update firmware branch

HassoPlattnerInstituteHCI · Oct 16, 2024 · fe5afeb · fe5afeb
1 parent 41f9006
commit fe5afeb
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Showing 11 changed files with 18 additions and 11 deletions.
diff --git a/.idea/dualpanto-testing.iml b/.idea/dualpanto-testing.iml
diff --git a/.idea/misc.xml b/.idea/misc.xml
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
diff --git a/firmware/dualpantoframework b/firmware/dualpantoframework
diff --git a/firmware/encoder_driver/.pio/build/project.checksum b/firmware/encoder_driver/.pio/build/project.checksum
@@ -0,0 +1 @@
+968caab0725b5d8599713d5369e9249d4c607f65
diff --git a/firmware/haptics/BIS week7 Kinematics/firmware/.idea/vcs.xml b/firmware/haptics/BIS week7 Kinematics/firmware/.idea/vcs.xml
diff --git a/firmware/haptics/line wall/firmware/src/physicsMain.cpp b/firmware/haptics/line wall/firmware/src/physicsMain.cpp
@@ -71,9 +71,12 @@ void physicsSetup()
 
         std::vector<Vector2D> path;
         // render line wall
-        path.emplace_back(-40.0f, -70.0f);
-        path.emplace_back(40.0f, -70.0f);
-
+        path.emplace_back(-100.0f, -70.0f);
+        path.emplace_back(150.0f, -70.0f);
+//        path.emplace_back(-20.0f,-35.0f);
+//        path.emplace_back(-20.0f,-70.0f);
+//        path.emplace_back(20.0f,-70.0f);
+//        path.emplace_back(20.0f,-35.0f);
         auto id = 1;
         pantoPhysics[i].godObject()->createObstacle(id, path, false);
         pantoPhysics[i].godObject()->enableObstacle(id, true);

diff --git a/firmware/hardware/linkage encoder/platformio.ini b/firmware/hardware/linkage encoder/platformio.ini
@@ -5,8 +5,8 @@ description = Dual Panto firmware
 platform = [email protected]
 framework = arduino
 board = esp32dev
-#monitor_speed = 115200
-monitor_speed = 9600
+monitor_speed = 115200
+;monitor_speed = 9600
 build_flags= 
     -mtext-section-literals
 lib_deps = https://github.com/PaulStoffregen/Encoder.git

diff --git a/firmware/hardware/linkage encoder/src/main.cpp b/firmware/hardware/linkage encoder/src/main.cpp
@@ -26,7 +26,7 @@ uint16_t buf = 0;
 
 void setup()
 {
-    Serial.begin(9600);    // opens serial port, sets data rate to 9600 bps
+    Serial.begin(115200);    // opens serial port, sets data rate to 9600 bps
 
     pinMode(13, OUTPUT);
     pinMode(c_hspiSsPin1, OUTPUT);

diff --git a/test_firmware.py b/test_firmware.py
@@ -105,5 +105,6 @@ def test_BIS_week7_kinematics(self):
 
 class UploadDualPantoFramework(unittest.TestCase):
     def test_upload_dp_firmware(self):
-        res = util.compile_firmware('firmware/dualpantoframework')
+        res = util.compile_firmware('firmware/dualpantoframework/firmware ')
         self.assertEqual(res, 0, msg='failed to compile firmware. please first check platformIO config and installation')
+
diff --git a/test_hardware.py b/test_hardware.py
@@ -100,7 +100,7 @@ def test_sync(self):
 
     def handle_serial_connection(self):
         print("Connecting...")
-        with serial.Serial(config.COM_PORT, 9600, timeout=1, parity=serial.PARITY_EVEN) as ser:
+        with serial.Serial(config.COM_PORT, 115200, timeout=1, parity=serial.PARITY_EVEN) as ser:
             time.sleep(1)
             self.assertNotEqual(ser.inWaiting(), 0,
                                 msg="could not establish serial connection... try restarting the panto")
+0 −3		.gitignore
+1 −2		firmware/.gitignore
+103 −0		firmware/include/config/config.hpp
+254 −0		firmware/include/hardware/Kalman.h
+29 −1		firmware/include/hardware/panto.hpp
+5 −5		firmware/include/physics/godObject.hpp
+4 −2		firmware/platformio.ini
+33 −0		firmware/projectFilesBackup/CMakeLists.txt
+291 −0		firmware/projectFilesBackup/CMakeListsPrivate.txt
+12 −0		firmware/src/config/config.cpp
+87 −34		firmware/src/hardware/panto.cpp
+3 −2		firmware/src/main.cpp
+14 −14		firmware/src/physics/godObject.cpp
+6 −5		firmware/src/physicsMain.cpp