros::delay(500);
+
+
+ chassis.MotionController.setTarget("6", true); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{12_in,0_in,0_deg}}, "7");//24
+ chassis.MotionController.waitUntilSettled();
+
+ lifttaskauto.suspend();
+ lift.collectCube();
+ lifttaskauto.resume();
+
+ intake.motors.moveRelative(-100, 50);
+ chassis.MotionController.setTarget("7", false); //Drive forward
+ chassis.MotionController.generatePath({Point{0_in,0_in,0_deg}, Point{58_in,-16_in,0_deg}}, "8");//-12
+ chassis.MotionController.waitUntilSettled();
+ intake.motors.moveVelocity(100);
+ pros::delay(250);
+
+ lifttaskauto.suspend();
+ lift.collectCube();
+ lifttaskauto.resume();
+ intake.motors.moveVelocity(0);
+
+ chassis.turn_PID_sync(-44);
+
+ chassis.MotionController.setTarget("8", false); //Drive forward
+ chassis.MotionController.waitUntilSettled();
+
+
+ lift.moveLiftToHeight(9, 50);
+
+ intake.motors.moveVelocity(0);
+ //pros::delay(200);
+ intake.motors.moveRelative(-190, 100);
+ pros::delay(1000);
+
+ //-----Ram into Corner-----//
+ chassis.driveController.driveVector(0.3, 0);
+ pros::delay(3000);
+ chassis.driveController.stop();
+
+ //-----Back Up Slightly-----// ???
+ chassis.driveController.driveVector(-0.05, 0);
+ pros::delay(500);
+ chassis.driveController.stop();
+
+ //-----Release Stack-----//
+ // Place stack on floor
+ lift.moveLiftToHeight(6.1, 50);
+ pros::delay(1000); // Wait for stack to settle
+
+ // Release piston holding cubes
+ lift.piston_floor.extend();
+ pros::delay(300);
+
+ // lift.moveLiftToHeight(36, 50);
+ // pros::delay(5000);
+ // lift.piston_floor.retract();
+ lift.moveLiftToHeight(20, 50);
+ //pros::delay(800);
+ //pros::delay(3000);
+ pros::delay(1500);
+ lift.piston_door.extend();
+
+
+ // Back away from stack
+ chassis.driveController.driveVector(-0.1, 0);
+ pros::delay(5000);
+ chassis.driveController.stop();
+ lift.moveLiftToHeight(6, 50);
+ lift.piston_door.retract();
+
+
+ chassis.MotionController.removePath("1");
+ chassis.MotionController.removePath("ALIGN STACK");
+ chassis.MotionController.removePath("ALIGN STACK 2");
+ chassis.MotionController.removePath("3");
+ chassis.MotionController.removePath("4");
+ chassis.MotionController.removePath("PUSH CUBES AWAY");
+ chassis.MotionController.removePath("6");
+ chassis.MotionController.removePath("7");
+ chassis.MotionController.removePath("8");
+
+
+
+
+
+ //END BLUE0 AUTON
+};
+void auton_blue1()
+{
+ //-----START BLUE AUTON-----//
+
+ lift.moveLiftToHeight(11, 50);
+
+ // Drive forward to prevent lift colliding with the field wall
+ chassis.drive_PID_sync(6);
+ chassis.drive_PID_sync(-4);
+
+
+ // Tare the lift (requires the lift task to stop clamping)
+ lifttaskauto.suspend(); // Not needed?
+ lift.tare(); // Not needed?
+ lifttaskauto.resume(); // Not needed?
+
+
+ lift.moveLiftToHeight(11, 50);
+
+
+
+ // Tare the lift (requires the lift task to stop clamping)
+ lifttaskauto.suspend();
+ lift.tare();
+ lifttaskauto.resume();
+ pros::delay(500);
+ // Done calibrating the lift, start routine
+
+ // Turn on intake
+ intake.motors.moveVelocity(150);
+
+ // Intake first field cube
+ chassis.drive_PID_sync(6);
+ //pros::delay(500);
+
+ // Collect first field cube (requires the lift task to stop clamping)
+ lifttaskauto.suspend();
+ lift.collectCube();
+ lifttaskauto.resume();
+
+ // Stop the intake and open it to "T" position
+ intake.motors.moveVelocity(0);
+ pros::delay(200);
+ intake.motors.moveRelative(-190, 100);
+
+ // Simultaniously increase lift height for 4 cube stack
+ lift.moveLiftToHeight(30, 50);
+
+ // Line up near 4 cube stack
+ chassis.drive_PID_sync(22.5);
+ pros::delay(300);
+
+ // Slowly drive into stack
+ chassis.drive_PID_sync(1.25);
+ pros::delay(300);
+
+ // Collect 4 cube stack (requires the lift task to stop clamping)
+ lifttaskauto.suspend();
+ lift.collectCube();
+ lifttaskauto.resume();
+ pros::delay(500);
+
+ // Drive backward
+ chassis.drive_PID_sync(-17);
+ pros::delay(300);
+
+ // Turn to face 7th cube
+ chassis.turn_PID_sync(90);
+ pros::delay(300);
+ // Resume intake for intaking 7th cube
+ intake.motors.moveVelocity(80);
-//------------------------------------------------------------------------------
-// Function: autonomous() :
-// ------------------------
-// Description:
-// The function (task) that will be scheduled after initialize(), and after
-// competition_initialize() if connected to a competition switch. This
-// function will run until whichever happens first: (1) autonomous() exits,
-// (2) the autonomous period ends, or (3) the controllers are disconnected
-// from the competition switch.
-//
-// Parameters:
-//```
-// None
-//```
-// Returns:
-//```
-// None
-//```
-//------------------------------------------------------------------------------
-void autonomous()
-{
- selectedAutonID=skills0; // Use to hardcode auton routine
+ // Drive into 7th cube
+ chassis.drive_PID_sync(15);
+ pros::delay(300);
- // Initialize objects for auton
- lift.piston_floor.retract();
- lift.piston_door.retract();
+ // Collect 7th cube (requires the lift task to stop clamping)
+ lifttaskauto.suspend();
+ lift.collectCube(100);
+ lifttaskauto.resume();
- // Run selected auton routine
- autonomousSelector(selectedAutonID);
+ // Stop the intake and open it to "T" position (to place stack in corner)
+ intake.motors.moveVelocity(0);
+ pros::delay(300);
- // Remove lift task from scheduler
- lifttaskauto.suspend();
- lifttaskauto.remove();
+ // Turn to face the goal
+ chassis.turn_PID_sync(55);
+ pros::delay(300);
- pros::lcd::print(3, "DONE WITH AUTON");
+ intake.motors.moveRelative(-190, 100);
+
+
+ // Approch the goal with drive PID
+ chassis.drive_PID_sync(18);
+ // Drive time-based up and over threshold into corner (encoder wheels not accurate)
+ chassis.drive_seconds(50,3.5);
+ pros::delay(300);
+
+ chassis.drive_seconds(-50,0.2);
+ chassis.drive_seconds(0,0.2);
+
+ //chassis.drive_PID_sync(-1.25);
+ //pros::delay(500);
+
+
+ // Place stack on floor
+ lift.moveLiftToHeight(0.1, 50);
+ pros::delay(1000); // Wait for stack to settle
+
+ // Release piston holding cubes
+ lift.piston_floor.extend();
+ pros::delay(300);
+
+ lift.moveLiftToHeight(41, 50);
+ pros::delay(3000);
+
+ // Open door
+ // lift.piston_door.extend();
+ // pros::delay(500);
+
+ // Back away from stack
+ chassis.drive_PID_sync(-10);
+ lift.moveLiftToHeight(6, 50);
+
+ //-----END BLUE AUTON-----//
}
//------------------------------------------------------------------------------
-// Function: auton_red0() :
+// Function: auton_red1() :
// ------------------------
// Description:
-// The main code to control the robot using the red0 autonomous routine.
+// The main code to control the robot using the red1 autonomous routine.
//
// Parameters:
//```
@@ -123,7 +951,7 @@ void autonomous()
// None
//```
//------------------------------------------------------------------------------
-void auton_red0()
+void auton_red1()
{
//-----START RED AUTON-----//
@@ -250,11 +1078,12 @@ void auton_red0()
}
+
//------------------------------------------------------------------------------
-// Function: auton_blue0() :
-// -------------------------
+// Function: auton_skills0() :
+// ---------------------------
// Description:
-// The main code to control the robot using the blue0 autonomous routine.
+// The main code to control the robot using the skills0 autonomous routine.
//
// Parameters:
//```
@@ -265,151 +1094,84 @@ void auton_red0()
// None
//```
//------------------------------------------------------------------------------
-void auton_blue0()
+void auton_skills0()
{
- //-----START BLUE AUTON-----//
lift.moveLiftToHeight(11, 50);
+ pros::delay(500);
+ // Turn on intake
+ intake.motors.moveVelocity(150);
- // Drive forward to prevent lift colliding with the field wall
chassis.drive_PID_sync(6);
- chassis.drive_PID_sync(-4);
-
-
- // Tare the lift (requires the lift task to stop clamping)
- lifttaskauto.suspend(); // Not needed?
- lift.tare(); // Not needed?
- lifttaskauto.resume(); // Not needed?
-
+ chassis.driveController.driveVector(-0.5, 0);
+ pros::delay(1000);
+ chassis.driveController.stop();
- lift.moveLiftToHeight(11, 50);
+ // START REAL ROUTINE
+ chassis.drive_PID_sync( 12.920 ); // Drive forward
+ pros::delay(100);
- // Tare the lift (requires the lift task to stop clamping)
+ // Collect cube (requires the lift task to stop clamping)
lifttaskauto.suspend();
+ lift.collectCube();
+ // Tare the lift (requires the lift task to stop clamping)
lift.tare();
- lifttaskauto.resume();
- pros::delay(500);
+ // pros::delay(500);
// Done calibrating the lift, start routine
- // Turn on intake
- intake.motors.moveVelocity(150);
-
- // Intake first field cube
- chassis.drive_PID_sync(6);
- //pros::delay(500);
-
- // Collect first field cube (requires the lift task to stop clamping)
- lifttaskauto.suspend();
- lift.collectCube();
lifttaskauto.resume();
- // Stop the intake and open it to "T" position
- intake.motors.moveVelocity(0);
- pros::delay(200);
- intake.motors.moveRelative(-190, 100);
-
- // Simultaniously increase lift height for 4 cube stack
- lift.moveLiftToHeight(30, 50);
+ chassis.turn_PID_sync( -90.000 ); // Turn
+ pros::delay(150);
+ chassis.drive_PID_sync( 19.375 ); // Drive forward
+ pros::delay(100);
- // Line up near 4 cube stack
- chassis.drive_PID_sync(22.5);
- pros::delay(300);
- // Slowly drive into stack
- chassis.drive_PID_sync(1.25);
- pros::delay(300);
- // Collect 4 cube stack (requires the lift task to stop clamping)
+ // Collect cube (requires the lift task to stop clamping)
lifttaskauto.suspend();
lift.collectCube();
lifttaskauto.resume();
- pros::delay(500);
- // Drive backward
- chassis.drive_PID_sync(-17);
- pros::delay(300);
-
- // Turn to face 7th cube
- chassis.turn_PID_sync(90);
- pros::delay(300);
-
- // Resume intake for intaking 7th cube
- intake.motors.moveVelocity(80);
-
- // Drive into 7th cube
- chassis.drive_PID_sync(15);
- pros::delay(300);
-
- // Collect 7th cube (requires the lift task to stop clamping)
- lifttaskauto.suspend();
- lift.collectCube(100);
- lifttaskauto.resume();
+ // Simultaniously increase lift height for 4 cube stack
+ lift.moveLiftToHeight(34, 80); // 20, 26, 39
+ chassis.drive_seconds(-0.2,0.3);
+ pros::delay(600);
+ intake.motors.moveVelocity(150);
+ pros::delay(150);
+ intake.motors.moveRelative(-160, 100);
- // Stop the intake and open it to "T" position (to place stack in corner)
- intake.motors.moveVelocity(0);
- pros::delay(300);
- // Turn to face the goal
- chassis.turn_PID_sync(55);
- pros::delay(300);
- intake.motors.moveRelative(-190, 100);
+ chassis.drive_seconds(0.25,0.8);
- // Approch the goal with drive PID
- chassis.drive_PID_sync(18);
- // Drive time-based up and over threshold into corner (encoder wheels not accurate)
- chassis.drive_seconds(50,3.5);
- pros::delay(300);
+ lift.piston_floor.extend();
+ pros::delay(25);
+ lift.piston_floor.retract();
- chassis.drive_seconds(-50,0.2);
- chassis.drive_seconds(0,0.2);
+ chassis.drive_PID_sync( -9.375 ); // Drive forward
+ pros::delay(100);
- //chassis.drive_PID_sync(-1.25);
- //pros::delay(500);
+ chassis.turn_PID_sync( 90.000 ); // Turn
+ pros::delay(150);
+ chassis.drive_PID_sync( 12.5 ); // Drive forward
+ pros::delay(100);
- // Place stack on floor
- lift.moveLiftToHeight(0.1, 50);
- pros::delay(1000); // Wait for stack to settle
+ chassis.drive_seconds(0.1, 2000);
+ pros::delay(100);
- // Release piston holding cubes
- lift.piston_floor.extend();
- pros::delay(300);
- lift.moveLiftToHeight(41, 50);
- pros::delay(3000);
+}
- // Open door
- // lift.piston_door.extend();
- // pros::delay(500);
- // Back away from stack
- chassis.drive_PID_sync(-10);
- lift.moveLiftToHeight(6, 50);
- //-----END BLUE AUTON-----//
-}
-//------------------------------------------------------------------------------
-// Function: auton_skills0() :
-// ---------------------------
-// Description:
-// The main code to control the robot using the skills0 autonomous routine.
-//
-// Parameters:
-//```
-// None
-//```
-// Returns:
-//```
-// None
-//```
-//------------------------------------------------------------------------------
-void auton_skills0()
+void auton_skills0OLD()
{
// Starting Coordinate: (59.220_in, 59.220_in, -90.0_deg) --- now click on the map again to add a second point.
diff --git a/src/chassis.cpp b/src/chassis.cpp
index 10a3717..cce12e1 100644
--- a/src/chassis.cpp
+++ b/src/chassis.cpp
@@ -27,6 +27,34 @@ using namespace okapi;
PYROChassis chassis;
+double ecToDegrees(int ec)
+{
+ return ec/360.0 * PI * IDLER_WHEEL_DIAMETER;
+};
+
+// void drive_to_coordinate_async(void* input)
+// {
+// asyncDriveStruct *s = (asyncDriveStruct*)input;
+// double* arr = s->coordinateData;
+// int size = sizeof(arr) / sizeof(double);
+//
+// switch (size)
+// {
+// case 3:
+// s->chassis.drive_to_coordinate(arr[0],arr[1],arr[2]);
+// break;
+// case 4:
+// s->chassis.drive_to_coordinate(arr[0],arr[1],arr[2],arr[3]);
+// break;
+// case 5:
+// s->chassis.drive_to_coordinate(arr[0],arr[1],arr[2],arr[3],arr[4]);
+// break;
+// default:
+// break;
+// }
+// }
+
+
// Class Defintions
// ----------------
@@ -51,15 +79,19 @@ PYROChassis chassis;
// N/A: t_update_differential_pos (pros::Task)
//```
//------------------------------------------------------------------------------
-PYROChassis::PYROChassis(): PositionPIDController(20, 80, 10, 5.5, 1.5, 0.000005),
+
+ADIEncoder PYROChassis::encoder_left('A', 'B', 0);
+ADIEncoder PYROChassis::encoder_right('C', 'D', 1);
+
+
+
+PYROChassis::PYROChassis(): PositionPIDController(20, 80, 10, 5.5, 1.5, 0.000001),
left_motors({-M_CHASSIS_LF, M_CHASSIS_LM, -M_CHASSIS_LR}),
- right_motors({-M_CHASSIS_RF, M_CHASSIS_RM, -M_CHASSIS_RR}),
- encoder_left(ADIEncoder('A', 'B', 0)),
- encoder_right(ADIEncoder('C', 'D', 1)),
+ right_motors({M_CHASSIS_RF, -M_CHASSIS_RM, M_CHASSIS_RR}),
driveController(ChassisControllerFactory::create(
left_motors, right_motors,
encoder_left, encoder_right,
- okapi::IterativePosPIDController::Gains{0.00001, 0.00001, 0.000006}, //straight
+ okapi::IterativePosPIDController::Gains{0.000001, 0.00001, 0.000003}, //straight
okapi::IterativePosPIDController::Gains{0.000, 0.0, 0.0000}, //correct drift
okapi::IterativePosPIDController::Gains{0.001, 0.00001, 0.00000}, //turn
ratio,
@@ -71,6 +103,8 @@ PYROChassis::PYROChassis(): PositionPIDController(20, 80, 10, 5.5, 1.5, 0.000005
10.0, // Maximum linear jerk of the Chassis in m/s/s/s
driveController // Chassis Controller
))///,
+ ,t_update_pos(update_position,(void*)NULL, TASK_PRIORITY_DEFAULT,
+ TASK_STACK_DEPTH_DEFAULT, "task")
///t_update_differential_pos(update_differential_pos,NULL)
{
left_motors.setBrakeMode(AbstractMotor::brakeMode::brake);
@@ -123,8 +157,9 @@ void PYROChassis::drive_PID()
int output = (int) PositionPIDController.calculate(pos_pid_data.target_position,
left_motors.getPosition() * IDLER_WHEEL_DIAMETER * PI / 3600,
&pos_pid_data.error);
- left_motors.moveVelocity(output);
- right_motors.moveVelocity(output);
+ // left_motors.moveVelocity(output);
+ // right_motors.moveVelocity(-output);
+ driveController.driveVector(output/100.0, 0);
}
@@ -155,8 +190,10 @@ void PYROChassis::drive_PID(okapi::ADIEncoder* left, okapi::ADIEncoder* right)
pros::lcd::print(6, "%f", pos_pid_data.error);
pros::lcd::print(7, "%d", output_l);
- left_motors.moveVelocity(output_l);
- right_motors.moveVelocity(output_r);
+ // left_motors.moveVelocity(output_l);
+ // right_motors.moveVelocity(output_r);
+ driveController.driveVector(output_l/100.0, 0*(output_l-output_r)/100.0);
+
}
@@ -225,8 +262,9 @@ void PYROChassis::turn_PID(okapi::ADIEncoder* left, okapi::ADIEncoder* right)
pros::lcd::print(6, "%f", pos_pid_data.error);
pros::lcd::print(7, "%d", output_l);
- left_motors.moveVelocity(output_l);
- right_motors.moveVelocity(output_r);
+ // left_motors.moveVelocity(output_l);
+ // right_motors.moveVelocity(output_r);
+ driveController.rotate(output_l/200.0);
}
@@ -250,7 +288,7 @@ void PYROChassis::turn_PID(okapi::ADIEncoder* left, okapi::ADIEncoder* right)
void PYROChassis::turn_PID_sync(double degrees, bool useIdler)
{
- set_target_position(degrees / 360 * PI * WHEELBASE * 92/95);
+ set_target_position(degrees / 360 * PI * WHEELBASE * 92/95 * 90/86);
encoder_left.reset();
encoder_right.reset();
pos_pid_data.error = 0;
@@ -284,11 +322,464 @@ void PYROChassis::turn_PID_sync(double degrees, bool useIdler)
// void
//```
//------------------------------------------------------------------------------
-void PYROChassis::drive_seconds(int speed, double sec)
+void PYROChassis::drive_seconds(double speed, double sec)
{
- left_motors.moveVelocity(speed);
- right_motors.moveVelocity(-speed);
+ // left_motors.moveVelocity(speed);
+ // right_motors.moveVelocity(-speed);
+ driveController.driveVector(speed, 0);
pros::delay(sec*1000);
+ driveController.stop();
+}
+
+
+//------------------------------------------------------------------------------
+// Method: drive_to_coordinate(double x1, double y1, double h1, bool reversed, float speed, bool useWideTurn) :
+// ------------------------------------
+// Description:
+// Drives the robot to (x1, y1, h1) synchronously.
+//
+// Parameters:
+//```
+// double x1, double y1, double h1 - coordinate to drive to
+// bool reversed - drive path in reverse direction
+// bool useWideTurn - make wide arc turns rather than initially turning to
+// the correct heading first
+//```
+// Returns:
+//```
+// void
+//```
+//------------------------------------------------------------------------------
+void PYROChassis::drive_to_coordinate(double x1, double y1, double h1, bool reversed, float speed, bool useWideTurns)
+{
+
+ double cv = 0, pv = 0; float setpoint = 0; // pv = error
+
+ // float& setpoint, double& pv, double& cv, float kp, float ki, float kd, float min, float max, double tollerance, float dt
+ PIDControllerRemake q(setpoint, pv, cv, 1.2, 0, 0, 0, fabs(speed),1, 10);
+
+ double x0, y0, h0;
+ x0 = OrientationData::getPosition(x);
+ y0 = OrientationData::getPosition(y);
+ h0 = OrientationData::getHeading();
+
+ double heading_delta;
+
+ if((y1-y0) == 0)
+ {
+ if(x1-x0 >= 0)
+ heading_delta = 90 - h0;
+ else
+ heading_delta = -90 + h0;
+ }
+ else
+ {
+ heading_delta = 180.0/PI * ( atan( (x1-x0)/(y1-y0) ) ) - h0;
+ }
+
+ if(reversed)
+ {
+ heading_delta = heading_delta - 180;
+ if(heading_delta <= -360) heading_delta += 360;
+ }
+
+
+ if(!useWideTurns)
+ {
+ // double cv_t = 0, pv_t = 0; float setpoint_t = 0;
+ //
+ // if(heading_delta > 45)
+ // {
+ // setpoint_t = 45;
+ // pv_t = heading_delta;
+ // PIDControllerRemake t(setpoint_t, pv_t, cv_t, 1.2, 0, 0, 0, fabs(speed),1, 20);
+ //
+ // while(t.avgError() > 0.5)
+ // {
+ // chassis.driveController.rotate(cv_t);
+ // if((y1-y0) == 0)
+ // {
+ // if(x1-x0 >= 0)
+ // heading_delta = 90 - h0;
+ // else
+ // heading_delta = -90 + h0;
+ // }
+ // else
+ // {
+ // heading_delta = 180.0/PI * ( atan( (x1-x0)/(y1-y0) ) ) - h0;
+ // }
+ //
+ // if(reversed)
+ // {
+ // heading_delta = heading_delta - 180;
+ // if(heading_delta <= -360) heading_delta += 360;
+ // }
+ // pv_t = heading_delta;
+ // pros::delay(20);
+ // }
+ // }
+ // else if(heading_delta < -45)
+ // {
+ // setpoint_t = -45;
+ // pv_t = heading_delta;
+ // PIDControllerRemake t(setpoint_t, pv_t, cv_t, 1.2, 0, 0, 0, fabs(speed),1, 20);
+ //
+ // while(t.avgError() > 0.5)
+ // {
+ // chassis.driveController.rotate(-cv_t);
+ // if((y1-y0) == 0)
+ // {
+ // if(x1-x0 >= 0)
+ // heading_delta = 90 - h0;
+ // else
+ // heading_delta = -90 + h0;
+ // }
+ // else
+ // {
+ // heading_delta = 180.0/PI * ( atan( (x1-x0)/(y1-y0) ) ) - h0;
+ // }
+ //
+ // if(reversed)
+ // {
+ // heading_delta = heading_delta - 180;
+ // if(heading_delta <= -360) heading_delta += 360;
+ // }
+ // pv_t = heading_delta;
+ // pros::delay(20);
+ // }
+ // }
+ // chassis.driveController.stop();
+ }
+
+ double distance0 = sqrt( (x1-x0)*(x1-x0) + (y1-y0)*(y1-y0) );
+
+ q.setSetpoint(distance0);
+
+ do
+ {
+ if((y1-y0) == 0)
+ {
+ if(x1-x0 >= 0)
+ heading_delta = 90 - h0;
+ else
+ heading_delta = -90 + h0;
+ }
+ else
+ {
+ heading_delta = 180.0/PI * ( atan( (x1-x0)/(y1-y0) ) ) - h0;
+ }
+
+ if(reversed)
+ {
+ heading_delta = heading_delta - 180;
+ if(heading_delta <= -360) heading_delta += 360;
+ }
+
+
+ if(!reversed)
+ chassis.driveController.driveVector(cv, sinf(heading_delta));
+ else
+ chassis.driveController.driveVector(-cv, sinf(heading_delta));
+
+ x0 = OrientationData::getPosition(x);
+ y0 = OrientationData::getPosition(y);
+ h0 = OrientationData::getHeading();
+
+ pros::delay(10);
+
+ pv = distance0 - sqrt( (x1-x0)*(x1-x0) + (y1-y0)*(y1-y0) );
+
+} while(sqrt( (x1-x0)*(x1-x0) + (y1-y0)*(y1-y0) > 2));
+
+ chassis.driveController.stop();
+ // q.~PIDControllerRemake();
+
+ pros::delay(100);
+
+
+ // double cv_t2 = 0, pv_t2 = 0; float setpoint_t2 = 0;
+ // setpoint_t2 = h1-OrientationData::getHeading();
+ // pv_t2 = heading_delta;
+ // PIDControllerRemake t2(setpoint_t2, pv_t2, cv_t2, 1.2, 0, 0, 0, fabs(speed),1, 20);
+ //
+ // if(setpoint_t2 > 0)
+ // {
+ // while(t2.avgError() > 0.5)
+ // {
+ // pv_t2 = h1-OrientationData::getHeading();
+ // chassis.driveController.rotate(cv_t2);
+ // pros::delay(20);
+ // }
+ // }
+ // else
+ // {
+ // while(t2.avgError() > 0.5)
+ // {
+ // pv_t2 = h1-OrientationData::getHeading();
+ // chassis.driveController.rotate(-cv_t2);
+ // pros::delay(20);
+ // }
+ // }
+
+ if(h1-OrientationData::getHeading() >= 0)
+ {
+ while(h1-OrientationData::getHeading() > 0)
+ {
+ double p = (h1-OrientationData::getHeading())/90;
+ chassis.driveController.rotate(p + 0.025);
+ pros::delay(10);
+ }
+ }
+ else
+ {
+ while(h1-OrientationData::getHeading() < 0)
+ {
+ double p = (h1-OrientationData::getHeading())/90;
+ chassis.driveController.rotate(p - 0.025);
+ pros::delay(10);
+ }
+ }
+
+
+ chassis.driveController.stop();
+
+ pros::delay(10);
+
+}
+
+
+void PYROChassis::drive_to_coordinate_old(double x1, double y1, double h1, bool reversed, float speed, bool useWideTurns)
+{
+
+ double cv = 0, pv = 2; float setpoint = 0;
+
+ PIDControllerRemake q(setpoint, pv, cv, 1.2, 0, 0, 0, fabs(speed),1, 20);
+
+ double x0, y0, h0;
+ x0 = OrientationData::getPosition(x);
+ y0 = OrientationData::getPosition(y);
+ h0 = OrientationData::getHeading();
+
+ // float multiplierl = 0.01;
+ // float multiplierr = 0.01;
+
+ // float maxSpeed = 10;
+ // float kp = 1;
+
+ double heading_delta;
+
+
+ if((y1-y0) == 0)
+ {
+ if(x1-x0 >= 0)
+ heading_delta = 90 - h0;
+ else
+ heading_delta = -90 + h0;
+ }
+ else
+ {
+ heading_delta = 180.0/PI * ( atan( (x1-x0)/(y1-y0) ) ) - h0;
+ }
+
+ if(reversed)
+ {
+ heading_delta = 180 - heading_delta;
+ }
+
+
+
+ if(!useWideTurns)
+ {
+ if(fabs(heading_delta) > 45)
+ {
+ // while(fabs(h1 - h0) > 0.5)
+ // {
+ // kp = 1;
+ // double speed;
+ //
+ // speed = kp * (h1 - h0);
+ //
+ // if(speed > 0.5) speed = 0.5;
+ // else if(speed < -0.5) speed = -0.5;
+ //
+ // if((h1 - h0) > 0)
+ // {
+ // chassis.driveController.left(speed);
+ // chassis.driveController.right(speed);
+ // }
+ // else
+ // {
+ // chassis.driveController.left(-speed);
+ // chassis.driveController.right(-speed);
+ // }
+ // pros::delay(20);
+ // }
+ }
+ }
+
+ double distance0 = sqrt( (x1-x0)*(x1-x0) + (y1-y0)*(y1-y0) );
+
+ q.setSetpoint(distance0);
+
+ do
+ {
+ //std::cout << "sp : " << q.setpoint << std::endl;
+
+
+
+ double pidl = cv;
+ double pidr = cv;
+
+
+ // if(!reversed)
+ // {
+ // if((y1-y0) == 0)
+ // {
+ // if(x1-x0 >= 0)
+ // heading_delta = 90 - h0;
+ // else
+ // heading_delta = -90 + h0;
+ // }
+ // else
+ // {
+ // heading_delta = 180.0/PI * ( atan( (x1-x0)/(y1-y0) ) ) - h0;
+ // }
+ // }
+ // else
+ // {
+ if((y1-y0) == 0)
+ {
+ if(x1-x0 >= 0)
+ heading_delta = 90 - h0;
+ else
+ heading_delta = -90 + h0;
+ }
+ else
+ {
+ heading_delta = 180.0/PI * ( atan( (x1-x0)/(y1-y0) ) ) - h0;
+ }
+
+ // }
+
+ double speedl;
+ double speedr;
+
+ if(reversed)
+ {
+ heading_delta = 180 - heading_delta;
+ }
+
+ heading_delta = 0;
+
+ if(heading_delta >= 0)
+ {
+ if(y1-y0 >= 0)
+ speedl = 1 * pidl;
+ else
+ speedl = -1 * pidl;
+ speedr = 0.75* cos( PI/180.0 * heading_delta ) * pidr;
+ }
+ else
+ {
+ if(y1-y0 >= 0)
+ speedr = 1 * pidr;
+ else
+ speedr = -1 * pidr;
+ speedl = 0.75* cos( PI/180.0 * heading_delta ) * pidl;
+ }
+
+ // speedl /= 100;
+ // speedr /= 100;
+
+ // if(pv < (distance0 * 1 / 4))
+ // {
+ // //limit speed
+ // speedl *= multiplierl;
+ // speedr *= multiplierr;
+ // multiplierl += 0.05;
+ // multiplierr += 0.05;
+ //
+ // }
+
+ // left_motors.moveVelocity(pidl);
+ // right_motors.moveVelocity(pidr);
+
+ // if(speedl > 0.2)
+ // speedl = 0.2;
+ // if(speedr > 0.2)
+ // speedr = 0.2;
+
+ // if(reversed) speedl *= -1;
+ // if(reversed) speedr *= -1;
+
+
+ chassis.driveController.left(speedl);
+ chassis.driveController.right(-speedr);
+
+ x0 = OrientationData::getPosition(x);
+ y0 = OrientationData::getPosition(y);
+ h0 = OrientationData::getHeading();
+
+ pros::delay(20);
+
+ pv = distance0 - sqrt( (x1-x0)*(x1-x0) + (y1-y0)*(y1-y0) );
+ // std::cout << " pv = " << pv;
+ std::cout << "Distance: " << pv << "; Speed l = " << speedl << ", r = " << speedr << " HEADING: " << h0 << ", Delta: " << heading_delta << std::endl;
+
+ // } while(fabs(distance0 - pv) > 2);
+} while(q.avgError() > 0.5);
+
+ pros::delay(100);
+
+ // if(h1-OrientationData::getHeading() >= 0)
+ // {
+ // while(h1-OrientationData::getHeading() > 0)
+ // {
+ // chassis.driveController.left(0.025);
+ // chassis.driveController.right(0.025);
+ // pros::delay(20);
+ // }
+ // }
+ // else
+ // {
+ // while(h1-OrientationData::getHeading() < 0)
+ // {
+ // chassis.driveController.left(-0.025);
+ // chassis.driveController.right(-0.025);
+ // pros::delay(20);
+ // }
+ // }
+
+
+ // while(fabs(h1 - h0) > 0.5)
+ // {
+ // kp = 1;
+ // double speed;
+ //
+ // speed = kp * (h1 - h0);
+ //
+ // if(speed > 0.5) speed = 0.5;
+ // else if(speed < -0.5) speed = -0.5;
+ //
+ // if((h1 - h0) > 0)
+ // {
+ // chassis.driveController.left(speed);
+ // chassis.driveController.right(speed);
+ // }
+ // else
+ // {
+ // chassis.driveController.left(-speed);
+ // chassis.driveController.right(-speed);
+ // }
+ // pros::delay(20);
+ // }
+
+ chassis.driveController.left(0);
+ chassis.driveController.right(0);
+
+
+ // turn_PID_sync(h1 - h0);
+
}
//------------------------------------------------------------------------------
diff --git a/src/initialize.cpp b/src/initialize.cpp
index 1c2c753..a26ad26 100644
--- a/src/initialize.cpp
+++ b/src/initialize.cpp
@@ -18,6 +18,17 @@
// Function Defintions
// -------------------
+static void update_localization(void*)
+{
+ while(1)
+ {
+ orientation.setHeading(Arduino.bno->get());
+ //std::cout << "Heading: " << orientation.getHeading();// << std::endl;
+ //std::cout << "; Heading: " << orientation.getAcceleration(x) << std::endl;
+ pros::delay(20);
+ }
+}
+
//------------------------------------------------------------------------------
// Function: initialize() :
// ------------------------
@@ -39,8 +50,22 @@
//------------------------------------------------------------------------------
void initialize()
{
+ chassis.MotionController.generatePath({Point{0_in,0_in,-17_deg}, Point{12_in,-3.25_in,0_deg}}, "0");
+ chassis.MotionController.generatePath({Point{0_in,0_in,17_deg}, Point{12_in,3.75_in,0_deg}}, "0 BLUE");
+
+
+ pros::delay(200);
//pros::lcd::initialize(); // Uncomment to use PROS's LCD
Screen screen;
+ pros::delay(100);
+ pros::Task t_update_localization(update_localization,(void*)NULL, TASK_PRIORITY_DEFAULT,
+ TASK_STACK_DEPTH_DEFAULT, "task");
+
+ Arduino.setClock();
+ pros::delay(200);
+ Arduino.reset();
+
+ //PIDControllerManager man;
}
diff --git a/src/lift.cpp b/src/lift.cpp
index b737a40..b97d217 100644
--- a/src/lift.cpp
+++ b/src/lift.cpp
@@ -46,7 +46,7 @@ const float HEIGHT_OFFSET = (2*(INCHES_PIVOT_TO_PIVOT * (-cos((42.0 * pi/180)) +
//The height that the lift should return to after collecting a cube.
//11 inches leaves a satisfactory about of clearance between cubes while also minimizing travel time for cube collection
-const float HOVER_HEIGHT = 11.0;
+const float HOVER_HEIGHT = 15.0;
//initially set the lift target to a tiny bit above 0 (approximately 1.4 degrees) so that the motors do not bind against the hard stops
int PYROLift::liftTarget = 10;
@@ -54,10 +54,12 @@ int PYROLift::liftTarget = 10;
PYROLift lift(11,12,1,2,5,6);
okapi::MotorGroup PYROLift::liftMotors({
- Motor(13, false, AbstractMotor::gearset::red),
Motor(14, false, AbstractMotor::gearset::red),
+ Motor(17, false, AbstractMotor::gearset::red),
+ Motor(13, true, AbstractMotor::gearset::red),
Motor(2, true, AbstractMotor::gearset::red),
- Motor(3, true, AbstractMotor::gearset::red)}
+ Motor(5, true, AbstractMotor::gearset::red),
+ Motor(4, false, AbstractMotor::gearset::red)}
);
pros::ADIDigitalIn breakbeam('e');
@@ -97,7 +99,7 @@ PYROLift::PYROLift( int motorTopRight,
int motorTopLeft,
int motorBottomLeft,
int pneumaticFloorPort,
- int pneumaticDoorPort) : piston_door(8), piston_floor(7)
+ int pneumaticDoorPort) : piston_door(8), piston_floor(7), LimitSwitch('f')
{
cubeCount = 0;
}
@@ -225,7 +227,7 @@ float PYROLift::getLiftAngle(){
void PYROLift::intakeAndCollect(){
intake.motors.moveVoltage(12000);
while(master.get_digital(pros::E_CONTROLLER_DIGITAL_R1) && breakbeam.get_value()){
- printf("breakbeam: %d\n", breakbeam.get_value());
+ //printf("breakbeam: %d\n", breakbeam.get_value());
pros::delay(10);
}
if(!breakbeam.get_value()) {
@@ -252,16 +254,30 @@ void PYROLift::intakeAndCollect(){
// void
//```
//------------------------------------------------------------------------------
-void PYROLift::collectCube(){
+void PYROLift::collectCube(bool tareOverride){
liftMotors.moveVelocity(-60);
- pros::delay(250);
- while(abs(liftMotors.getActualVelocity()) > 3){
+ pros::delay(100);
+ // while(abs(liftMotors.getActualVelocity()) > 3){
+ // pros::delay(10);
+ // }
+ //while((abs(Motor(2, true, AbstractMotor::gearset::red).getActualVelocity()) > 2 && abs(Motor(3, true, AbstractMotor::gearset::red).getActualVelocity()) > 2 && abs(Motor(13, 0, AbstractMotor::gearset::red).getActualVelocity()) > 2 && abs(Motor(14, 0, AbstractMotor::gearset::red).getActualVelocity()) > 2 )){
+ while(abs(Motor(14, false, AbstractMotor::gearset::red).getActualVelocity()) > 2 &&
+ abs(Motor(17, false, AbstractMotor::gearset::red).getActualVelocity()) > 2 &&
+ abs(Motor(13, true, AbstractMotor::gearset::red).getActualVelocity()) > 2 &&
+ abs(Motor(2, true, AbstractMotor::gearset::red).getActualVelocity()) > 2 &&
+ abs(Motor(5, true, AbstractMotor::gearset::red).getActualVelocity()) > 2 &&
+ abs(Motor(4, false, AbstractMotor::gearset::red).getActualVelocity()) > 2) {
+ // std::cout << abs(Motor/(2, true, AbstractMotor::gearset::red).getActualVelocity()) << " " << abs(Motor(3, true, AbstractMotor::gearset::red).getActualVelocity()) << " " << abs(Motor(13, 0, AbstractMotor::gearset::red).getActualVelocity()) << " " << abs(Motor(14, 0, AbstractMotor::gearset::red).getActualVelocity()) << std::endl;
pros::delay(10);
}
+ if(LimitSwitch.isPressed() || tareOverride){
+ liftMotors.tarePosition();
+ }
moveLiftToHeight(HOVER_HEIGHT, 50);
liftTarget = getMotorDegreesFromLiftDegrees(getAngleForHeight(HOVER_HEIGHT));
cubeCount++;
+ okapi::PYRO_Arduino::send("COIN");
}
//overload for manually specifying the velocity at which the lift moves down.
@@ -277,7 +293,6 @@ void PYROLift::collectCube(int velocity){
cubeCount++;
}
-
//------------------------------------------------------------------------------
// Method: manualControl() :
// -------------------------
@@ -302,12 +317,21 @@ void PYROLift::manualControl(){
//flip the intake motors back
if(master.get_digital(pros::E_CONTROLLER_DIGITAL_R2)){
intake.motors.moveAbsolute(-190, 100);
+ intake.motors.setBrakeMode(AbstractMotor::brakeMode::hold);
}
//manual override to just move the intake without picking up a cube
- else if(master.get_digital(pros::E_CONTROLLER_DIGITAL_A)){
+ else if(master.get_digital(pros::E_CONTROLLER_DIGITAL_Y)){ //A
intake.motors.moveVoltage(12000);
}
+ else if(master.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_A)){ //Y
+ intake.motors.tarePosition();
+ }
+ else if(master.get_digital(pros::E_CONTROLLER_DIGITAL_A)) //Y
+ {
+ intake.motors.moveAbsolute(-45, 100);
+ intake.motors.setBrakeMode(AbstractMotor::brakeMode::hold);
+ }
else{
intake.motors.moveVoltage(0);
}
@@ -322,7 +346,7 @@ void PYROLift::manualControl(){
//manual control to move the lift at a constant velocity, useful for moving the lift to a height that has not been pre set
if(master.get_digital(pros::E_CONTROLLER_DIGITAL_L1)){
- liftMotors.moveVelocity(50);
+ liftMotors.moveVelocity(75);
liftTarget = liftMotors.getPosition();
}
else if(master.get_digital(pros::E_CONTROLLER_DIGITAL_L2)){
@@ -373,8 +397,10 @@ void PYROLift::loopTeleop(){
moveLiftToHeight(HOVER_HEIGHT, 50);
while(true) {
manualControl();
+ // intake.motors.setBrakeMode(AbstractMotor::brakeMode::hold);
//run the automated cube collection routine
if (master.get_digital(pros::E_CONTROLLER_DIGITAL_R1)) {
+ intake.motors.setBrakeMode(AbstractMotor::brakeMode::coast);
if (getLiftHeight() > 10) {
intakeAndCollect();
} else {
@@ -387,18 +413,16 @@ void PYROLift::loopTeleop(){
tare();
}
- //macro to lift the height to the medium or short towers
- if (master.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_Y)) {
- moveLiftToHeight(30, 50);
- }
//macro to drop exactly one cube out of the floor of the intake, useful for placing cubes in towers
if (master.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_RIGHT)){
pistonFloor.set_value(true);
pros::delay(33);
pistonFloor.set_value(false);
+ okapi::PYRO_Arduino::send("ONEUP");
}
- printf("Breakbeam: %d\n", breakbeam.get_value());
+ //printf("Breakbeam: %d\n", breakbeam.get_value());
+ pros::delay(20);
}
}
@@ -419,11 +443,14 @@ void PYROLift::loopTeleop(){
//```
//------------------------------------------------------------------------------
void PYROLift::tare(){
+ if(!LimitSwitch.isPressed())
+ {
liftMotors.moveVelocity(-25);
pros::delay(500);
- while(abs(liftMotors.getActualVelocity()) > 10){
+ while(!LimitSwitch.isPressed()){
pros::delay(10);
}
+ }
liftMotors.tarePosition();
}
diff --git a/src/localization.cpp b/src/localization.cpp
new file mode 100644
index 0000000..8307573
--- /dev/null
+++ b/src/localization.cpp
@@ -0,0 +1,147 @@
+#include "localization.h"
+
+void KalmanFilter1::calculate_gain()
+{
+ gain = error_estimate_curr / (error_estimate_curr + error_input);
+}
+
+void KalmanFilter1::calculate_curr_est()
+{
+ estimate_curr = estimate_prev + gain * (*data1 - estimate_prev);
+}
+
+void KalmanFilter1::calculate_new_error()
+{
+ error_estimate_curr = (1 - gain) * error_estimate_prev;
+}
+
+KalmanFilter1::KalmanFilter1(double* data1, double* data2, double init_est)
+{
+ this->data1 = data1;
+ this->data2 = data2;
+ estimate_prev = init_est;
+ error_estimate_curr = init_est;
+ error_estimate_prev = init_est;
+ error_input = init_est;
+}
+
+KalmanFilter::KalmanFilter(double* data1, double* data2, double init_est) : x_t(2,1), A(2,2), B(2,2)
+{
+ this->data1 = data1;
+ this->data2 = data2;
+ estimate_prev = init_est;
+ error_estimate_curr = init_est;
+ error_estimate_prev = init_est;
+ error_input = init_est;
+
+
+ A.array[0][0] = 1;
+ A.array[1][1] = 1;
+ A.array[0][1] = REFRESH;
+}
+
+
+
+double OrientationData::heading;
+std::tuple OrientationData::position;
+std::tuple OrientationData::velocity;
+std::tuple OrientationData::acceleration;
+
+
+
+OrientationData::OrientationData() : writeToFile(writePosToFile,(void*)NULL, TASK_PRIORITY_DEFAULT,
+ TASK_STACK_DEPTH_DEFAULT, "task")
+{
+ heading = 0;
+
+ std::get<0>(position) = 0;
+ std::get<1>(position) = 0;
+ std::get<2>(position) = 0;
+
+ std::get<0>(velocity) = 0;
+ std::get<1>(velocity) = 0;
+ std::get<2>(velocity) = 0;
+
+ std::get<0>(acceleration) = 0;
+ std::get<1>(acceleration) = 0;
+ std::get<2>(acceleration) = 0;
+}
+
+// void OrientationData::setHeading(double heading)
+// {
+// this->heading = heading;
+// }
+//
+// void OrientationData::setPosition(Point3D id, double value)
+// {
+// switch (id) {
+// case x:
+// std::get<0>(position) = value;
+// break;
+// case y:
+// std::get<1>(position) = value;
+// break;
+// case z:
+// std::get<2>(position) = value;
+// break;
+// }
+// }
+//
+// void OrientationData::setVelocity(Point3D id, double value)
+// {
+// switch (id) {
+// case x:
+// std::get<0>(velocity) = value;
+// break;
+// case y:
+// std::get<1>(velocity) = value;
+// break;
+// case z:
+// std::get<2>(velocity) = value;
+// break;
+// }
+// }
+//
+// void OrientationData::setAcceleration(Point3D id, double value)
+// {
+// switch (id) {
+// case x:
+// std::get<0>(acceleration) = value;
+// break;
+// case y:
+// std::get<1>(acceleration) = value;
+// break;
+// case z:
+// std::get<2>(acceleration) = value;
+// break;
+// }
+// }
+
+
+
+
+double OrientationData::getVelocity(Point3D id)
+{
+ switch (id) {
+ case x:
+ return std::get<0>(velocity);
+ case y:
+ return std::get<1>(velocity);
+ case z:
+ return std::get<2>(velocity);
+ }
+}
+
+// double OrientationData::getAcceleration(Point3D id)
+// {
+// switch (id) {
+// case x:
+// return std::get<0>(acceleration);
+// case y:
+// return std::get<1>(acceleration);
+// case z:
+// return std::get<2>(acceleration);
+// }
+// }
+
+OrientationData orientation;
diff --git a/src/matrix.cpp b/src/matrix.cpp
new file mode 100644
index 0000000..27052b4
--- /dev/null
+++ b/src/matrix.cpp
@@ -0,0 +1,12 @@
+#include "matrix.h"
+
+Matrix::Matrix(int rows, int cols)
+{
+ array = new double*[rows];
+ for(int i = 0; i < rows; i++)
+ {
+ array[i] = new double[cols];
+ for(int j = 0; j < cols; j++)
+ array[i][j] = 0;
+ }
+}
diff --git a/src/opcontrol.cpp b/src/opcontrol.cpp
index 2e53873..78fbe4b 100644
--- a/src/opcontrol.cpp
+++ b/src/opcontrol.cpp
@@ -28,6 +28,7 @@
// Global/Static Objects
// ---------------------
pros::Controller master(pros::E_CONTROLLER_MASTER);
+pros::Controller partner(pros::E_CONTROLLER_PARTNER);
// Function Defintions
@@ -73,22 +74,134 @@ void liftTask(void*)
//------------------------------------------------------------------------------
void opcontrol() {
- bool arcade = false;
- bool voltageControl = false;
+ okapi::AverageFilter<250> avgFilterReset;
- okapi::ADIEncoder LEFT('A', 'B', true);
- okapi::ADIEncoder RIGHT('C', 'D');
+ Piston pist(9);
- pros::Task lifttaskteleop(liftTask, (void*)NULL, TASK_PRIORITY_DEFAULT,
- TASK_STACK_DEPTH_DEFAULT, "lift teleop task");
- while (true)
+ while(1) // GUI Command
{
- printf("%f %f\n", LEFT.get(), RIGHT.get());
- chassis.driveController.tank((float) master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y) / 127,
- (float) -master.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_Y) / 127,
- 0.05);
+ // std::cout << avgFilterReset.getOutput() << std::endl;
+ if(master.get_digital(pros::E_CONTROLLER_DIGITAL_X) && master.get_digital(pros::E_CONTROLLER_DIGITAL_Y) && master.get_digital(pros::E_CONTROLLER_DIGITAL_A) && master.get_digital(pros::E_CONTROLLER_DIGITAL_B))
+ avgFilterReset.filter(1);
+ else
+ {
+ for(int i = 0; i < 500; i++)
+ avgFilterReset.filter(0);
+ }
- pros::delay(20);
+ if(avgFilterReset.getOutput() == 1)
+ {
+ PYRO_Arduino::reset();
+ for(int i = 0; i < 500; i++)
+ avgFilterReset.filter(0);
+ }
+
+ if(Screen::DriverEnabled || !pros::competition::is_disabled())
+ {
+ okapi::PYRO_Arduino::send("TELEOP");
+ lifttaskauto.suspend();
+
+ int startTime = pros::millis();
+
+ if(Screen::Screen_Sponsors != NULL)
+ lv_obj_set_hidden(Screen::Screen_Sponsors,1);
+
+
+ bool arcade = false;
+ bool voltageControl = false;
+
+ // okapi::ADIEncoder LEFT('A', 'B', true);
+ // okapi::ADIEncoder RIGHT('C', 'D');
+
+ pros::Task lifttaskteleop(liftTask, (void*)NULL, TASK_PRIORITY_DEFAULT,
+ TASK_STACK_DEPTH_DEFAULT, "lift teleop task");
+
+ while (Screen::DriverEnabled || !pros::competition::is_disabled()) // Teleop
+ {
+ //printf("%f %f\n", LEFT.get(), RIGHT.get());
+ chassis.driveController.tank((float) master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y) / 127,
+ (float) master.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_Y) / 127,
+ 0.05);
+
+ if(0)//master.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_LEFT))
+ {
+ chassis.driveController.driveVector(-0.5, 0.5);
+ pros::delay(1000);
+ chassis.driveController.stop();
+ //
+ // // Arduino.setClock();
+ // std::cout << "Trying to set drive_to_coordinate" << std::endl;
+ // // chassis.drive_to_coordinate(0, 24, 0);
+ // // pros::delay(500);
+ // // chassis.drive_to_coordinate(0, 0, 0);
+ // // pros::delay(500);
+ // // chassis.drive_to_coordinate(0, 24, 90);
+ // // pros::delay(2000);
+ // //
+ // // chassis.drive_to_coordinate(0, 48, 90);
+ // // pros::delay(2000);
+ //
+ // chassis.drive_to_coordinate(6, 42, 0);
+ // pros::delay(100);
+ //
+ //
+ //
+ // chassis.driveController.left(0);
+ // chassis.driveController.right(0);
+ // pros::delay(500);
+ //
+ // //
+ // // // chassis.driveController.turnAngle(180_deg);
+ // // chassis.driveController.left(0.3);
+ // // chassis.driveController.right(0.3);
+ // //
+ // // pros::delay(1000);
+ // //
+ // // chassis.driveController.left(0);
+ // // chassis.driveController.right(0);
+ // //
+ // // pros::delay(500);
+ // //
+ // // chassis.drive_to_coordinate(0, 0, 0);
+ // // // pros::delay(500);
+ // // // chassis.drive_to_coordinate(-24, 24, -90);
+ // // // pros::delay(500);
+ // // // chassis.drive_to_coordinate(0, 0, 0);
+ // // chassis.driveController.left(0);
+ // // chassis.driveController.right(0);
+ // //
+ // // pros::delay(500);
+
+ }
+
+ if(0)//master.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_A))
+ {
+ std::cout << "PISTON!!!!" << std::endl;
+ PYRO_Arduino::setADI(9, 1);
+ }
+
+ if(pros::millis() > 60000 + startTime && pros::millis() < 60100 + startTime)
+ okapi::PYRO_Arduino::send("HURRYUP");
+
+ if(pros::millis() > 74000 + startTime)
+ okapi::PYRO_Arduino::send("END");
+
+ if(pros::millis() > 74850 + startTime)
+ {
+ lv_obj_set_hidden(Screen::Screen_Innovate,0);
+ }
+
+ pros::delay(20);
+ }
+
+ }
+ else if(Screen::AutonEnabled)
+ {
+ if(master.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_A))
+ autonomous();
+ }
+
+ pros::delay(20);
}
}
diff --git a/src/patch.c b/src/patch.c
new file mode 100644
index 0000000..a91642f
--- /dev/null
+++ b/src/patch.c
@@ -0,0 +1,9 @@
+//
+// Created by charles on 9/16/19.
+//
+/*
+void __sync_synchronize(void) {
+ __sync_synchronize();
+}
+ */
+
diff --git a/src/pid.cpp b/src/pid.cpp
index 0363513..1d3d821 100644
--- a/src/pid.cpp
+++ b/src/pid.cpp
@@ -141,6 +141,137 @@ PIDImpl::~PIDImpl()
{
}
+
+
+
+
+
+
+//
+// PIDControllerRemake::PIDControllerRemake(double& pv, double& cv, float kp, float ki, float kd, float min, float max, float dt) : pv(pv), cv(cv), setpoint(0.0)
+// {
+// setpoint = 0;
+// this->kp = kp;
+// this->ki = ki;
+// this->kd = kd;
+// this->min = min;
+// this->max = max;
+// this->dt = dt;
+//
+// PIDControllerManager::controllerList.push_back(*this);
+// }
+
+PIDControllerRemake::PIDControllerRemake(float& setpoint, double& pv, double& cv, float kp, float ki, float kd, float min, float max, double tollerance, float dt) : pv(pv), cv(cv), setpoint(setpoint)//, id(id)
+{
+ this->kp = kp;
+ this->ki = ki;
+ this->kd = kd;
+ this->min = min;
+ this->max = max;
+ this->dt = dt;
+ this->tollerance = tollerance;
+ prev_error = 0;
+ integral = 0;
+
+ for(int i = 0; i < 50; i++)
+ {
+ avgFilterError.filter(48);
+ }
+
+ PIDControllerManager::controllerList.push_back(*this);
+}
+
+void PIDControllerRemake::setSetpoint(double setpoint)
+{
+ this->setpoint = setpoint;
+}
+
+double PIDControllerRemake::avgError()
+{
+ return avgFilterError.getOutput();
+}
+
+void PIDControllerRemake::iterate()
+{
+ float speed;
+ float slew = 0.7;
+ if(fabs(setpoint) > fabs(tollerance))
+ {
+ // Ramp-up
+ if(pv < 0.25*setpoint)
+ {
+ // std::cout << "LIMITING (Rev-up): ";
+ // speed = max * pow(0.8 + pow(2.71828182846,2.5-40*(pv/setpoint)), -0.75);
+ // https://www.desmos.com/calculator/8kwtgeelos
+ speed = max * pow(1 + pow(2.5*slew/max, 2.5-20 * pv),-0.75);
+ }
+ // PID
+ else
+ {
+ speed = max * pow(1 + pow(2.5*slew/max, 2.5-20 * pv),-0.75);
+ setpoint < 0? speed *= -1: 0;
+ // float speedPID = kp * (setpoint - pv);
+
+ // Calculate error
+ double error = setpoint - pv;
+
+ avgFilterError.filter(error);
+
+ if(setpoint < 0)
+ error = -error;
+
+ // Proportional term
+ double Pout = kp * error;
+
+ // Integral term
+ integral += error * dt;
+ double Iout = ki * integral;
+
+ // Derivative term
+ double derivative = (error - prev_error) / dt;
+ double Dout = kd * derivative;
+
+ // Calculate total output
+ float speedPID = Pout + Iout + Dout;
+ prev_error = error;
+
+
+ if(speedPID < speed)
+ {
+ speed = speedPID;
+ }
+ if(abs(speed) > max)
+ {
+ // std::cout << "LIMITING: ";
+ speed < 0? speed = -max : speed = max;
+ }
+ }
+ // std::cout << "speed: " << speed << " pv: " << pv << " setpt: " << setpoint << std::endl;
+ }
+ else
+ {
+ // Stop
+ speed = 0;
+ // PIDControllerManager.removePID(this);
+ }
+ cv = speed;
+
+
+ // std::cout << "Speed, setpt " << speed << ", " << setpoint << std::endl;
+
+}
+
+
+
+PIDControllerManager::PIDControllerManager() : t_PIDManager(manager,(void*)NULL, TASK_PRIORITY_DEFAULT,
+ TASK_STACK_DEPTH_DEFAULT, "PID Manager task")
+{
+
+}
+
+
+
+
//------------------------------------------------------------------------------
//===================================END FILE===================================
//==============================================================================
diff --git a/src/piston.cpp b/src/piston.cpp
index 503f497..dcd35cf 100644
--- a/src/piston.cpp
+++ b/src/piston.cpp
@@ -57,7 +57,10 @@ Piston::Piston(char port, int8_t starting_state): adi(port)
//------------------------------------------------------------------------------
void Piston::extend()
{
- adi.set_value(1);
+ // if(port > 8)
+ adi.set_value(1);
+ // else
+ PYRO_Arduino::setADI(port,1);
state = 1;
}
@@ -79,7 +82,10 @@ void Piston::extend()
//------------------------------------------------------------------------------
void Piston::retract()
{
- adi.set_value(0);
+ // if(port > 8)
+ adi.set_value(0);
+ // else
+ PYRO_Arduino::setADI(port,0);
state = 0;
}
@@ -101,7 +107,10 @@ void Piston::retract()
//------------------------------------------------------------------------------
void Piston::set(bool output)
{
- adi.set_value(output);
+ if(port > 8)
+ adi.set_value(output);
+ else
+ PYRO_Arduino::setADI(port,output);
state = output;
}
@@ -125,12 +134,18 @@ void Piston::toggle()
{
if(state == 1)
{
- adi.set_value(0);
+ if(port > 8)
+ adi.set_value(0);
+ else
+ PYRO_Arduino::setADI(port,0);
state = 0;
}
else
{
- adi.set_value(1);
+ if(port > 8)
+ adi.set_value(0);
+ else
+ PYRO_Arduino::setADI(port,0);
state = 1;
}
}
diff --git a/src/screen.cpp b/src/screen.cpp
deleted file mode 100644
index 0ad2add..0000000
--- a/src/screen.cpp
+++ /dev/null
@@ -1,281 +0,0 @@
-#include "screen.h"
-
-//==================================START FILE==================================
-//==============================================================================
-// File: screen.cpp
-// Author: Brandon Rice
-// Created: 17 October 2019
-// Last Modified: 20 October 2019
-//
-// Description:
-// ------------
-// This file contains the definitions of the Piston class.
-//
-// NOTE: TO EXPORT IMAGES TO SD CARD
-//
-// https://www.vexforum.com/t/lvgl-image-not-displaying/63612/15
-//
-// Update 9/27/2019
-// For PROS kernel 3.2.0, which contains lvgl version 5.3, the new (or is that current) image converter should be used.
-// Select “True color with Alpha” for the color format
-// Select “Binary RGB888” for the output format
-//------------------------------------------------------------------------------
-
-
-
-
-
-/* Colors */
-lv_color_t Screen::COLOR_ASU_MAROON;
-lv_color_t Screen::COLOR_ASU_GOLD;
-
-/* Styles */
-lv_style_t Screen::style_btn_main;
-lv_style_t Screen::style_bg;
-
-/* Objects */
-lv_obj_t *Screen::Screen_Title_Page_Main;
-lv_obj_t *Screen::Screen_Title_PYRO;
-lv_obj_t *Screen::Screen_Title_Btn_Continue;
-lv_obj_t *Screen::Screen_Generic_Label;
-
-lv_obj_t *Screen::Screen_Main_BG;
-
-lv_obj_t *Screen::Screen_Mode_Select_Main;
-lv_obj_t *Screen::Screen_Mode_Select_Comp;
-lv_obj_t *Screen::Screen_Mode_Select_Comp_Label;
-lv_obj_t *Screen::Screen_Mode_Select_Debug;
-lv_obj_t *Screen::Screen_Mode_Select_Debug_Label;
-
-lv_obj_t *Screen::Screen_CompSelect_Back;
-lv_obj_t *Screen::Screen_CompSelect_Back_Label;
-lv_obj_t *Screen::Screen_Battery_Percent_Label;
-
-
-
-/* Button Action Functions */
-//static lv_res_t button_title_continue_action(lv_obj_t * btn);
-
-
-
-//Screen screen;
-
-
-
-
-typedef FILE * pc_file_t;
-
-static lv_fs_res_t pcfs_open( void * file_p, const char * fn, lv_fs_mode_t mode)
-{
- errno = 0;
- const char * flags = "";
- if(mode == LV_FS_MODE_WR) flags = "wb";
- else if(mode == LV_FS_MODE_RD) flags = "rb";
- else if(mode == (LV_FS_MODE_WR | LV_FS_MODE_RD)) flags = "a+";
-
- char buf[256];
- sprintf(buf, "/%s", fn);
- pc_file_t f = fopen(buf, flags);
-
- if(f == NULL)
- return LV_FS_RES_UNKNOWN;
- else {
- fseek(f, 0, SEEK_SET);
- pc_file_t * fp = (pc_file_t *)file_p;
- *fp = f;
- }
-
- return LV_FS_RES_OK;
-}
-
-static lv_fs_res_t pcfs_close( void * file_p)
-{
- pc_file_t * fp = (pc_file_t *)file_p;
- fclose(*fp);
- return LV_FS_RES_OK;
-}
-
-static lv_fs_res_t pcfs_read( void * file_p, void * buf, uint32_t btr, uint32_t * br)
-{
- pc_file_t * fp = (pc_file_t *)file_p;
- *br = fread(buf, 1, btr, *fp);
- return LV_FS_RES_OK;
-}
-
-static lv_fs_res_t pcfs_seek( void * file_p, uint32_t pos)
-{
- pc_file_t * fp = (pc_file_t *)file_p;
- fseek(*fp, pos, SEEK_SET);
- return LV_FS_RES_OK;
-}
-
-static lv_fs_res_t pcfs_tell( void * file_p, uint32_t * pos_p)
-{
- pc_file_t * fp = (pc_file_t *)file_p;
- *pos_p = ftell(*fp);
- return LV_FS_RES_OK;
-}
-
-
-// Class Defintions
-// ----------------
-
-//------------------------------------------------------------------------------
-// Method: PYROChassis() :
-// ----------------------------
-// Description:
-// Constructs a PYROChassis object containing a Position PID Controller and
-// other okapi chassis objects.
-//
-// Parameters:
-//```
-// NONE
-//```
-// Objects to Initialize:
-//```
-// PositionPIDController (PIDController),
-// left_motors (okapi::MotorGroup),
-// right_motors (okapi::MotorGroup),
-// driveController (okapi::ChassisControllerPID),
-// MotionController (okapi::AsyncMotionProfileController)
-// N/A: t_update_differential_pos (pros::Task)
-//```
-//------------------------------------------------------------------------------
-void Screen::setup_styles()
-{
-
- COLOR_ASU_MAROON.red = 140;
- COLOR_ASU_MAROON.green = 15;
- COLOR_ASU_MAROON.blue = 32;
-
- COLOR_ASU_GOLD.red = 255;
- COLOR_ASU_GOLD.green = 198;
- COLOR_ASU_GOLD.blue = 39;
-
-
- lv_style_copy(&Screen::style_btn_main, &lv_style_btn_rel);
- style_btn_main.body.main_color = LV_COLOR_BLACK;
- style_btn_main.body.grad_color = LV_COLOR_BLACK;
- style_btn_main.text.color = LV_COLOR_WHITE;
- style_btn_main.body.border.color = COLOR_ASU_GOLD;
- style_btn_main.body.border.width = 3;
- style_btn_main.body.padding.hor = 5;
- style_btn_main.body.padding.ver = 5;
- style_btn_main.body.radius = 3;
-
- lv_style_copy(&Screen::style_bg, &lv_style_plain_color);
- Screen::style_bg.body.main_color = LV_COLOR_BLACK;
- Screen::style_bg.body.grad_color = LV_COLOR_BLACK;
-
-}
-
-Screen::Screen() : t_screen (pros::Task(update, (void*)NULL, TASK_PRIORITY_DEFAULT,
- TASK_STACK_DEPTH_DEFAULT, "My Task"))
-{
- setup_styles();
-
- lv_fs_drv_t pcfs_drv; /*A driver descriptor*/
- memset(&pcfs_drv, 0, sizeof(lv_fs_drv_t)); /*Initialization*/
-
- pcfs_drv.file_size = sizeof(pc_file_t); /*Set up fields...*/
- pcfs_drv.letter = 'D';
- pcfs_drv.open = pcfs_open;
- pcfs_drv.close = pcfs_close;
- pcfs_drv.read = pcfs_read;
- pcfs_drv.seek = pcfs_seek;
- pcfs_drv.tell = pcfs_tell;
- lv_fs_add_drv(&pcfs_drv);
-
- pros::delay(20);
-
-
-
- Screen_Title_Page_Main = lv_page_create(lv_scr_act(), NULL);
- lv_obj_set_size(Screen_Title_Page_Main, 480, 240);
- lv_obj_align(Screen_Title_Page_Main, NULL, LV_ALIGN_CENTER, 0, 0);
- lv_page_set_style(Screen_Title_Page_Main, LV_PAGE_STYLE_BG, &Screen::style_bg);
-
- Screen_Title_PYRO = lv_img_create(lv_scr_act(), NULL);
- lv_img_set_src(Screen_Title_PYRO, "D:/usd/img_pyro_large.bin");
- lv_obj_align(Screen_Title_PYRO, NULL, LV_ALIGN_CENTER, 0, 0);
-
- Screen_Title_Btn_Continue = lv_btn_create(Screen_Title_PYRO, NULL);
- //lv_obj_set_event_cb(btn1, event_handler);
- lv_obj_align(Screen_Title_Btn_Continue, Screen_Title_PYRO, LV_ALIGN_IN_BOTTOM_MID, 0, 15);
- lv_obj_set_size(Screen_Title_Btn_Continue, 110, 50);
- lv_obj_set_style(Screen_Title_Btn_Continue, &style_btn_main);
- lv_btn_set_action(Screen_Title_Btn_Continue, LV_BTN_ACTION_CLICK, button_title_continue_action);
-
- Screen_Generic_Label = lv_label_create(Screen_Title_Btn_Continue, NULL);
- lv_label_set_text(Screen_Generic_Label, "CONTINUE");
-
-
-
-
- Screen_Mode_Select_Main = lv_page_create(lv_scr_act(), NULL);
- lv_obj_set_size(Screen_Mode_Select_Main, 480, 260);
- lv_obj_align(Screen_Mode_Select_Main, NULL, LV_ALIGN_CENTER, 0, 0);
- lv_page_set_style(Screen_Mode_Select_Main, LV_PAGE_STYLE_BG, &Screen::style_bg);
-
- Screen_Main_BG = lv_img_create(Screen_Mode_Select_Main, NULL);
- lv_img_set_src(Screen_Main_BG, "D:/usd/img_bg.bin");
- lv_obj_align(Screen_Main_BG, NULL, LV_ALIGN_CENTER, 0, 0);
- lv_obj_set_hidden(Screen_Main_BG, 1);
-
- lv_obj_t * Screen_Battery_Percent_Label = lv_label_create(Screen_Main_BG, NULL);
- lv_obj_align(Screen_Battery_Percent_Label, Screen_Main_BG, LV_ALIGN_IN_BOTTOM_RIGHT, -10, 2); /*Align to the top*/
-
-
- Screen_Mode_Select_Comp = lv_btn_create(Screen_Mode_Select_Main, NULL);
- //lv_obj_set_event_cb(btn1, event_handler);
- lv_obj_align(Screen_Mode_Select_Comp, Screen_Mode_Select_Main, LV_ALIGN_CENTER, -140, -10);
- lv_obj_set_size(Screen_Mode_Select_Comp, 180, 100);
- lv_obj_set_style(Screen_Mode_Select_Comp, &style_btn_main);
- lv_btn_set_action(Screen_Mode_Select_Comp, LV_BTN_ACTION_CLICK, button_competition_select);
-
- Screen_Mode_Select_Comp_Label = lv_label_create(Screen_Mode_Select_Comp, NULL);
- lv_label_set_text(Screen_Mode_Select_Comp_Label, "Competition");
-
- Screen_Mode_Select_Debug = lv_btn_create(Screen_Mode_Select_Main, NULL);
- //lv_obj_set_event_cb(btn1, event_handler);
- lv_obj_align(Screen_Mode_Select_Debug, Screen_Mode_Select_Comp, LV_ALIGN_CENTER, 230-27, -8);
- lv_obj_set_size(Screen_Mode_Select_Debug, 180, 100);
- lv_obj_set_style(Screen_Mode_Select_Debug, &style_btn_main);
- lv_btn_set_action(Screen_Mode_Select_Debug, LV_BTN_ACTION_CLICK, button_title_continue_action);
-
- Screen_Mode_Select_Debug_Label = lv_label_create(Screen_Mode_Select_Debug, NULL);
- lv_label_set_text(Screen_Mode_Select_Debug_Label, "Debugging");
-
- lv_obj_set_hidden(Screen_Mode_Select_Main, 1);
-
-
-
-
- Screen_CompSelect_Back = lv_btn_create(Screen_Mode_Select_Main, NULL);
- //lv_obj_set_event_cb(btn1, event_handler);
- lv_obj_align(Screen_CompSelect_Back, Screen_Mode_Select_Main, LV_ALIGN_IN_BOTTOM_LEFT, 10, -47);
- lv_obj_set_size(Screen_CompSelect_Back, 100, 30);
- lv_obj_set_style(Screen_CompSelect_Back, &style_btn_main);
- lv_btn_set_action(Screen_CompSelect_Back, LV_BTN_ACTION_CLICK, button_competition_back);
-
- Screen_CompSelect_Back_Label = lv_label_create(Screen_CompSelect_Back, NULL);
- lv_label_set_text(Screen_CompSelect_Back_Label, "Back");
- lv_obj_set_hidden(Screen_CompSelect_Back, 1);
-
-
-
-
- Screen_End_Image = lv_img_create(lv_scr_act(), NULL);
- lv_img_set_src(Screen_End_Image, "D:/usd/img_innovate.bin");
- lv_obj_align(Screen_End_Image, NULL, LV_ALIGN_CENTER, 0, 0);
- lv_obj_set_hidden(Screen_End_Image, 1);
-}
-
-Screen::~Screen()
-{
- //lv_obj_del(Screen_Title_Page_Main);
-}
-
-//------------------------------------------------------------------------------
-//===================================END FILE===================================
-//==============================================================================