fix merge conflicts

5 files changed, 75 insertions, 83 deletions

diff --git a/robot/io.c b/robot/io.c
index 5757ffd..f5fcffc 100644
--- a/robot/io.c
+++ b/robot/io.c
@@ -1,52 +1,30 @@
 #include "io.h"
-#include <pololu/orangutan.h>
+#include "../shared/consts.h"
+#include "modes.h"
+#include "orangutan_shim.h"
 
-
-w2_io_all global;
+w2_io_all g_w2_io;
 
 void w2_io_main() {
-    global.button[0] = get_single_debounced_button_press(BUTTON_A);
-    global.button[1] = get_single_debounced_button_press(BUTTON_B);
-    global.button[2] = get_single_debounced_button_press(BUTTON_C);
-    global.button[3] = get_single_debounced_button_press(TOP_BUTTON);
-    global.button[4] = get_single_debounced_button_press(BOTTOM_BUTTON);
-    unsigned int sensor_values[5];
-    qtr_read(sensor_values, QTR_EMITTERS_ON);
-    for(int i = 0; i <5; i++){
-         global.qtrSensor[i] = sensor_values[i];
-    }
-    // TODO average voltage over mutiple samples sensor
-    global.batteryLevel = analog_read(BATTERY_PIN);  
-    global.frontDetection = analog_read(FRONT_SENSOR_PIN); 
-    global.sideDetection = analog_read(SIDE_SENSOR_PIN);
+	g_w2_io.button[0].pressed = get_single_debounced_button_press(BUTTON_A);
+	g_w2_io.button[1].pressed = get_single_debounced_button_press(BUTTON_B);
+	g_w2_io.button[2].pressed = get_single_debounced_button_press(BUTTON_C);
+	g_w2_io.button[3].pressed = get_single_debounced_button_press(TOP_BUTTON);
+	g_w2_io.button[4].pressed = get_single_debounced_button_press(BOTTOM_BUTTON);
+	unsigned int sensor_values[5];
+	qtr_read(sensor_values, QTR_EMITTERS_ON);
+	for (int i = 0; i < 5; i++) {
+		g_w2_io.qtr[i].range = sensor_values[i];
+	}
+	// TODO average voltage over mutiple samples sensor
+	g_w2_io.battery.charge_level	 = analog_read(W2_BATTERY_PIN);
+	g_w2_io.front_distance.detection = analog_read(W2_FRONT_SENSOR_PIN);
+	g_w2_io.side_distance.detection	 = analog_read(W2_SIDE_SENSOR_PIN);
 
-    set_motors(global.motor_left, global.motor_right);
-    red_led(global.led_red);
-    green_led(global.led_green);
-    print_character(global.lcd);   
+	set_motors(g_w2_io.motor_left.speed, g_w2_io.motor_right.speed);
+	red_led(g_w2_io.led_red.on);
+	green_led(g_w2_io.led_green.on);
+	print(g_w2_io.lcd.text);
 };
 
-void w2_io_init(){
-     pololu_3pi_init(2000):
-
-     for(counter=0;counter<80;counter++)
-        {
-            if(counter < 20 || counter >= 60)
-                {
-                    global.motor_left=40;
-                    global.motor_right=-40;
-                }
-            else
-                {
-                   global.motor_left=-40;
-                   global.motor_right=40;    
-                }
-
-              calibrate_
-              line_sensors(IR_EMITTERS_ON);
-        
-            delay_ms(20);
-        }
-    global.motor_left=0;
-    global.motor_right=0;
-}
\ No newline at end of file
+void w2_io_init() { w2_modes_call(W2_M_SCAL); }
diff --git a/robot/io.h b/robot/io.h
index e262fa1..6c2d262 100644
--- a/robot/io.h
+++ b/robot/io.h
@@ -1,56 +1,46 @@
 #pragma once
-#include <stdlib.h>
-#include <stdint.h>
 #include <stdbool.h>
-#define FRONT_SENSOR_PIN 5
-#define SIDE_SENSOR_PIN 7
-#define BATTERY_PIN 6  
-
-//inputs
+#include <stdint.h>
+#include <stdlib.h>
 
 typedef struct {
-    bool pressed;
-} w2_s_io_push;
+	bool pressed;
+} w2_s_i_push;
 
 typedef struct {
-    uint16_t range;
-    
-} w2_s_io_contrast;
+	uint16_t range;
+} w2_s_i_contrast;
 
 typedef struct {
-    uint16_t detection;
-} w2_s_io_distance;
-
-//outputs
+	uint16_t detection;
+} w2_s_i_distance;
 
 typedef struct {
-    int speed;
-} w2_s_io_motor;
+	uint16_t charge_level;
+} w2_s_i_battery;
 
 typedef struct {
-    bool toggle;
-} w2_s_io_led;
+	int speed;
+} w2_s_o_motor;
 
 typedef struct {
-    char text[16];
-} w2_s_io_display;
-typedef struct {
-    uint8_t charged;
-} w2_s_io_battery;
-
-//all i/o
+	bool on;
+} w2_s_o_led;
 
 typedef struct {
-    w2_s_i_push button[5];
-    w2_s_i_contrast qtrSensor[5];
-    w2_s_i_distance frontDetection;
-    w2_s_i_distance sideDetection;
-    w2_s_i_battery batteryLevel;
+	char text[17]; // 16 chars + '\0'
+} w2_s_o_display;
 
+typedef struct {
+	w2_s_i_push button[5];
+	w2_s_i_contrast qtr[5];
+	w2_s_i_distance front_distance;
+	w2_s_i_distance side_distance;
+	w2_s_i_battery battery;
 
-    w2_s_o_motor motor_left;
-    w2_s_o_motor motor_right;
-    w2_s_o_led led_red;
-    w2_s_o_led led_green;
-    w2_s_o_display lcd;
+	w2_s_o_motor motor_left;
+	w2_s_o_motor motor_right;
+	w2_s_o_led led_red;
+	w2_s_o_led led_green;
+	w2_s_o_display lcd;
 } w2_io_all;
diff --git a/robot/mode_scal.c b/robot/mode_scal.c
index e3a9c97..f3178d7 100644
--- a/robot/mode_scal.c
+++ b/robot/mode_scal.c
@@ -1,3 +1,19 @@
 #include "mode_scal.h"
 
-void w2_mode_scal() {}
+void w2_mode_scal() {
+	// TODO ???
+	/* pololu_3pi_init(2000);
+	for (int counter = 0; counter < 80; counter++) {
+		if (counter < 20 || counter >= 60) {
+			g_w2_io.motor_left.speed  = 40;
+			g_w2_io.motor_right.speed = -40;
+		} else {
+			g_w2_io.motor_left.speed  = -40;
+			g_w2_io.motor_right.speed = 40;
+		}
+
+		calibrate_line_sensors(IR_EMITTERS_ON);
+
+		delay_ms(20); // TODO foei
+	} */
+}
diff --git a/robot/orangutan_shim.h b/robot/orangutan_shim.h
index cd624d0..10420bd 100644
--- a/robot/orangutan_shim.h
+++ b/robot/orangutan_shim.h
@@ -5,6 +5,7 @@
 #else
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Warray-bounds"
+#include <pololu/3pi.h>
 #include <pololu/orangutan.h>
 #pragma GCC diagnostic pop
 #endif
diff --git a/shared/consts.h b/shared/consts.h
index 25ca94f..c65e50f 100644
--- a/shared/consts.h
+++ b/shared/consts.h
@@ -19,3 +19,10 @@
 #define W2_EMA_WEIGHT (0.10)
 /** size of mode history buffer */
 #define W2_MODE_HISTORY_BUFFER_SIZE (4)
+
+/** front-facing distance sensor pinout */
+#define W2_FRONT_SENSOR_PIN 5
+/** battery voltage sensor pinout */
+#define W2_BATTERY_PIN 6
+/** side-facing distance sensor pinout */
+#define W2_SIDE_SENSOR_PIN 7
\ No newline at end of file