diff --git a/Code/Main Feather Code/feather_main_personaldemo_PID.ino b/Code/Main Feather Code/feather_main_personaldemo_PID.ino
new file mode 100644
index 0000000000000000000000000000000000000000..2bdee0ab7ef18bca51a33609778b92e18d9928ab
--- /dev/null
+++ b/Code/Main Feather Code/feather_main_personaldemo_PID.ino
@@ -0,0 +1,515 @@
+#include <Wire.h>
+#include <Adafruit_MotorShield.h>
+//#include "Adafruit_VL53L0X.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);
+ }
+}