diff --git a/Code/Kamil's Feather Code/feather_main_personaldemo_PID/feather_main_personaldemo_PID.ino b/Code/Kamil's Feather Code/feather_main_personaldemo_PID/feather_main_personaldemo_PID.ino
deleted file mode 100644
index 089e84a4650976502bcf6a28e3925d89fd9bf702..0000000000000000000000000000000000000000
--- a/Code/Kamil's Feather Code/feather_main_personaldemo_PID/feather_main_personaldemo_PID.ino
+++ /dev/null
@@ -1,514 +0,0 @@
-#include <Wire.h>
-#include <Adafruit_MotorShield.h>
-#include "ArnholdMesh.h"
-#include "LedPanel.h"
-#include <Arduino.h>
-#include <string>
-#include <vector>
-#include "Camera.h"
-#include <PID_v1.h>
-#include "utilities.h"
-
-//definition needed for mesh
-#define STATION_SSID "lemur"
-#define STATION_PASSWORD ""
-#define MQTT_BROKER ""
-#define MQTT_TOPIC ""
-
-double Setpointx, Inputx, Outputx;
-double Setpointy, Inputy, Outputy;
-
-//Identify all the global constants that will be used by the robot
-const int BAUD_RATE = 115200;
-const int MAX_SPEED = 255;
-const int SEEKING_SPEED = 70;
-const double RESOLUTION_W = 320.0;
-const double RESOLUTION_H = 240.0;
-const int ENDDEMO_TAG = 0;
-const uint32_t THISNODE_ID = 88789821;
-
-//Identify all the variables that will be used by the robot
-int findcolor = 1; //based on the same code from openMV. Determine the color you want to find
-char newPTCL = '1';
-int pau = 0;
-int displayTracking = 0;
-int8_t threshold[6] = {0, 0, 0, 0, 0, 0};
-int BASE_SPEED = 20; //125;
-
-//The debug LEDs that we will be using. Description at:
-const int DEBUG_STATE = 31;
-const int DEBUG_KP = 30;
-const int DEBUG_KI = 29;
-const int DEBUG_KD = 28;
-const int DEBUG_BASESPEED = 27;
-const int DEBUG_THRESHOLD_MIN = 26;
-const int DEBUG_THRESHOLD_MAX = 25;
-const int DEBUG_VERTICALSPEED = 17;
-const int DEBUG_RSPEED = 16;
-const int DEBUG_LSPEED = 24;
-
-//Create the interface that will be used by the camera
-openmv::rpc_scratch_buffer<256> scratch_buffer; // All RPC objects share this buffer.
-openmv::rpc_i2c_master interface(0x12, 100000); //to make this more robust, consider making address and rate as constructor argument
-
-// Create the motor shield object with the default I2C address
-Adafruit_MotorShield AFMS = Adafruit_MotorShield();
-Adafruit_DCMotor *motorVertical = AFMS.getMotor(3);
-Adafruit_DCMotor *motorLeft = AFMS.getMotor(2);
-Adafruit_DCMotor *motorRight = AFMS.getMotor(4);
-
-
-Camera cam(&interface);
-LedPanel panel(NUMPIXELS,PIN_PIXELS);
-ArnholdMesh thisNode;
-
-//Specify the links and initial tuning parameters
-double Kpx=2, Kix=0.05, Kdx=0.25;
-double Kpy=2, Kiy=0.1, Kdy=0.25;
-PID PID_x(&Inputx, &Outputx, &Setpointx, Kpx, Kix, Kdx, DIRECT);
-PID PID_y(&Inputy, &Outputy, &Setpointy, Kpy, Kiy, Kdy, DIRECT);
-
-void setup() {
- Serial.begin(BAUD_RATE);
- translateCodetoThreshold(findcolor);
- Wire.begin();
- AFMS.begin(); // create with the default frequency 1.6KHz
- interface.begin(); //communication between ESP and OpenMV
- panel.beginPanel();
-
- thisNode.setPanel(&panel);
- thisNode.setStationInfo(STATION_SSID, STATION_PASSWORD);
- thisNode.setMQTTInfo(MQTT_BROKER, MQTT_TOPIC);
- thisNode.amIMQTTBridge(false);
- thisNode.init();
-
- Setpointx = 160.0;
- Setpointy = 120.0; //the values that the PID will try to reach
- PID_y.SetOutputLimits(-255, 255); //up positive
- PID_x.SetOutputLimits(-255, 255); //left positive
- PID_x.SetMode(AUTOMATIC);
- PID_y.SetMode(AUTOMATIC);
-}
-
-void loop() {
- //
- panel.singleLED(DEBUG_BASESPEED, BASE_SPEED, BASE_SPEED, BASE_SPEED);
-
-// float r = 0;
-// float g = 0;
-// float b = 0;
-// lab2rgb((float)threshold[0], (float)threshold[2], (float)threshold[4], r, g, b);
-// panel.singleLED(DEBUG_THRESHOLD_MIN, (int)r, (int)g, (int)b);
-// lab2rgb((float)threshold[1], (float)threshold[3], (float)threshold[5], r, g, b);
-// panel.singleLED(DEBUG_THRESHOLD_MAX, (int)r, (int)g, (int)b);
-//
- //
- thisNode.update();
-
- while(pau == 1){
- thisNode.update();
- int zero = 0;
- moveVertical(zero);
- moveHorizontal(zero,zero);
- panel.singleLED(DEBUG_STATE, 10, 10, 0);
- Serial.println("pause");
- }
-
- //Check to see if we want to end the demo
- int xtemp = 0;
- int ytemp = 0;
- int angletemp = 0;
- if(cam.exe_apriltag_detection(ENDDEMO_TAG, &xtemp, &ytemp, &angletemp)){
- int zero = 0;
- moveVertical(zero);
- moveHorizontal(zero,zero);
- panel.singleLED(DEBUG_STATE, 0, 0, 10);
- while(1){
- Serial.println("end of demo");
- }
- }
-
- //if the demo is still ongoing, check to see if there is a desired-color blob
- int x = 0;
- int y = 0;
- panel.singleLED(DEBUG_STATE, 10, 0, 0); //standby
-// Serial.print("current threshold: ");
-// for (int j = 0; j < 6; j++){
-// Serial.print(threshold[j]);
-// Serial.print(" ");
-// }
-// Serial.println("");
- if(cam.exe_color_detection_biggestblob(threshold[0], threshold[1], threshold[2], threshold[3], threshold[4], threshold[5], x, y)){
- if (displayTracking > 0){
- displayTrackedObject(x, y, RESOLUTION_W, RESOLUTION_H); //THIS NEEDS WORK
- }
- panel.singleLED(DEBUG_STATE, 0, 10, 0);
- Serial.println("blob detected");
- Serial.print("x value: ");
- Serial.println(x);
- Serial.print("y value: ");
- Serial.println(y);
- Inputx = x/1.00;
- Inputy = y/1.00;
- PID_x.Compute();
- PID_y.Compute();
-
- Serial.println(Outputy);
- Serial.println(Outputx);
-
- //actuate the vertical motor
- moveVertical(Outputy);
- moveHorizontal(Outputx, BASE_SPEED);
-
- } else { //seeking algorithm
- //panel.resetPanel();
- panel.singleLED(DEBUG_STATE, 10, 10, 10);
- Serial.println("seeking...");
- int zero = 0;
- moveVertical(zero);
- moveHorizontal(SEEKING_SPEED, zero);
- }
-}
-
-//vel value should be between -255 to 255 with positive values moving the blimp
-//upward.
-void moveVertical(int vel){
- if (vel > 0) { //up
- panel.singleLED(DEBUG_VERTICALSPEED, abs(vel), 0, 0);
- motorVertical->setSpeed(abs((int) vel));
- motorVertical->run(BACKWARD);
- } else if(vel < 0) { //down
- panel.singleLED(DEBUG_VERTICALSPEED, 0, 0, abs(vel));
- motorVertical->setSpeed(abs((int) Outputy));
- motorVertical->run(FORWARD);
- } else {
- panel.singleLED(DEBUG_VERTICALSPEED, 0, 0, 0);
- motorVertical->setSpeed(0);
- }
-}
-
-void moveHorizontal(int vel_hori,int base_speed){
- int lspeed = -1*vel_hori + base_speed;
- int rspeed = vel_hori + base_speed;
-
- if (rspeed > 0){
- motorLeft->run(BACKWARD);
- } else {
- motorLeft->run(FORWARD);
- }
-
- if (lspeed > 0){
- motorRight->run(BACKWARD);
- } else {
- motorRight->run(FORWARD);
- }
- displaySpeed(lspeed, rspeed);
- motorLeft->setSpeed(min(MAX_SPEED, abs(rspeed)));
- motorRight->setSpeed(min(MAX_SPEED, abs(lspeed)));
-}
-
-void displaySpeed(int lspeed, int rspeed){
- //Serial.println("display speed");
- if (lspeed < 0){
- panel.singleLED(DEBUG_LSPEED, 0, 0, abs(lspeed));
- } else {
- panel.singleLED(DEBUG_LSPEED, abs(lspeed), 0, 0);
- }
-
- if (rspeed < 0){
- panel.singleLED(DEBUG_RSPEED, 0, 0, abs(rspeed));
- } else {
- panel.singleLED(DEBUG_RSPEED, abs(rspeed), 0, 0);
- }
-}
-
-//When using the camera to detect objects such as colored blobs or april tags. This function is
-//useful when only a single object is the target. The approximate position will be marked with an
-//led turning white in the 8*4 panel of the NeoPixel LED Panel. Therefore, this function can be
-//called assuming that you have created the LED panel object, which in this code is named "panel".
-//If the LED panel is called something else, just edit the code here
-void displayTrackedObject(int cx, int cy, int w_res, int h_res){
- int lednum = 0;
- int vertshift = 0;
- panel.resetPanel();
- lednum = cx/(w_res/8); //because lednum is an int, it will handle flooring the value
- vertshift = cy/(h_res/4);
- lednum = lednum + 8*vertshift;
- panel.singleLED(lednum, 10, 10 , 10);
-}
-
-
-//Interpret a message to change what color the camera is detecting
-void setColor(String msg) {
- if (msg.length() < 3){
- int val = msg.toInt();
- translateCodetoThreshold(val);
- Serial.println("code detected");
- } else {
- Serial.println("new threshold detected");
- setColorThreshold(msg, threshold, 6);
- }
- for (int j = 0; j < 6; j++){
- Serial.print(threshold[j]);
- Serial.print(" ");
- }
- Serial.println("");
-}
-
-//in case we don't want to maually set each LAB threshold, we can send over an int to
-//use preset threshold values instead
-void translateCodetoThreshold(int code){
- switch(code){
- case 1: //green old = (30, 100, -68, -13, 30, 127)
- //(30,100,-68,2,6,127) - detect the yellow wall as well
- threshold[0] = 30;
- threshold[1] = 100;
- threshold[2] = -93;
- threshold[3] = -5;
- threshold[4] = 13;
- threshold[5] = 127;
- break;
- case 2: //blue
- threshold[0] = 30;
- threshold[1] = 100;
- threshold[2] = -108;
- threshold[3] = -9;
- threshold[4] = 0;
- threshold[5] = -42;
- break;
- case 5: //red (30, 100, 127, 41, 127, 13)
- threshold[0] = 30;
- threshold[1] = 100;
- threshold[2] = 127;
- threshold[3] = 41;
- threshold[4] = 127;
- threshold[5] = 13;
- }
-}
-
-
-//threshold array must have at least six elements. This function helps
-//translating a message with threshold values to ints. Example msg that would
-//be received by this function are "1 2 3 4 5 6" or "-100 70 9 -9 -50 128".
-//NOTE: - the threshold value should be between -128 to 128
-// - the message should not include the command character used by the mesh
-// - suggested command character: 'C'[olor]
-void setColorThreshold(String msg, int8_t thres[], int arraySize){
- int len = msg.length();
- int temp = 0;
- int startpoint = 0;
- for (int i = 0; i < len; i++){
- if (msg[i] == ' '){
- thres[temp] = msg.substring(startpoint,i).toInt();
- startpoint = i + 1;
- temp++;
- }
- if (temp == 5){
- thres[temp] = msg.substring(startpoint).toInt();
- break;
- }
- }
-}
-
-//This function translate a string of message into the constants for a PID controller. Ignoring the
-//first command character, user can input any one, two, or all three parameter to be changed by identifying
-//the new parameter with the capital letter of that specific parameter, each separated with a space.
-//Some of the valid msg examples are:
-// - "P0.02"
-// - "D1.23"
-// - "P0.14 D9.5"
-// - "P0.1 I0.1 D0.1"
-//
-//NOTE:
-// - the parameter doesn't have to be in order. You can do DI or IP in whichever order as long as it follows a valid double value
-// - while the function works if you passed a negative double, the PID controller will not and will produce error.
-// - suggested command character: 'T'[uning]
-void setPIDConstants(String msg, double &p_constant, double &i_constant, double &d_constant){
- double new_p = Kpx;
- double new_i = Kix;
- double new_d = Kdx;
-
- int len = msg.length();
- int startpoint = 0;
- int endpoint = 0;
- for (int i = 0; i < len; i++){
- if (msg[i] == 'P'){
- startpoint = i + 1;
- for (int j = i + 1; j < len; j++){
- if (msg[j] == ' '){
- endpoint = j;
- break;
- } else {
- endpoint = len;
- }
- }
- if (endpoint > startpoint){ //check to see if it is a valid value
- //Serial.println(msg.substring(startpoint, endpoint));
- new_p = msg.substring(startpoint, endpoint).toDouble();
- }
- }
-
- if (msg[i] == 'I'){
- startpoint = i + 1;
- for (int j = i + 1; j < len; j++){
- if (msg[j] == ' '){
- endpoint = j;
- break;
- } else {
- endpoint = len;
- }
- }
- if (endpoint > startpoint){ //check to see if it is a valid value
- //Serial.println(msg.substring(startpoint, endpoint));
- //i_constant = msg.substring(startpoint, endpoint).toDouble();
- new_i = msg.substring(startpoint, endpoint).toDouble();
- }
- }
-
- if (msg[i] == 'D'){
- startpoint = i + 1;
- for (int j = i + 1; j <= len; j++){
- if (msg[j] == ' ' || msg[j] == '\0'){
- endpoint = j;
- break;
- } else {
- endpoint = len;
- }
- }
- if (endpoint > startpoint){ //check to see if it is a valid value
- //Serial.println(msg.substring(startpoint, endpoint));
- //d_constant = msg.substring(startpoint, endpoint).toDouble();
- new_d = msg.substring(startpoint, endpoint).toDouble();
- }
- }
- }
-
- //DEBUGGING SECTION
- unsigned long t = millis();
- debugPIDConstants(DEBUG_KP, p_constant, new_p);
- debugPIDConstants(DEBUG_KI, i_constant, new_i);
- debugPIDConstants(DEBUG_KD, d_constant, new_d);
-
- p_constant = new_p;
- i_constant = new_i;
- d_constant = new_d;
-
- while(millis() < t+2000); //debugging LED will light up for 2 seconds
- panel.singleLED(DEBUG_KP, 0, 0, 0);
- panel.singleLED(DEBUG_KI, 0, 0, 0);
- panel.singleLED(DEBUG_KD, 0, 0, 0);
-}
-
-void debugPIDConstants(int lednum, double oldval, double newval){
- int r, g, b;
- if (newval > oldval){
- panel.singleLED(lednum, 0, 10, 0);
- } else if (newval < oldval){
- panel.singleLED(lednum, 10, 0, 0);
- } else { //equal
- panel.singleLED(lednum, 10, 10, 10);
- }
-}
-
-
-
-
-////MESH COMMUNICATION UTILITY FUNCTIONS////
-void interpretDashInstructions(String& msg){
- // Deserialize different dash topics as they are received
- String result;
- std::list<uint32_t> nodesToSend;
- Serial.println(msg);
- // If dash topic is Command
- if(thisNode.dashDeserialize(msg, "Command", result, nodesToSend)){
- // Interpret what command on the dash means
- char numChar = result[0];
- String commandContent = result.substring(1);
- if(numChar == 'G'){
- String topo = thisNode.mesh.subConnectionJson();
- thisNode.sendJsonToDash("Debug", topo);
- return;
- }
- else {
- thisNode.sendOverAllFreqs(nodesToSend, result);
- }
- }
- // If the dash topic is MasterJoystick
- else if(thisNode.dashDeserialize(msg, "MasterJoystick", result, nodesToSend)){
- // Interpret what a dash MasterJoystick message means
- String joystickcontrol = "J";
- joystickcontrol += result;
- thisNode.sendOverAllFreqs(nodesToSend, result);
- return;
- }
-}
-
-void vehicleInstruction(char instructionType, String instrData, uint32_t from){
- // Do something with the data receieved over the network
- // Based on what the instructionType is, do something different with the instrData
- // instructionType CAN NOT BE:
- // 'B', 'O', 'g', 'm', 'u', 'R', 'D'
- // I am using those within ArnholdMesh for testing purposes
- switch(instructionType){
- case 'C':
- setColor(instrData);
- Serial.print("color: ");
- Serial.println(instrData);
- break;
- case 'T':
- setPIDConstants(instrData, Kpx, Kix, Kdx);
- Serial.print("new PID constants: ");
- Serial.print(Kpx);
- Serial.print(" ");
- Serial.print(Kix);
- Serial.print(" ");
- Serial.print(Kdx);
- Serial.println("");
- break;
- case 'P': //pause the program
- pau = instrData.toInt();
- Serial.print("paused: ");
- Serial.println(pau);
- break;
- case 'S': //change the base speed
- int new_base_speed = instrData.toInt();
- if (new_base_speed >= 0 && new_base_speed <= 255){
- BASE_SPEED = new_base_speed;
- Serial.print("base speed: ");
- Serial.println(BASE_SPEED);
- } else {
- Serial.println("invalid base speed");
- }
- break;
- }
-}
-
-// Callback function needed for painlessMesh
-void receivedCallback(uint32_t from, String &msg) {
- Serial.printf("startHere: Received from %u msg=%s\n", from, msg.c_str());
- thisNode.lastMsgReceieved = millis();
- thisNode.colorsL[2] = 5;
- thisNode.panel->topLeftQuadrant(thisNode.colorsL[0], thisNode.colorsL[1], thisNode.colorsL[2]);
- thisNode.interpretInstruction(from, msg);
-}
-
-
-// Callback function needed for MQTT
-void mqttCallback(char* topic, uint8_t* payload, unsigned int length) {
- char* cleanPayload = (char*)malloc(length+1);
- memcpy(cleanPayload, payload, length);
- cleanPayload[length] = '\0';
- String msg = String(cleanPayload);
- free(cleanPayload);
- Serial.println(msg);
- interpretDashInstructions(msg);
-}
-
-void newConnectionCallback(uint32_t nodeId) {
- Serial.printf("--> startHere: New Connection, nodeId = %u\n", nodeId);
- digitalWrite(LED_BUILTIN, HIGH);
- if(thisNode.bridgeId == 0){
- String askpayload = "g";
- thisNode.sendOverAllFreqs(nodeId, askpayload);
- }
-}