ct-Bot Teensy framework

This is a very basic framework for the ct-Bot with a Teensy 4.0 or Teensy 4.1 controller. It is licensed under the terms of the GPLv3 license.

Summary

This code was created for testing a new and simplified design of the ct-Bot software framework. The basic idea is to have a modular structured framework implemented in C++ built on modern language features.

Notice

Consider this as experimental code. If it breaks, you get to keep both pieces.

Setup

Note for Atom IDE users: When installed via Atom package, Bash (Shell) used in the terminal currently does not seem to recognise the command platformio; use pio instead. (State as of May 2019)

1. Install PlatformIO core as described here
   • can be skipped, if using VS Code IDE with PlatformIO extension
   • can be skipped, if using Atom IDE with package platformio-ide
   • if you don't want to use PlatformIO core, see manual build for setup
2. Clone this git repository: git clone https://github.com/tsandmann/ctbot-teensy
3. Change to cloned repo: cd ctbot-teensy
4. Initialize build system for...
   • Commandline build: platformio init
   • VS Code project: platformio init --ide vscode
   • Eclipse CDT project: platformio init --ide eclipse
   • any other environment supported by PlatformIO

Usage

1. Build project
   • Commandline: platformio run -e teensy41
   • VS Code: use “Build” button on the PlatformIO toolbar or shortcut (ctrl/cmd+alt+b)
   • Eclipse CDT: Project -> Build Project or shortcut (ctrl/cmd+b)
   • Atom: Select project folder in sidebar -> Menu PlatformIO -> Build or shortcut (Alt+Ctrl+B)
2. Upload firmware image
   • Connect USB cable to teensy board
   • Commandline: platformio run -v -e teensy41 -t upload
   • VS Code: use “Upload” button on the PlatformIO toolbar or shortcut (ctrl/cmd+alt+t) and select "PlatformIO: Upload"
   • Atom: Select project folder in sidebar -> Menu PlatformIO -> Upload or shortcut (Alt+Ctrl+U)
3. Use a terminal program (e.g. minicom) to connect to the USB serial device
   • If you use minicom:
     • goto Serial port setup settings and set Serial Device to your serial device (typically sth. like /dev/cu.usbmodemXXXXXXX or /dev/tty.usbmodemXXXXXXX), Bps/Par/Bits to 4000000 8N1 and Hardware Flow Control to No as well as Software Flow Control to No
     • goto Screen and keyboard settings and set Add carriage return to Yes
4. Have fun with the command line interface
   • type help to get a list and description of available commands
5. Cruise around with the ct-Bot using
   • your remote control: arrow keys for forward, backward, left, right and power button for stop
   • the command line interface: set speed 30 30 for 30% of max speed on both wheels, set speed 0 0 (or just set speed) to stop
6. Press play on remote control to show a little easter egg on the command line interface :) or I/II to shutdown the bot :(

Notices

• To build the documentation with Doxygen: doxygen Doxyfile
  • PlantUML has to be installed, to build the UML diagrams
  • documentation is located here: doc/html/index.html
  • documentation is highly incomplete
• Conventions:
  • Indentation is done by 4 (four) spaces for each level, never ever use tabs (\t | HT)
  • Source code formatting is done with clang-format, use .clang-format for style settings
  • Follow the C++ Core Guidelines. There are two really worth seeing talks about it: Bjarne Stroustrup "Writing Good C++14" and Herb Sutter "Writing Good C++14... By Default"
  • Documentation is done with Doxygen, use Doxygen style 1
    • At least all public members should be documented
    • Every task's implementation (mainly its run() method) should be modeled by an UML sequence diagram, e.g. as for CtBot::run()
  • More to come soon
• ...

Continuous integration tests

Branch	Build status
master