Quality assurance

Author: ArminJo

.github/workflows/TestCompile.yml

@@ -43,12 +43,13 @@ jobs:
                 -DDISTANCE_SERVO_IS_MOUNTED_HEAD_DOWN
                 -DUSE_ADAFRUIT_MOTOR_SHIELD
 
-          - arduino-boards-fqbn: arduino:avr:uno|BreadboardFull # Nano board with TB6612 breakout board
+          - arduino-boards-fqbn: arduino:avr:uno|TimeOfFlight # UNO board with ToF distance sensor
             build-properties:
               RobotCarBlueDisplay:
-                -DTBB6612_4WD_4AA_FULL_CONFIGURATION
+                -DMOTOR_SHIELD_2WD_FULL_CONFIGURATION
                 -DBLUETOOTH_BAUD_RATE=BAUD_115200
-                -mcall-prologues # reduces size by 870 bytes
+                -DUS_SENSOR_SUPPORTS_1_PIN_MODE
+                -mcall-prologues
 
           - arduino-boards-fqbn: arduino:avr:uno|BreadboardFull # Nano board with TB6612 breakout board
             build-properties:
@@ -66,14 +67,6 @@ jobs:
                 -DUS_SENSOR_SUPPORTS_1_PIN_MODE
                 -mcall-prologues # reduces size by 870 bytes
 
-          - arduino-boards-fqbn: arduino:avr:uno|TimeOfFlight # UNO board with ToF distance sensor
-            build-properties:
-              RobotCarBlueDisplay:
-                -DMOTOR_SHIELD_2WD_ENCODER_TOF_CONFIGURATION
-                -DBLUETOOTH_BAUD_RATE=BAUD_115200
-                -DUS_SENSOR_SUPPORTS_1_PIN_MODE
-                -DDISTANCE_SERVO_IS_MOUNTED_HEAD_DOWN
-                -mcall-prologues
 
     steps:
       - name: Checkout

README.md

@@ -61,7 +61,7 @@ Compile options for the used **PWMMotorControl library** like `USE_ENCODER_MOTOR
 | `CAR_HAS_US_DISTANCE_SENSOR` | disabled | A HC-SR04 ultrasonic distance sensor is mounted (default for most China smart cars). |
 | `US_SENSOR_SUPPORTS_1_PIN_MODE` | disabled | Use modified HC-SR04 modules or HY-SRF05 ones.</br>Modify HC-SR04 by connecting 10kOhm between echo and trigger and then use only trigger pin. |
 | `CAR_HAS_IR_DISTANCE_SENSOR` | disabled | Use Sharp GP2Y0A21YK / 1080 IR distance sensor. |
-| `CAR_CAR_HAS_TOF_DISTANCE_SENSOR` | disabled | Use VL53L1X TimeOfFlight distance sensor. |
+| `CAR_HAS_TOF_DISTANCE_SENSOR` | disabled | Use VL53L1X TimeOfFlight distance sensor. |
 | `CAR_HAS_DISTANCE_SERVO` | disabled | Distance sensor is mounted on a pan servo (default for most China smart cars). |
 | `DISTANCE_SERVO_IS_MOUNTED_HEAD_DOWN` | disabled | Distance.h | The distance servo is mounted head down to detect even small obstacles. The Servo direction is reverse then. |
 | `CAR_HAS_PAN_SERVO` | disabled | Enables the pan slider for the `PanServo` at the `PIN_PAN_SERVO` pin. |

src/ADCUtils.h

@@ -143,4 +143,3 @@ float getTemperature(void);
 #endif // defined(ADATE)
 #endif //  defined(__AVR__)
 #endif // _ADC_UTILS_H
-#pragma once

src/AutonomousDrive.h

@@ -19,8 +19,6 @@
 #ifndef _AUTONOMOUS_DRIVE_H
 #define _AUTONOMOUS_DRIVE_H
 
-#include <stdint.h>
-
 /*
  * Different autonomous driving modes
  */
@@ -61,4 +59,3 @@ void driveFollowerModeOneStep();
 
 #endif // _AUTONOMOUS_DRIVE_H
 #endif // defined(ENABLE_AUTONOMOUS_DRIVE)
-#pragma once

src/AutonomousDrive.hpp

@@ -26,23 +26,19 @@
 
 #ifndef _ROBOT_CAR_AUTOMOMOUS_DRIVE_HPP
 #define _ROBOT_CAR_AUTOMOMOUS_DRIVE_HPP
-#include <Arduino.h>
 
 #include "AutonomousDrive.h"
 
-#include "RobotCarPinDefinitionsAndMore.h"
-#include "RobotCarBlueDisplay.h"
-#include "RobotCarGui.h"
-#include "Distance.h"
-
 uint8_t sDriveMode = MODE_MANUAL_DRIVE; // one of MODE_MANUAL_DRIVE, MODE_COLLISION_AVOIDING_BUILTIN, MODE_COLLISION_AVOIDING_USER or MODE_FOLLOWER
 
 uint8_t sStepMode = MODE_CONTINUOUS; // one of MODE_CONTINUOUS,  MODE_STEP_TO_NEXT_TURN or MODE_SINGLE_STEP
 bool sDoStep = false; // if true => do one step
 
 turn_direction_t sTurnMode = TURN_IN_PLACE;
 int sNextRotationDegree = 0; // Storage for turning decision especially for single step mode
+#if defined(ENABLE_PATH_INFO_PAGE)
 int sLastDegreesTurned = 0; // Storage of last turning for insertToPath()
+#endif
 
 /*
  * Used for adaptive collision detection
@@ -93,7 +89,7 @@ void startStopAutomomousDrive(bool aDoStart, uint8_t aDriveMode) {
             // Show distance sliders
             SliderUSDistance.drawSlider();
             TouchButtonDistanceFeedbackMode.drawButton();
-#  if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_CAR_HAS_TOF_DISTANCE_SENSOR)
+#  if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_HAS_TOF_DISTANCE_SENSOR)
             SliderIROrTofDistance.drawSlider();
 #  endif
         }
@@ -102,7 +98,7 @@ void startStopAutomomousDrive(bool aDoStart, uint8_t aDriveMode) {
         /*
          * Stop autonomous driving.
          */
-#if defined(USE_ENCODER_MOTOR_CONTROL) && defined(ENABLE_PATH_INFO_PAGE)
+#if defined(ENABLE_PATH_INFO_PAGE)
         if (sStepMode != MODE_SINGLE_STEP) {
             // add last driven distance to path
             insertToPath(RobotCar.rightCarMotor.LastRideEncoderCount, sLastDegreesTurned, true);
@@ -114,9 +110,8 @@ void startStopAutomomousDrive(bool aDoStart, uint8_t aDriveMode) {
         TouchButtonDistanceFeedbackMode.removeButton(COLOR16_WHITE);
     }
 
-    // manage on off buttons
+    // manage 3 on off buttons
     handleAutomomousDriveRadioButtons();
-    TouchButtonRobotCarStartStop.setValue(aDoStart, false);
 }
 
 /*
@@ -152,45 +147,48 @@ void driveCollisonAvoidingOneStep() {
         bool tMovementJustStarted = sDoStep || tCarIsStopped; // tMovementJustStarted is needed for speeding up US scanning by skipping first scan angle if not just started.
         sDoStep = false; // Now it can be set again by GUI
 
-        if (sNextRotationDegree != 0) {
+        /*
+         * Check sNextRotationDegree
+         */
+        if (sNextRotationDegree == MINIMUM_DISTANCE_TOO_SMALL) {
             /*
-             * rotate car / go backward accordingly to sNextRotationDegree
+             * Go backwards and do a new scan
              */
-            if (sNextRotationDegree == MINIMUM_DISTANCE_TOO_SMALL) {
-                // go backwards and do a new scan
-                RobotCar.goDistanceMillimeter(100, DIRECTION_BACKWARD, &loopGUI);
-            } else {
-                // rotate and go
-                RobotCar.rotate(sNextRotationDegree, sTurnMode, false, &loopGUI); // do not use slow speed
-                // wait to really stop after turning
-                delay(100);
-                sLastDegreesTurned = sNextRotationDegree;
-            }
-        }
-        if (sNextRotationDegree != MINIMUM_DISTANCE_TOO_SMALL) {
+            RobotCar.goDistanceMillimeter(100, DIRECTION_BACKWARD, &loopGUI);
+        } else if (sNextRotationDegree != 0) {
+            /*
+             * Rotate and stop
+             */
+            RobotCar.rotate(sNextRotationDegree, sTurnMode, false, &loopGUI); // do not use slow speed
+            // wait to really stop after turning
+            delay(100);
+#if defined(ENABLE_PATH_INFO_PAGE)
+            sLastDegreesTurned = sNextRotationDegree;
+#endif
+        } else {
             /*
-             * No rotation or standard rotation here. Go fixed distance or keep moving
+             * No rotation or go back here. Go fixed distance or keep moving
              */
             if (sStepMode == MODE_SINGLE_STEP) {
                 // Go fixed distance
                 RobotCar.goDistanceMillimeter(sCentimetersDrivenPerScan * 10, DIRECTION_FORWARD, &loopGUI);
-            } else
-            /*
-             * Continuous mode, start car or let it run (do nothing)
-             */
-            if (tCarIsStopped) {
+            } else if (tCarIsStopped) {
+                /*
+                 * Continuous mode, start car or let it run (do nothing)
+                 */
                 RobotCar.startRampUpAndWaitForDriveSpeedPWM(DIRECTION_FORWARD, &loopGUI);
             }
+#if defined(ENABLE_PATH_INFO_PAGE)
+            sLastDegreesTurned = 0; // rotation was 0 here
+#endif
         }
 
         /*
-         * Here car is moving
+         * Here car is moving or did a rotation or go back
          */
 #if defined(USE_ENCODER_MOTOR_CONTROL)
         uint16_t tStepStartDistanceCount = RobotCar.rightCarMotor.EncoderCount; // get count before distance scanning
 #endif
-        bool tCurrentPageIsAutomaticControl = (sCurrentPage == PAGE_AUTOMATIC_CONTROL);
-
         /*
          * The magic happens HERE
          * This runs as fast as possible and mainly determine the duration of one step
@@ -215,7 +213,7 @@ void driveCollisonAvoidingOneStep() {
 #if defined(USE_ENCODER_MOTOR_CONTROL)
             sCentimetersDrivenPerScan = RobotCar.rightCarMotor.EncoderCount - tStepStartDistanceCount;
 #endif
-            if (tCurrentPageIsAutomaticControl) {
+            if (sCurrentPage == PAGE_AUTOMATIC_CONTROL) {
                 char tStringBuffer[6];
                 sprintf_P(tStringBuffer, PSTR("%2d%s"), sCentimetersDrivenPerScan, "cm");
                 BlueDisplay1.drawText(0, BUTTON_HEIGHT_4_LINE_4 - TEXT_SIZE_11_DECEND, tStringBuffer, TEXT_SIZE_11,
@@ -231,9 +229,7 @@ void driveCollisonAvoidingOneStep() {
              * Stop if rotation requested or single step
              */
             RobotCar.stopAndWaitForIt();
-#if defined(USE_ENCODER_MOTOR_CONTROL)
 #if defined(ENABLE_PATH_INFO_PAGE)
-
             /*
              * Insert / update last ride in path
              */
@@ -243,15 +239,11 @@ void driveCollisonAvoidingOneStep() {
                 // add last driven distance to path
                 insertToPath(RobotCar.rightCarMotor.LastRideEncoderCount, sLastDegreesTurned, true);
             }
-#endif
         } else {
             /*
              * No stop, just continue => overwrite last path element with current riding distance and try to synchronize motors
              */
-#if defined(ENABLE_PATH_INFO_PAGE)
             insertToPath(RobotCar.rightCarMotor.EncoderCount, sLastDegreesTurned, false);
-#endif
-//            RobotCar.rightCarMotor.synchronizeMotor(&RobotCar.leftCarMotor, 100);
 #endif
         }
 

src/AutonomousDrivePage.hpp

@@ -26,12 +26,6 @@
 
 #ifndef _ROBOT_CAR_AUTOMOMOUS_DRIVE_PAGE_HPP
 #define _ROBOT_CAR_AUTOMOMOUS_DRIVE_PAGE_HPP
-#include <Arduino.h>
-
-#include "RobotCarPinDefinitionsAndMore.h"
-#include "RobotCarBlueDisplay.h"
-#include "RobotCarGui.h"
-#include "Distance.h"
 
 BDButton TouchButtonStepMode;
 const char sStepModeButtonStringContinuousStepToTurn[] PROGMEM = "Continuous\n->\nStep to turn";
@@ -54,7 +48,7 @@ BDButton TouchButtonScanSpeed;
 BDButton TouchButtonPathInfoPage;
 #endif
 
-#if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_CAR_HAS_TOF_DISTANCE_SENSOR)
+#if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_HAS_TOF_DISTANCE_SENSOR)
 BDButton TouchButtonScanMode;
 const char sDistanceSourceModeButtonStringMinMax[] PROGMEM = "Min->Max";
 const char sDistanceSourceModeButtonStringMaxUS[] PROGMEM = "Max->US";
@@ -126,14 +120,12 @@ void doStep(BDButton *aTheTouchedButton, int16_t aValue) {
     /*
      * Start if not yet done
      */
-    if (sDriveMode == MODE_FOLLOWER) {
-        sDoStep = true;
-    } else if (sDriveMode != MODE_MANUAL_DRIVE) {
+    if (sDriveMode == MODE_MANUAL_DRIVE) {
         startStopAutomomousDrive(true, MODE_COLLISION_AVOIDING_BUILTIN);
     }
 }
 
-#if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_CAR_HAS_TOF_DISTANCE_SENSOR)
+#if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_HAS_TOF_DISTANCE_SENSOR)
 void setScanModeButtonCaption() {
     TouchButtonScanMode.setCaptionFromStringArrayPGM(sDistanceSourceModeButtonCaptionStringArray, sDistanceSourceMode);
 }
@@ -147,7 +139,7 @@ void doDistanceSourceMode(BDButton *aTheTouchedButton, int16_t aValue) {
     TouchButtonScanMode.drawButton();
 }
 
-#endif // defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_CAR_HAS_TOF_DISTANCE_SENSOR)
+#endif // defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_HAS_TOF_DISTANCE_SENSOR)
 
 void doChangeScanSpeed(BDButton *aTheTouchedButton, int16_t aValue) {
     sDoSlowScan = aValue;
@@ -220,7 +212,7 @@ void initAutonomousDrivePage(void) {
     BUTTON_WIDTH_3, TEXT_SIZE_22_HEIGHT, COLOR16_RED, reinterpret_cast<const __FlashStringHelper*>(sDistanceFeedbackModeNoTone), TEXT_SIZE_14,
             FLAG_BUTTON_DO_BEEP_ON_TOUCH, DISTANCE_FEEDBACK_NO_TONE, &doNextDistanceFeedbackMode);
 
-#if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_CAR_HAS_TOF_DISTANCE_SENSOR)
+#if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_HAS_TOF_DISTANCE_SENSOR)
     TouchButtonScanMode.init(BUTTON_WIDTH_3_POS_3, BUTTON_HEIGHT_4_LINE_4 - (TEXT_SIZE_22_HEIGHT + BUTTON_DEFAULT_SPACING_QUARTER),
     BUTTON_WIDTH_3, TEXT_SIZE_22_HEIGHT, COLOR16_RED,
             reinterpret_cast<const __FlashStringHelper*>(sDistanceSourceModeButtonStringMinMax),
@@ -259,7 +251,7 @@ void drawAutonomousDrivePage(void) {
     // small buttons
     TouchButtonStartStopUserAutonomousDrive.drawButton();
 //    TouchButtonDistanceFeedbackMode.drawButton();
-#if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_CAR_HAS_TOF_DISTANCE_SENSOR)
+#if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_HAS_TOF_DISTANCE_SENSOR)
     TouchButtonScanMode.drawButton();
 #endif
 
@@ -275,11 +267,24 @@ void startAutonomousDrivePage(void) {
 
     // restore last step and scan mode
     setStepModeButtonCaption();
-#if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_CAR_HAS_TOF_DISTANCE_SENSOR)
+#if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_HAS_TOF_DISTANCE_SENSOR)
     setScanModeButtonCaption();
 #endif
     setDistanceFeedbackModeButtonCaption();
 
+#if defined(ENABLE_PATH_INFO_PAGE)
+#define SLIDER_SHIFTED_Y_POS    BUTTON_HEIGHT_6
+#else
+#define SLIDER_SHIFTED_Y_POS    SLIDER_TOP_MARGIN
+#endif
+#if defined(US_DISTANCE_SLIDER_IS_SMALL)
+    SliderUSDistance.setPosition(POS_X_DISTANCE_POSITION_SLIDER - ((BUTTON_WIDTH_10 / 2) - 2) - TEXT_SIZE_11_WIDTH, SLIDER_SHIFTED_Y_POS);
+#else
+    SliderUSDistance.setPosition(POS_X_DISTANCE_POSITION_SLIDER - BUTTON_WIDTH_10, SLIDER_SHIFTED_Y_POS);
+#endif
+#if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_HAS_TOF_DISTANCE_SENSOR)
+    SliderIROrTofDistance.setPosition(POS_X_DISTANCE_POSITION_SLIDER - (TEXT_SIZE_11_WIDTH + BUTTON_WIDTH_10), SLIDER_SHIFTED_Y_POS);
+#endif
     drawAutonomousDrivePage();
     if(!isCalibrated) {
         calibrateAndPrint();
@@ -292,7 +297,15 @@ void loopAutonomousDrivePage(void) {
 }
 
 void stopAutonomousDrivePage(void) {
-    startStopRobotCar(false);
+#if defined(US_DISTANCE_SLIDER_IS_SMALL)
+    SliderUSDistance.setPosition(POS_X_US_DISTANCE_SLIDER - ((BUTTON_WIDTH_10 / 2) - 2), SLIDER_TOP_MARGIN + BUTTON_HEIGHT_8);
+#else
+    SliderUSDistance.setPosition(POS_X_US_DISTANCE_SLIDER - BUTTON_WIDTH_10, SLIDER_TOP_MARGIN + BUTTON_HEIGHT_8);
+#endif
+#if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_HAS_TOF_DISTANCE_SENSOR)
+    SliderIROrTofDistance.setPosition(POS_X_THIRD_SLIDER - ((BUTTON_WIDTH_10 / 2) - 2), SLIDER_TOP_MARGIN + BUTTON_HEIGHT_8);
+#endif
+
 }
 
 /*
@@ -330,6 +343,7 @@ void drawCollisionDecision(int aDegreeToTurn, uint8_t aLengthOfVector, bool aDoC
         BlueDisplay1.drawVectorDegrees(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y, aLengthOfVector, tDegreeToDisplay + 90,
                 tColor);
         if (!aDoClearVector) {
+            //Print result
             sprintf_P(sStringBuffer, PSTR("wall%4d\xB0 rotation: %3d\xB0 wall%4d\xB0"), sForwardDistancesInfo.WallLeftAngleDegrees,
                     aDegreeToTurn, sForwardDistancesInfo.WallRightAngleDegrees); // \xB0 is degree character
             BlueDisplay1.drawText(BUTTON_WIDTH_3_5_POS_2, US_DISTANCE_MAP_ORIGIN_Y + TEXT_SIZE_11, sStringBuffer, TEXT_SIZE_11,

src/BTSensorDrivePage.hpp

@@ -20,12 +20,6 @@
  */
 #ifndef _ROBOT_CAR_BT_SENSOR_DRIVE_PAGE_HPP
 #define _ROBOT_CAR_BT_SENSOR_DRIVE_PAGE_HPP
-#include <Arduino.h>
-
-#include "RobotCarPinDefinitionsAndMore.h"
-#include "RobotCarBlueDisplay.h"
-
-#include "RobotCarGui.h"
 
 // 4 Sliders for accelerometer
 BDSlider SliderForward;     // Y negative