`make format`0.6.0

6 files changed, 89 insertions, 104 deletions

diff --git a/robot/mode_chrg.c b/robot/mode_chrg.c
index 64497e2..5b733af 100644
--- a/robot/mode_chrg.c
+++ b/robot/mode_chrg.c
@@ -1,8 +1,8 @@
 #include "mode_chrg.h"
 #include "mode_grid.h"
-#include "orangutan_shim.h"
-#include "movement.h"
 #include "modes.h"
+#include "movement.h"
+#include "orangutan_shim.h"
 
 int g_w2_charged_status;
 
@@ -22,20 +22,19 @@ void w2_home() {
 	set_motors(0, 0);
 	play_frequency(300, 500, 7);
 	delay_ms(600);
-	g_w2_position	  = read_line(g_w2_sensors, IR_EMITTERS_ON);
+	g_w2_position		= read_line(g_w2_sensors, IR_EMITTERS_ON);
 	g_w2_charged_status = 1;
 	clear();
 	delay_ms(2000);
 }
 
-
 void w2_charge_cross_walk() {
 	if (g_w2_transition == 0) {
 		set_motors(-30, 30);
 		delay(50);
 	}
-	while (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 && g_w2_sensors[3] < 100 &&
-		   g_w2_sensors[4] < 100) {
+	while (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 &&
+		   g_w2_sensors[3] < 100 && g_w2_sensors[4] < 100) {
 		set_motors(15, 15);
 		delay(550);
 		g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
@@ -44,12 +43,12 @@ void w2_charge_cross_walk() {
 			// clear();
 			print("WALK");
 			g_w2_transition++;
-			if (g_w2_transition == 3) { //TODO: document g_w2_transition
+			if (g_w2_transition == 3) { // TODO: document g_w2_transition
 				set_motors(40, 40);
 				delay(600);
 				set_motors(0, 0);
 
-				g_w2_transition	= 0;
+				g_w2_transition = 0;
 				w2_modes_swap(W2_M_MAZE);
 				break;
 			}
@@ -60,7 +59,6 @@ void w2_charge_cross_walk() {
 	}
 }
 
-
 void w2_mode_chrg() {
 	unsigned int last_proportional = 0;
 	long integral				   = 0;
@@ -99,8 +97,8 @@ void w2_mode_chrg() {
 		if (power_difference > max) power_difference = max;
 		if (power_difference < -max) power_difference = -max;
 
-		if (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 && g_w2_sensors[3] < 100 &&
-			g_w2_sensors[4] < 100) {
+		if (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 &&
+			g_w2_sensors[3] < 100 && g_w2_sensors[4] < 100) {
 			w2_charge_cross_walk();
 			if (g_w2_mode_history[g_w2_mode_history_index] == W2_M_MAZE) {
 				break;
@@ -119,8 +117,8 @@ void w2_mode_chrg() {
 			w2_maze_rotation_half_left();
 		}
 
-		else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 250 && g_w2_sensors[2] >= 500 && g_w2_sensors[3] >= 250 &&
-				 g_w2_sensors[4] >= 500) {
+		else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 250 && g_w2_sensors[2] >= 500 &&
+				 g_w2_sensors[3] >= 250 && g_w2_sensors[4] >= 500) {
 			clear();
 			w2_maze_rotation_half_left();
 		} else {
diff --git a/robot/mode_grid.c b/robot/mode_grid.c
index e864db7..16dbef3 100644
--- a/robot/mode_grid.c
+++ b/robot/mode_grid.c
@@ -1,7 +1,7 @@
 #include "mode_grid.h"
-#include "orangutan_shim.h"
 #include "modes.h"
 #include "movement.h"
+#include "orangutan_shim.h"
 
 int g_w2_order_number;
 
@@ -22,7 +22,7 @@ void w2_location_message() {
 	print_long(g_w2_location.x);
 	print(",");
 	print_long(g_w2_location.y);
-	delay(200); 
+	delay(200);
 }
 
 int g_w2_detection = 0;
@@ -32,8 +32,8 @@ char g_w2_y_location = 0;
 
 void w2_crosswalk_stroll() {
 	print("hoi");
-	while (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 && g_w2_sensors[3] < 100 &&
-		   g_w2_sensors[4] < 100) {
+	while (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 &&
+		   g_w2_sensors[3] < 100 && g_w2_sensors[4] < 100) {
 		set_motors(15, 15);
 		delay(290);
 		g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
@@ -45,7 +45,7 @@ void w2_crosswalk_stroll() {
 			if (g_w2_transition == 3) {
 				set_motors(40, 40);
 				delay(600);
-				g_w2_transition	= 0;
+				g_w2_transition = 0;
 				w2_modes_swap(W2_M_GRID);
 				return;
 			}
@@ -66,41 +66,42 @@ void w2_grid_crossway_detection() {
 }
 
 void w2_grid_follow_line() {
-	unsigned int last_proportional=0;
-	long integral=0;
+	unsigned int last_proportional = 0;
+	long integral				   = 0;
 
-	while(1) {
-		g_w2_position = read_line(g_w2_sensors,IR_EMITTERS_ON);
+	while (1) {
+		g_w2_position	 = read_line(g_w2_sensors, IR_EMITTERS_ON);
 		int proportional = ((int)g_w2_position) - 2000;
-		int derivative = proportional - last_proportional;
+		int derivative	 = proportional - last_proportional;
 		integral += proportional;
-		last_proportional = proportional;
-		int power_difference = proportional/20 + integral/10000 + derivative*3/2;
+		last_proportional	 = proportional;
+		int power_difference = proportional / 20 + integral / 10000 + derivative * 3 / 2;
 
 		const int max = 60;
-		if(power_difference > max)
-		power_difference = max;
-		if(power_difference < -max)
-		power_difference = -max;
-		
-		if(g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 250  && g_w2_sensors[2] >= 500  &&  g_w2_sensors[3] >= 250  &&g_w2_sensors[4] >= 500){
+		if (power_difference > max) power_difference = max;
+		if (power_difference < -max) power_difference = -max;
+
+		if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 250 && g_w2_sensors[2] >= 500 &&
+			g_w2_sensors[3] >= 250 && g_w2_sensors[4] >= 500) {
 			break;
-		}
-		else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 200 && g_w2_sensors[4] < 100){
+		} else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 200 && g_w2_sensors[4] < 100) {
 			break;
-		}
-		else if(g_w2_sensors[4] >= 500 && g_w2_sensors[3] >= 200 && g_w2_sensors[0] < 100){ //for the south and west borders of the grid
+		} else if (g_w2_sensors[4] >= 500 && g_w2_sensors[3] >= 200 &&
+				   g_w2_sensors[0] < 100) { // for the south and west borders of the grid
 			break;
-		}
-		else if(g_w2_sensors[4] >= 500 && g_w2_sensors[3] >= 200 && g_w2_sensors[2] <100 && g_w2_sensors[0] < 100){ //sharp right corners
+		} else if (g_w2_sensors[4] >= 500 && g_w2_sensors[3] >= 200 && g_w2_sensors[2] < 100 &&
+				   g_w2_sensors[0] < 100) { // sharp right corners
 			break;
 		}
 
-		else{
-			if(power_difference < 0 && (g_w2_sensors[2] > 100 || g_w2_sensors[3] > 100 || g_w2_sensors[1] > 100) ){
-			set_motors(max+power_difference, max);}
-			else if( power_difference > 0 && ( g_w2_sensors[2] > 100 || g_w2_sensors[3] > 100 || g_w2_sensors[1] > 100)){
-			set_motors(max, max-power_difference);}
+		else {
+			if (power_difference < 0 &&
+				(g_w2_sensors[2] > 100 || g_w2_sensors[3] > 100 || g_w2_sensors[1] > 100)) {
+				set_motors(max + power_difference, max);
+			} else if (power_difference > 0 &&
+					   (g_w2_sensors[2] > 100 || g_w2_sensors[3] > 100 || g_w2_sensors[1] > 100)) {
+				set_motors(max, max - power_difference);
+			}
 		}
 	}
 }
@@ -108,7 +109,7 @@ void w2_grid_follow_line() {
 void w2_begin_location() {
 	g_w2_location.x = 4;
 	g_w2_location.y = 0;
-	g_w2_direction  = W2_ORT_WEST;
+	g_w2_direction	= W2_ORT_WEST;
 }
 
 void w2_end_destination() {
@@ -325,21 +326,15 @@ void w2_mode_maze() {
 		if (power_difference > max) power_difference = max;
 		if (power_difference < -max) power_difference = -max;
 
-		if (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 && g_w2_sensors[3] < 100 &&
-			g_w2_sensors[4] < 100) {
-		} else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 250 && g_w2_sensors[2] >= 500 &&
-				   g_w2_sensors[3] >= 250 && g_w2_sensors[4] >= 500) {
-			w2_crossway_detection();
-		} else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 200 && g_w2_sensors[4] < 100) {
-			w2_half_rotation_left();
-		} else {
-			if (power_difference < 0 && (g_w2_sensors[2] > 100 || g_w2_sensors[3] > 100 || g_w2_sensors[1] > 100))
-				set_motors(max + power_difference, max);
-			else if (power_difference > 0 &&
-					 (g_w2_sensors[2] > 100 || g_w2_sensors[3] > 100 || g_w2_sensors[1] > 100))
-				set_motors(max, max - power_difference);
+		if (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 &&
+g_w2_sensors[3] < 100 && g_w2_sensors[4] < 100) { } else if (g_w2_sensors[0] >= 500 &&
+g_w2_sensors[1] >= 250 && g_w2_sensors[2] >= 500 && g_w2_sensors[3] >= 250 && g_w2_sensors[4] >=
+500) { w2_crossway_detection(); } else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 200 &&
+g_w2_sensors[4] < 100) { w2_half_rotation_left(); } else { if (power_difference < 0 &&
+(g_w2_sensors[2] > 100 || g_w2_sensors[3] > 100 || g_w2_sensors[1] > 100)) set_motors(max +
+power_difference, max); else if (power_difference > 0 && (g_w2_sensors[2] > 100 || g_w2_sensors[3] >
+100 || g_w2_sensors[1] > 100)) set_motors(max, max - power_difference);
 		}
 	}
 }
 */
-
diff --git a/robot/mode_grid.h b/robot/mode_grid.h
index 3ba3db0..2df0d33 100644
--- a/robot/mode_grid.h
+++ b/robot/mode_grid.h
@@ -13,12 +13,7 @@ extern int g_w2_transition;
 
 void w2_crosswalk_stroll();
 
-typedef enum {
-	W2_ORT_NORTH,
-	W2_ORT_EAST,
-	W2_ORT_SOUTH,
-	W2_ORT_WEST
-} w2_e_orientation;
+typedef enum { W2_ORT_NORTH, W2_ORT_EAST, W2_ORT_SOUTH, W2_ORT_WEST } w2_e_orientation;
 
 // enum w2_e_section { mazeMode, gridMode, chargeMode } g_w2_parcour_mode;
 
@@ -28,4 +23,3 @@ typedef struct {
 } w2_s_grid_coordinate;
 
 extern w2_s_grid_coordinate g_w2_order[4];
-
diff --git a/robot/mode_maze.c b/robot/mode_maze.c
index da3fa2a..eb75e3c 100644
--- a/robot/mode_maze.c
+++ b/robot/mode_maze.c
@@ -1,19 +1,19 @@
 #include "mode_maze.h"
-#include "orangutan_shim.h"
-#include "movement.h"
 #include "mode_grid.h"
+#include "movement.h"
+#include "orangutan_shim.h"
 
 unsigned int g_w2_last_proportional = 0;
 long g_w2_integral					= 0;
 
 void w2_mode_maze() {
 	// PID controller
-	g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
+	g_w2_position	 = read_line(g_w2_sensors, IR_EMITTERS_ON);
 	int proportional = ((int)g_w2_position) - 2000;
-	int derivative = proportional - g_w2_last_proportional;
+	int derivative	 = proportional - g_w2_last_proportional;
 	g_w2_integral += proportional;
 	g_w2_last_proportional = proportional;
-	int power_difference = proportional / 20 + g_w2_integral / 10000 + derivative * 3 / 2;
+	int power_difference   = proportional / 20 + g_w2_integral / 10000 + derivative * 3 / 2;
 
 	const int max = 60;
 	if (power_difference > max) power_difference = max;
diff --git a/robot/movement.c b/robot/movement.c
index 82829c1..61a944b 100644
--- a/robot/movement.c
+++ b/robot/movement.c
@@ -1,60 +1,59 @@
-#include "orangutan_shim.h"
 #include "movement.h"
+#include "orangutan_shim.h"
 
-unsigned int g_w2_sensors[5]		= {0};
-unsigned int g_w2_position			= 0;
+unsigned int g_w2_sensors[5] = {0};
+unsigned int g_w2_position	 = 0;
 
-void w2_maze_rotation_full(){
-	set_motors(0,0);
+void w2_maze_rotation_full() {
+	set_motors(0, 0);
 	delay_ms(500);
-	set_motors(60,-60);
+	set_motors(60, -60);
 	delay_ms(540);
-	set_motors(0,0);
-	g_w2_position = read_line(g_w2_sensors,IR_EMITTERS_ON);
+	set_motors(0, 0);
+	g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
 	delay_ms(500);
 }
 
-void w2_maze_rotation_half_left(){
-	set_motors(0,0);
-	set_motors(50,50);
+void w2_maze_rotation_half_left() {
+	set_motors(0, 0);
+	set_motors(50, 50);
 	delay_ms(150);
-	set_motors(-30,30);
+	set_motors(-30, 30);
 	delay_ms(600);
-	set_motors(0,0);
-	g_w2_position = read_line(g_w2_sensors,IR_EMITTERS_ON);
+	set_motors(0, 0);
+	g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
 	delay_ms(500);
-
 }
-void w2_maze_rotation_half_right(){
-	set_motors(0,0);
-	set_motors(50,50);
+void w2_maze_rotation_half_right() {
+	set_motors(0, 0);
+	set_motors(50, 50);
 	delay_ms(150);
-	set_motors(30,-30);
+	set_motors(30, -30);
 	delay_ms(600);
-	set_motors(0,0);
-	set_motors(50,50);
+	set_motors(0, 0);
+	set_motors(50, 50);
 	delay_ms(150);
-	g_w2_position = read_line(g_w2_sensors,IR_EMITTERS_ON);
+	g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
 	delay_ms(500);
 }
 
-void w2_grid_rotation_full(){
-	set_motors(60,-60);
+void w2_grid_rotation_full() {
+	set_motors(60, -60);
 	delay_ms(540);
-	set_motors(10,10);
-	g_w2_position = read_line(g_w2_sensors,IR_EMITTERS_ON);
+	set_motors(10, 10);
+	g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
 }
 
-void w2_grid_rotation_half_left(){
-	set_motors(-30,30);
+void w2_grid_rotation_half_left() {
+	set_motors(-30, 30);
 	delay_ms(600);
-	set_motors(10,10);
-	g_w2_position = read_line(g_w2_sensors,IR_EMITTERS_ON);
+	set_motors(10, 10);
+	g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
 }
 
-void w2_grid_rotation_half_right(){
-	set_motors(30,-30);
+void w2_grid_rotation_half_right() {
+	set_motors(30, -30);
 	delay_ms(600);
-	set_motors(10,10);
-	g_w2_position = read_line(g_w2_sensors,IR_EMITTERS_ON);
+	set_motors(10, 10);
+	g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
 }
diff --git a/shared/errcatch.h b/shared/errcatch.h
index 07835c4..a56bc00 100644
--- a/shared/errcatch.h
+++ b/shared/errcatch.h
@@ -97,4 +97,3 @@ void w2_errcatch_throw_msg(w2_e_errorcode code, uint16_t length, const char *mes
  * TODO: doesn't handle null pointers from malloc
  */
 w2_s_error *w2_alloc_error(w2_e_errorcode code, uint16_t length, const char *message);
-