epic compass gaming!!1!

.gitignore

@@ -36,3 +36,6 @@ build/*
 
 # Ignore vscode
 .vscode/*
+
+# .vim session files
+*.vim

hhs-system-engineer-project.ino

@@ -1,20 +1,37 @@
-#include <Arduino.h>
+bool debug = 1;
+
+#include "work/headers.hpp"
 #include "work/ran-func.cpp"
 #include "work/serial/serial.cpp"
+#include "work/sensor/compass/accelerometer/accel.h"
+#include "work/sensor/compass/gyroscope/gyro.h"
+#include "work/sensor/compass/magnetometer/magnet.h"
 
 int test = 0;
 int speed = 0;
 
+Accelerometer* accel;
+Gyroscope* gyro;
+Magnetometer* magnet;
+
+Vector3 accelData;
+Vector3 gyroData;
+Vector3 magnetData;
+
+char imuOutBuffer[139];
+
 #define RECHTS OCR1A
 #define LINKS OCR1B
 
-auto& xbee = Serial;
+//auto& xbee = Serial;
 
 void setup() {
+  Wire.begin();
+
   Serial1.begin(4800);
   Serial1.println("Zumo Active, Serial1 Output");
 
-  xbee.begin(4800);
+  // xbee.begin(4800);
 
   pinMode(A10, OUTPUT);
   pinMode(A9, OUTPUT);
@@ -25,11 +42,50 @@ void setup() {
   SetupTimer1();
 
   Serial.println();
+
+  // check if compass can be initialized properly
+  Zumo32U4IMU* compassInterfacePTR = new Zumo32U4IMU();
+  if (compassInterfacePTR->init()){
+    Serial1.println("Compass interface initialized successfully!");
+    compassInterfacePTR->enableDefault();
+    *accel = Accelerometer(compassInterfacePTR);
+    *gyro = Gyroscope(compassInterfacePTR);
+    *magnet =  Magnetometer(compassInterfacePTR);
+    if (debug) {
+      accel->PrintDebugInfo();
+      gyro->PrintDebugInfo();
+      magnet->PrintDebugInfo();
+    }
+  } else {
+    Serial1.println("Compass interface probably not initialized successfully?");
+  }
+  // end of compass initialization test
 }
 
 void loop() {
-  if(Serial1.available()){
-    readserial(test,speed);
-  }
+  //if(Serial1.available()){
+    //readserial(test,speed);
+  //}
+  accelData = accel->Values();
+  gyroData = gyro->Values();
+  magnetData = magnet->Values();
+
+  printCompassValues();
 }
 
+void printCompassValues() {
+  sprintf(imuOutBuffer, "%s\r\n%s%d\r\n%s%d\r\n%s%d\r\n%s%d\r\n%s%d\r\n%s%d\r\n%s%d\r\n%s%d\r\n%s%d\r\n%s",
+    "--------------------",
+    "aX: ", accelData.x,
+    "aY: ", accelData.y,
+    "aZ: ", accelData.z,
+    "gX: ", gyroData.x,
+    "gY: ", gyroData.y,
+    "gZ: ", gyroData.z,
+    "mX: ", magnetData.x,
+    "mY: ", magnetData.y,
+    "mZ: ", magnetData.z,
+    "--------------------");
+
+  Serial1.println(imuOutBuffer);
+}

work/sensor/compass/accelerometer/accel.cpp

@@ -0,0 +1,15 @@
+void Accelerometer::pvt_RetrieveData() {
+	// if new data ready
+	if (m_InterfacePTR->accDataReady()) 
+	{
+		// get new reading
+		m_InterfacePTR->readAcc();
+
+		// copy reading to m_Vector
+		m_Vector.x = m_InterfacePTR->a.x;
+		m_Vector.y = m_InterfacePTR->a.y;
+		m_Vector.z = m_InterfacePTR->a.z;
+	}
+}
+
+// written by: Erynn 'foorpyxof' Scholtes | 2024 NSE Zumo project

work/sensor/compass/accelerometer/accel.h

@@ -0,0 +1,28 @@
+#include "../../../headers.hpp"
+#include "../compassbase.h"
+
+#ifndef ACCEL_H
+#define ACCEL_H
+
+/** Class that interfaces with
+ * the Accelerometer sensor in the IMU
+ * to read its data
+ */
+class Accelerometer : private CompassBase {
+	private:
+		/**
+		 * Private method that checks if the Accelerometer
+		 * has new data available, and if so, it copies it into m_Vector
+		 */
+		void pvt_RetrieveData() override;
+	public:
+		using CompassBase::CompassBase;
+		using CompassBase::Values;
+		using CompassBase::PrintDebugInfo;
+};
+
+#include "accel.cpp"
+
+#endif
+
+// written by: Erynn 'foorpyxof' Scholtes | 2024 NSE Zumo project

work/sensor/compass/compassbase.cpp

@@ -0,0 +1,15 @@
+CompassBase::CompassBase(Zumo32U4IMU* zumoInterfacePTR): m_Vector{0, 0, 0}, m_InterfacePTR(zumoInterfacePTR) {  }
+
+Vector3 CompassBase::Values() {
+
+	// call pvt_RetrieveData to place sensor reading in m_Vector
+	this->pvt_RetrieveData();
+
+	return m_Vector;
+}
+
+void CompassBase::PrintDebugInfo() {
+	Serial1.println((uint8_t)m_InterfacePTR->getType());
+}
+
+// written by: Erynn 'foorpyxof' Scholtes | 2024 NSE Zumo project

work/sensor/compass/compassbase.h

@@ -0,0 +1,88 @@
+#include "../../headers.hpp"
+#include <Zumo32U4IMU.h>
+
+#ifndef COMPASSBASE_H
+#define COMPASSBASE_H
+
+/**
+ * the struct containing three
+ * 16bit integers that will hold
+ * the values read by the sensor
+ * attached to the child-class
+ * of CompassBase
+ */
+struct Vector3 { int16_t x,y,z; };
+
+/**
+ * This is a class meant as a template only!!!
+ * Is abstract class! :3c
+ * 
+ * This is the base class for all Zumo IMU-interfacing classes.
+ * The Accelerometer, Gyroscope and Magnetometer classes
+ * are all derived from this class (CompassBase).
+ */
+class CompassBase {
+	protected:
+		/**
+		 * the Vector3 struct (x,y,z) that holds
+		 * the data that gets read from the sensor
+		 */
+		Vector3 m_Vector;
+
+		/**
+		 * The object that allows us to interface with the IMU-sensors.
+		 * It contains methods to read raw values
+		 * as well as three containers to
+		 * temporarily  store them in;
+		 * 
+		 * 
+		 * Container names:
+		 * 'a' for accel readings -
+		 * 'g' for gyro readings -
+		 * 'm' for magnet readings
+		 *
+		 * These containers will only be used by
+		 * their respective derived-classes
+		 */
+		Zumo32U4IMU* m_InterfacePTR;
+
+
+	private:
+		/**
+		 * Template method that will make
+		 * the derived class read from
+		 * its respective sensor
+		 */
+		virtual void pvt_RetrieveData() = 0;
+
+	public: 
+		/**
+		 * Constructor that places a pointer to
+		 * the pre-initialized Zumo32U4IMU sensor class
+		 * in the m_InterfacePTR member variable
+		 */
+		CompassBase(Zumo32U4IMU*);
+
+		/**
+		 * Public method that allows the Zumo to read
+		 * whatever is currently stored in 'm_Vector'
+		 * 
+		 * Basically: This method returns the current x,y,z (Vector3)
+		 * for the sensor you call this method on.
+		 */
+		Vector3 Values();
+
+		/**
+		 * Prints debug info.
+		 * Currently only the type of sensor that is detected.
+		 */
+		void PrintDebugInfo();
+
+	// methods are defined in attached file, 'compassbase.cpp'
+};
+
+#include "compassbase.cpp"
+
+#endif
+
+// written by: Erynn 'foorpyxof' Scholtes | 2024 NSE Zumo project

work/sensor/compass/gyroscope/gyro.cpp

@@ -0,0 +1,15 @@
+void Gyroscope::pvt_RetrieveData() {
+	// if new data ready
+	if (m_InterfacePTR->gyroDataReady())
+	{
+		// get new reading
+		m_InterfacePTR->readGyro();
+
+		// copy reading to m_Vector
+		m_Vector.x = m_InterfacePTR->g.x;
+		m_Vector.y = m_InterfacePTR->g.y;
+		m_Vector.z = m_InterfacePTR->g.z;
+	}
+}
+
+// written by: Erynn 'foorpyxof' Scholtes | 2024 NSE Zumo project

work/sensor/compass/gyroscope/gyro.h

@@ -0,0 +1,28 @@
+#include "../../../headers.hpp"
+#include "../compassbase.h"
+
+#ifndef GYRO_H
+#define GYRO_H
+
+/** Class that interfaces with
+ * the Gyroscope sensor in the IMU
+ * to read its data
+ */
+class Gyroscope : private CompassBase {
+	private:
+		/**
+		 * Private method that checks if the Gyroscope
+		 * has new data available, and if so, it copies it into m_Vector
+		 */
+		void pvt_RetrieveData() override;
+	public:
+		using CompassBase::CompassBase;
+		using CompassBase::Values;
+		using CompassBase::PrintDebugInfo;
+};
+
+#include "gyro.cpp"
+
+#endif
+
+// written by: Erynn 'foorpyxof' Scholtes | 2024 NSE Zumo project

work/sensor/compass/magnetometer/magnet.cpp

@@ -0,0 +1,15 @@
+void Magnetometer::pvt_RetrieveData() {
+	// if new data ready
+	if (m_InterfacePTR->magDataReady())
+	{
+		// get new reading
+		m_InterfacePTR->readMag();
+
+		// copy reading to m_Vector
+		m_Vector.x = m_InterfacePTR->m.x;
+		m_Vector.y = m_InterfacePTR->m.y;
+		m_Vector.z = m_InterfacePTR->m.z;
+	}
+}
+
+// written by: Erynn 'foorpyxof' Scholtes | 2024 NSE Zumo project

work/sensor/compass/magnetometer/magnet.h

@@ -0,0 +1,28 @@
+#include "../../../headers.hpp"
+#include "../compassbase.h"
+
+#ifndef MAGNET_H
+#define MAGNET_H
+
+/** Class that interfaces with
+ * the Magnetometer sensor in the IMU
+ * to read its data
+ */
+class Magnetometer : private CompassBase {
+	private:
+		/**
+		 * Private method that checks if the Magnetometer
+		 * has new data available, and if so, it copies it into m_Vector
+		 */
+		void pvt_RetrieveData() override;
+	public:
+		using CompassBase::CompassBase;
+		using CompassBase::Values;
+		using CompassBase::PrintDebugInfo;
+};
+
+#include "magnet.cpp"
+
+#endif
+
+// written by: Erynn 'foorpyxof' Scholtes | 2024 NSE Zumo project