3. Party libs

Author: ArminJo

.github/workflows/TestCompile.yml

@@ -20,7 +20,7 @@ on:
   pull_request:
 jobs:
   build:
-    name: Test compiling examples for UNO
+    name: Test compiling examples for Uno
     runs-on: ubuntu-latest
     env:
       REQUIRED_LIBRARIES: Servo,Adafruit Motor Shield V2 Library,PlayRtttl
@@ -44,7 +44,7 @@ jobs:
                 -DDISTANCE_SERVO_IS_MOUNTED_HEAD_DOWN
                 -mcall-prologues # reduces size by 870 bytes
 
-          - arduino-boards-fqbn: arduino:avr:uno|TimeOfFlight # UNO board with ToF distance sensor
+          - arduino-boards-fqbn: arduino:avr:uno|TimeOfFlight # Uno board with ToF distance sensor
             build-properties:
               RobotCarBlueDisplay:
                 -DMOTOR_SHIELD_2WD_FULL_CONFIGURATION

LICENSE.txt

@@ -1,7 +1,7 @@
                     GNU GENERAL PUBLIC LICENSE
                        Version 3, 29 June 2007
 
- Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
  Everyone is permitted to copy and distribute verbatim copies
  of this license document, but changing it is not allowed.
 
@@ -618,4 +618,57 @@ an absolute waiver of all civil liability in connection with the
 Program, unless a warranty or assumption of liability accompanies a
 copy of the Program in return for a fee.
 
-                     END OF TERMS AND CONDITIONS
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    <program>  Copyright (C) <year>  <name of author>
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.

README.md

@@ -1,20 +1,47 @@
-# Autonomous driving robot car
-### Version 2.0.0
-[![License: GPL v3](https://img.shields.io/badge/License-GPLv3-blue.svg)](https://www.gnu.org/licenses/gpl-3.0)
-[![Commits since latest](https://img.shields.io/github/commits-since/ArminJo/Arduino-RobotCar/latest)](https://github.com/ArminJo/Arduino-RobotCar/commits/master)
-[![Build Status](https://github.com/ArminJo/Arduino-RobotCar/workflows/TestCompile/badge.svg)](https://github.com/ArminJo/Arduino-RobotCar/actions)
-![Hit Counter](https://visitor-badge.laobi.icu/badge?page_id=ArminJo_Arduino-RobotCar)
-
-- Enables autonomous driving of a 2 or 4 wheel car controlled by an Arduino.
-- To avoid obstacles a HC-SR04 ultrasonic sensor mounted on a SG90 Servo continuously scans the environment.
+
+<div align = center>
+
+# [Autonomous driving robot car](https://github.com/ArminJo/Arduino-RobotCar)
+Enables autonomous driving of a 2 or 4 wheel car controlled by an Arduino.
+
+[![Badge License: GPLv3](https://img.shields.io/badge/License-GPLv3-brightgreen.svg)](https://www.gnu.org/licenses/gpl-3.0)
+ &nbsp; &nbsp;
+[![Badge Version](https://img.shields.io/github/v/release/ArminJo/Arduino-RobotCar?include_prereleases&color=yellow&logo=DocuSign&logoColor=white)](https://github.com/ArminJo/Arduino-RobotCar/releases/latest)
+ &nbsp; &nbsp;
+[![Badge Commits since latest](https://img.shields.io/github/commits-since/ArminJo/Arduino-RobotCar/latest?color=yellow)](https://github.com/ArminJo/Arduino-RobotCar/commits/master)
+ &nbsp; &nbsp;
+[![Badge Build Status](https://github.com/ArminJo/Arduino-RobotCar/workflows/TestCompile/badge.svg)](https://github.com/ArminJo/Arduino-RobotCar/actions)
+ &nbsp; &nbsp;
+![Badge Hit Counter](https://visitor-badge.laobi.icu/badge?page_id=ArminJo_Arduino-RobotCar)
+<br/>
+<br/>
+[![Stand With Ukraine](https://raw.githubusercontent.com/vshymanskyy/StandWithUkraine/main/badges/StandWithUkraine.svg)](https://stand-with-ukraine.pp.ua)
+
+Available as [RobotCarBlueDisplay](https://github.com/ArminJo/PWMMotorControl/tree/master/examples/RobotCarBlueDisplay) example of the Arduino library [PWMMotorControl](https://github.com/ArminJo/PWMMotorControl).<br/>
+Requires the Arduino library [BlueDisplay](https://github.com/ArminJo/Arduino-BlueDisplay).
+
+</div>
+
+#### If you find this program useful, please give it a star.
+
+<br/>
+
+# Features
+- Obstacles avoidance by a HC-SR04 ultrasonic sensor mounted on a SG90 Servo which continuously scans the environment.
 - To overcome the drawbacks of ultrasonic sensors, an additional IR or TOF (TimeOfFlight) sensor can be mounted to the servo.
-- Manual control is implemented by a GUI using a Bluetooth HC-05 Module and the [BlueDisplay library](https://github.com/ArminJo/Arduino-BlueDisplay).
+- Manual control implemented by a GUI using a Bluetooth HC-05 Module and the [BlueDisplay library](https://github.com/ArminJo/Arduino-BlueDisplay).
 
 **Just overwrite the function doUserCollisionAvoiding() to test your own skill**.
 You may also overwrite the function fillAndShowForwardDistancesInfo(), if you use your own scanning method.
 
-This example requires the **[PWMMotorControl library](https://github.com/ArminJo/PWMMotorControl)** to control the motors,
-the **[BlueDisplay library](https://github.com/ArminJo/BlueDisplay)** for Smartphone control and **[PlayRtttl library](https://github.com/ArminJo/PlayRtttl)** for the melody feature.
+# Installation
+- Install **[BlueDisplay library](https://github.com/ArminJo/BlueDisplay)** with *Tools > Manage Libraries...* or *Ctrl+Shift+I*. Use "BlueDisplay" as filter string.<br/>
+- Install **[PWMMotorControl library](https://github.com/ArminJo/PWMMotorControl)** with *Tools > Manage Libraries...* or *Ctrl+Shift+I*. Use "PWMMotorControl" as filter string.<br/>
+- Open the example **[RobotCarBlueDisplay](https://github.com/ArminJo/PWMMotorControl/tree/master/examples/RobotCarBlueDisplay)**, available at File > Examples > Examples from Custom Libraries / **PWMMotorControl**.
+
+Other examples of PWMMotorControl like **[SmartCarFollower](https://github.com/ArminJo/PWMMotorControl#smartcarfollower)** will also run on this robot car.
+
+<br/>
 
 # Pictures
 | 4WD car with IR receiver and Bluetooth module and 4 AA rechargeable batteries. | Instructable |
@@ -25,9 +52,11 @@ the **[BlueDisplay library](https://github.com/ArminJo/BlueDisplay)** for Smartp
 | Encoder fork sensor | Servo mounted head down |
 | ![Encoder fork sensor](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/ForkSensor.jpg) | ![Servo mounting](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/ServoAtTopBack.jpg) |
 | VIN sensing with motor shield | Red car with Sharp GP2Y0A21YK distance sensor |
-| ![VIN sensing](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/SensingVIn.jpg) | https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/RedCar.jpg  |
-| Youtube video of mecanum demo | Youtube video of mecanum car controlled by the accelerator sensors of the tablet |
-| [![Arduino Mecanum Wheel Car Demo](https://i.ytimg.com/vi/https://youtu.be/VX92jeqr8_g/hqdefault.jpg)](https://www.youtube.com/watch?v=https://youtu.be/VX92jeqr8_g) | [![Arduino Mecanum Wheel Car Sensor Drive Demo](https://i.ytimg.com/vi/lhlxLTj9Mrg/hqdefault.jpg)](https://www.youtube.com/watch?v=lhlxLTj9Mrg) |
+| ![VIN sensing](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/SensingVIn.jpg) | ![Red car with Sharp GP2Y0A21YK distance sensor](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/RedCar.jpg)  |
+| **Youtube video** of MecanumWheelCar demo | **Youtube video** of mecanum car controlled by the accelerator sensors of the tablet |
+| [![MecanumWheelCar Demo](https://i.ytimg.com/vi/VX92jeqr8_g/hqdefault.jpg)](https://www.youtube.com/watch?v=VX92jeqr8_g) | [![Arduino Mecanum Wheel Car Sensor Drive Demo](https://i.ytimg.com/vi/lhlxLTj9Mrg/hqdefault.jpg)](https://www.youtube.com/watch?v=lhlxLTj9Mrg) |
+
+<br/>
 
 # SCREENSHOTS
 | Start page | Test page |
@@ -45,13 +74,17 @@ Automatic control page with detected wall at right
 - The tiny white bars are the distances computed by the doWallDetection() function. They overlay the green (assumed timeout) values.
 - The tiny black bar is the rotation chosen by doCollisionAvoiding() function.
 
+<br/>
+
 # Wall detection
 Ultrasonic distance measurement has a problem with walls.
 You can **only detect a wall** if the angle of the wall relative to sensor axis is approximately **between 70 and 110 degree**.
 For other angels the reflected ultrasonic beam cannot reach the receiver which leads to unrealistic great distances.<br/>
 The implemented wall detection function `doWallDetection()` takes samples every 18 degrees and if it gets 2 adjacent short distances below `DISTANCE_MAX_FOR_WALL_DETECTION_CM`, it assumes a wall determined by these 2 samples.
 The (invalid) values 18 degrees right and left of these samples are then extrapolated by `computeNeigbourValue()`.
 
+<br/>
+
 # Compile options / macros for this software
 To customize the software to different car configurations, there are some compile options / macros available.<br/>
 Modify them by enabling / disabling them, or change the values if applicable.
@@ -61,7 +94,7 @@ Compile options for the used **PWMMotorControl library** like `USE_ENCODER_MOTOR
 | Name | Default value | Description |
 |-|-|-|
 | `CAR_HAS_VIN_VOLTAGE_DIVIDER` | undefined | VIN/11 at A2, e.g. 1 M&ohm; to VIN, 100 k&ohm; to ground. Required to show and monitor (for undervoltage) VIN voltage. |
-| `VIN_VOLTAGE_CORRECTION` | undefined or 0.8 for UNO | Voltage to be subtracted from VIN voltage for voltage monitoring. E.g. if there is a series diode between Li-ion and VIN as on the UNO boards, set it to 0.8. |
+| `VIN_VOLTAGE_CORRECTION` | undefined or 0.8 for Uno | Voltage to be subtracted from VIN voltage for voltage monitoring. E.g. if there is a series diode between Li-ion and VIN as on the Uno boards, set it to 0.8. |
 | `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 10 k&ohm; between echo and trigger and then use only trigger pin. |
 | `CAR_HAS_IR_DISTANCE_SENSOR` | disabled | Use Sharp GP2Y0A21YK / 1080 IR distance sensor. |

src/ADCUtils.h

@@ -115,49 +115,52 @@
 extern float sVCCVoltage;
 extern uint16_t sVCCVoltageMillivolt;
 
-extern long sLastVoltageCheckMillis;
-extern uint8_t sVoltageTooLowCounter;
-
-uint16_t readADCChannel(uint8_t aChannelNumber);
-uint16_t readADCChannelWithReference(uint8_t aChannelNumber, uint8_t aReference);
-uint16_t waitAndReadADCChannelWithReference(uint8_t aChannelNumber, uint8_t aReference);
-uint16_t waitAndReadADCChannelWithReferenceAndRestoreADMUXAndReference(uint8_t aChannelNumber, uint8_t aReference);
-uint16_t readADCChannelWithOversample(uint8_t aChannelNumber, uint8_t aOversampleExponent);
-void setADCMultiplexerAndReferenceForNextConversion(uint8_t aChannelNumber, uint8_t aReference);
-uint16_t readADCChannelWithReferenceOversample(uint8_t aChannelNumber, uint8_t aReference, uint8_t aOversampleExponent);
-uint16_t readADCChannelWithReferenceOversampleFast(uint8_t aChannelNumber, uint8_t aReference, uint8_t aOversampleExponent);
-uint16_t readADCChannelWithReferenceMultiSamples(uint8_t aChannelNumber, uint8_t aReference, uint8_t aNumberOfSamples);
-uint16_t readADCChannelWithReferenceMax(uint8_t aChannelNumber, uint8_t aReference, uint16_t aNumberOfSamples);
-uint16_t readADCChannelWithReferenceMaxMicros(uint8_t aChannelNumber, uint8_t aReference, uint16_t aMicrosecondsToAquire);
-uint16_t readUntil4ConsecutiveValuesAreEqual(uint8_t aChannelNumber, uint8_t aDelay, uint8_t aAllowedDifference,
-        uint8_t aMaxRetries);
-
-uint8_t checkAndWaitForReferenceAndChannelToSwitch(uint8_t aChannelNumber, uint8_t aReference);
+extern long sLastVCCCheckMillis;
+extern uint8_t sVCCTooLowCounter;
+
+uint16_t readADCChannel(uint8_t aADCChannelNumber);
+uint16_t readADCChannelWithReference(uint8_t aADCChannelNumber, uint8_t aReference);
+uint16_t waitAndReadADCChannelWithReference(uint8_t aADCChannelNumber, uint8_t aReference);
+uint16_t waitAndReadADCChannelWithReferenceAndRestoreADMUXAndReference(uint8_t aADCChannelNumber, uint8_t aReference);
+uint16_t readADCChannelWithOversample(uint8_t aADCChannelNumber, uint8_t aOversampleExponent);
+void setADCChannelAndReferenceForNextConversion(uint8_t aADCChannelNumber, uint8_t aReference);
+uint16_t readADCChannelWithReferenceOversample(uint8_t aADCChannelNumber, uint8_t aReference, uint8_t aOversampleExponent);
+uint16_t readADCChannelWithReferenceOversampleFast(uint8_t aADCChannelNumber, uint8_t aReference, uint8_t aOversampleExponent);
+uint16_t readADCChannelWithReferenceMultiSamples(uint8_t aADCChannelNumber, uint8_t aReference, uint8_t aNumberOfSamples);
+uint16_t readADCChannelWithReferenceMax(uint8_t aADCChannelNumber, uint8_t aReference, uint16_t aNumberOfSamples);
+uint16_t readADCChannelWithReferenceMaxMicros(uint8_t aADCChannelNumber, uint8_t aReference, uint16_t aMicrosecondsToAquire);
+uint16_t readUntil4ConsecutiveValuesAreEqual(uint8_t aADCChannelNumber, uint8_t aReference, uint8_t aDelay,
+        uint8_t aAllowedDifference, uint8_t aMaxRetries);
+
+uint8_t checkAndWaitForReferenceAndChannelToSwitch(uint8_t aADCChannelNumber, uint8_t aReference);
 
 /*
  * readVCC*() functions store the result in sVCCVoltageMillivolt or sVCCVoltage
  */
-float getVCCVoltageSimple();
-void readVCCVoltageSimple();
-uint16_t getVCCVoltageMillivoltSimple();
-void readVCCVoltageMillivoltSimple();
-float getVCCVoltage();
-void readVCCVoltage();
-uint16_t getVCCVoltageMillivolt();
-void readVCCVoltageMillivolt();
-uint16_t getVCCVoltageReadingFor1_1VoltReference();
+float getVCCVoltageSimple(void);
+void readVCCVoltageSimple(void);
+uint16_t getVCCVoltageMillivoltSimple(void);
+void readVCCVoltageMillivoltSimple(void);
+float getVCCVoltage(void);
+void readVCCVoltage(void);
+uint16_t getVCCVoltageMillivolt(void);
+void readVCCVoltageMillivolt(void);
+uint16_t getVCCVoltageReadingFor1_1VoltReference(void);
 uint16_t printVCCVoltageMillivolt(Print *aSerial);
 void readAndPrintVCCVoltageMillivolt(Print *aSerial);
 
 uint16_t getVoltageMillivolt(uint16_t aVCCVoltageMillivolt, uint8_t aADCChannelForVoltageMeasurement);
 uint16_t getVoltageMillivolt(uint8_t aADCChannelForVoltageMeasurement);
 uint16_t getVoltageMillivoltWith_1_1VoltReference(uint8_t aADCChannelForVoltageMeasurement);
-float getTemperatureSimple();
-float getTemperature();
+float getCPUTemperatureSimple(void);
+float getCPUTemperature(void);
+float getTemperature(void) __attribute__ ((deprecated ("Renamed to getCPUTemperature()"))); // deprecated
 
 bool isVCCTooLowMultipleTimes();
 void resetVCCTooLowMultipleTimes();
-bool isVoltageTooLow();
+bool isVCCTooLow();
+bool isVCCTooHigh();
+bool isVCCTooHighSimple();
 
 #endif //  defined(__AVR__) ...
 #endif // _ADC_UTILS_H