From 53e42e57f005294f8b9129cd4777454d075916d7 Mon Sep 17 00:00:00 2001
From: woozydragon <woozydragon@gmail.com>
Date: Tue, 24 Oct 2023 20:52:46 -0400
Subject: [PATCH] fixed semicolon

---
 .../firmware/teensy_main/teensy_main.ino      | 110 +++++++++---------
 1 file changed, 54 insertions(+), 56 deletions(-)

diff --git a/lunabot_embedded/firmware/teensy_main/teensy_main.ino b/lunabot_embedded/firmware/teensy_main/teensy_main.ino
index 50ae3f1b..8f5a2428 100644
--- a/lunabot_embedded/firmware/teensy_main/teensy_main.ino
+++ b/lunabot_embedded/firmware/teensy_main/teensy_main.ino
@@ -7,8 +7,7 @@
 
 #define TX_PERIOD 10             // ms
 #define ENC_TRANSFER_PERIOD 1000 // microsec
-#define CURR_UPDATE_PERIOD 8 // ms
-
+#define CURR_UPDATE_PERIOD 8     // ms
 
 RobotState state = RobotState_init_zero;
 RobotEffort effort = RobotEffort_init_zero;
@@ -23,73 +22,72 @@ bit0: cannot recv
 uint8_t flags = 0;
 
 void recv() {
-    /* Create a stream that reads from the buffer. */
-    pb_istream_t stream = pb_istream_from_buffer(buffer, sizeof(buffer));
+  /* Create a stream that reads from the buffer. */
+  pb_istream_t stream = pb_istream_from_buffer(buffer, sizeof(buffer));
 
-    /* Now we are ready to decode the message. */
-    pb_decode(&stream, RobotEffort_fields, &effort);
+  /* Now we are ready to decode the message. */
+  pb_decode(&stream, RobotEffort_fields, &effort);
 
-    actuation::cb(effort.lead_screw, effort.lin_act);
-    drivetrain::cb(effort.left_drive, effort.right_drive);
-    deposition::cb(effort.deposit);
-    excavation::cb(effort.excavate);
+  actuation::cb(effort.lead_screw, effort.lin_act);
+  drivetrain::cb(effort.left_drive, effort.right_drive);
+  deposition::cb(effort.deposit);
+  excavation::cb(effort.excavate);
 }
 
 void send() {
-    actuation::update(state.act_right_curr, state.lead_screw_curr,
-                      state.act_ang, state.lead_screw_ang);
-    drivetrain::update(state.drive_left_curr, state.drive_right_curr,
-                       state.drive_left_ang, state.drive_right_ang);
-    deposition::update(state.dep_curr, state.dep_ang);
-
-    excavation::update(state.exc_curr);
-	
-	uwb::update(state.uwb_dist_0, state.uwb_dist_1, state.uwb_dist_2)
-
-    pb_ostream_t stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
-    pb_encode(&stream, RobotState_fields, &state);
+  actuation::update(state.act_right_curr, state.lead_screw_curr, state.act_ang,
+                    state.lead_screw_ang);
+  drivetrain::update(state.drive_left_curr, state.drive_right_curr,
+                     state.drive_left_ang, state.drive_right_ang);
+  deposition::update(state.dep_curr, state.dep_ang);
+
+  excavation::update(state.exc_curr);
+
+  uwb::update(state.uwb_dist_0, state.uwb_dist_1, state.uwb_dist_2);
+
+  pb_ostream_t stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
+  pb_encode(&stream, RobotState_fields, &state);
 }
 IntervalTimer enc_timer;
 
 void setup() {
-    STMotorInterface::init_serial(ST_SERIAL, ST_BAUD_RATE);
-    CurrentSensorBus::init_ads1115();
-    EncoderBus::init();
-
-    enc_timer.begin(EncoderBus::transfer, ENC_TRANSFER_PERIOD);
-
-    // disable timeout
-    MC1.setTimeout(0);
-    MC2.setTimeout(0);
-    MC3.setTimeout(0);
-    MC4.setTimeout(0);
-
-    // set to fast ramp (1-10 - fast, 11-20 slow, 20-80 intermed)
-    MC1.setRamping(1);
-    MC2.setRamping(1);
-    MC3.setRamping(1);
-    MC4.setRamping(1);
+  STMotorInterface::init_serial(ST_SERIAL, ST_BAUD_RATE);
+  CurrentSensorBus::init_ads1115();
+  EncoderBus::init();
+
+  enc_timer.begin(EncoderBus::transfer, ENC_TRANSFER_PERIOD);
+
+  // disable timeout
+  MC1.setTimeout(0);
+  MC2.setTimeout(0);
+  MC3.setTimeout(0);
+  MC4.setTimeout(0);
+
+  // set to fast ramp (1-10 - fast, 11-20 slow, 20-80 intermed)
+  MC1.setRamping(1);
+  MC2.setRamping(1);
+  MC3.setRamping(1);
+  MC4.setRamping(1);
 }
 
 elapsedMillis ms_until_send;
 elapsedMillis ms_curr_update;
 
 void loop() {
-    int n;
-    n = RawHID.recv(buffer, 0); // 0 timeout = do not wait
-    if (n > 0) {
-        recv();
-    }
-
-    if (ms_until_send > TX_PERIOD) {
-        ms_until_send -= TX_PERIOD;
-        send();
-        n = RawHID.send(buffer, 0);
-    }
-
-    if (ms_curr_update > CURR_UPDATE_PERIOD) {
-        ms_curr_update -= CURR_UPDATE_PERIOD;	
-	CurrentSensorBus::transfer();
-    }
-  
+  int n;
+  n = RawHID.recv(buffer, 0); // 0 timeout = do not wait
+  if (n > 0) {
+    recv();
+  }
+
+  if (ms_until_send > TX_PERIOD) {
+    ms_until_send -= TX_PERIOD;
+    send();
+    n = RawHID.send(buffer, 0);
+  }
+
+  if (ms_curr_update > CURR_UPDATE_PERIOD) {
+    ms_curr_update -= CURR_UPDATE_PERIOD;
+    CurrentSensorBus::transfer();
+  }
 }