Merge branch 'develop' into feature/SerialCommunication

.gitignore

@@ -1,26 +1,221 @@
-###Git Ignore Filetypes###
+Release/
+Debug/
+Build/
+Drivers/
+Catch/
+googletest/
+TestFootage
+
 
-# JetBrains
-.idea/
 
-#compiled source#
-#################
+
+# Created by https://www.gitignore.io/api/macos,windows,linux,jetbrains,cmake,c++,node
+
+### C++ ###
+# Prerequisites
+*.d
+*.cbp
+
+# Compiled Object files
+*.slo
+*.lo
 *.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
 *.so
+*.dylib
+*.dll
 
-Release/
-Debug/
-Build/
+# Fortran module files
+*.mod
+*.smod
 
-#cmake-generated files#
-.cmake
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### CMake ###
 CMakeCache.txt
+CMakeFiles
+CMakeScripts
+Testing
+Makefile
+cmake-build-*
+cmake_install.cmake
+install_manifest.txt
+compile_commands.json
+CTestTestfile.cmake
+
+### JetBrains ###
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio and Webstorm
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff:
+.idea/
+
+## File-based project format:
+*.iws
+
+## Plugin-specific files:
+
+# IntelliJ
+/out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+### JetBrains Patch ###
+# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721
+
+# *.iml
+# modules.xml
+# .idea/misc.xml
+# *.ipr
+
+### Linux ###
+*~
+
+# temporary files which can be created if a process still has a handle open of a deleted file
+.fuse_hidden*
+
+# KDE directory preferences
+.directory
 
-# NPM
+# Linux trash folder which might appear on any partition or disk
+.Trash-*
+
+# .nfs files are created when an open file is removed but is still being accessed
+.nfs*
+
+### macOS ###
+*.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### Node ###
+# Logs
+logs
+*.log
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*
+
+# Runtime data
+pids
+*.pid
+*.seed
+*.pid.lock
+
+# Directory for instrumented libs generated by jscoverage/JSCover
+lib-cov
+
+# Coverage directory used by tools like istanbul
+coverage
+
+# nyc test coverage
+.nyc_output
+
+# Grunt intermediate storage (http://gruntjs.com/creating-plugins#storing-task-files)
+.grunt
+
+# Bower dependency directory (https://bower.io/)
+bower_components
+
+# node-waf configuration
+.lock-wscript
+
+# Compiled binary addons (http://nodejs.org/api/addons.html)
+build/Release
+
+# Dependency directories
 node_modules/
+jspm_packages/
 
-# Submodules
-Drivers/
-googletest/
+# Typescript v1 declaration files
+typings/
 
-TestFootage
+# Optional npm cache directory
+.npm
+
+# Optional eslint cache
+.eslintcache
+
+# Optional REPL history
+.node_repl_history
+
+# Output of 'npm pack'
+*.tgz
+
+# Yarn Integrity file
+.yarn-integrity
+
+# dotenv environment variables file
+.env
+
+
+### Windows ###
+# Windows thumbnail cache files
+Thumbs.db
+ehthumbs.db
+ehthumbs_vista.db
+
+# Folder config file
+Desktop.ini
+
+# Recycle Bin used on file shares
+$RECYCLE.BIN/
+
+# Windows Installer files
+*.cab
+*.msi
+*.msm
+*.msp
+
+# Windows shortcuts
+*.lnk
+
+# End of https://www.gitignore.io/api/macos,windows,linux,jetbrains,cmake,c++,node

.gitmodules

@@ -4,3 +4,6 @@
 [submodule "googletest"]
 	path = Libraries/googletest
 	url = https://github.com/google/googletest.git
+[submodule "Libraries/Catch"]
+	path = Libraries/Catch
+	url = https://github.com/philsquared/Catch.git

ArduinoController/ArduinoController.ino

@@ -1,5 +1,3 @@
-#include <ArduinoJson.h>
-
 #include "ThrustController.h"
 #include "EscController.h"
 #include "LedController.h"
@@ -8,7 +6,6 @@
 #include "KillSwitchController.h"
 #include "VoltageController.h"
 #include "StartController.h"
-#include "PinJSON.h"
 
 const uint32_t CONTROLLER_CNT = 13u;
 class IController* controllers[CONTROLLER_CNT];

ArduinoController/EscController.h

@@ -13,29 +13,15 @@ class EscController : public IController {
     GpioPin::ESC_S5_PIN,
     GpioPin::ESC_S6_PIN
   };
+
 public:
   EscController() {
     for(uint32_t i = 0; i < GPIO_CNT; i++) {
       pinMode(GPIO_PINS[i], OUTPUT);
       digitalWrite(GPIO_PINS[i], HIGH);
     }
   }
-
-  void setupPins_() {
-    for(int i = 0; i < pinCount; i++) {
-      pinMode(pins_[i], OUTPUT);
-      digitalWrite(pins_[i], HIGH);
-    }
-  }
-
-public:
-
-  EscController(JsonObject& pins) {
-    pinCount = pins["gpio"].size();
-    assignPins_(pins["gpio"]);
-    setupPins_();
-  }
-
+
   void execute() {
     uint8_t toggle = SerialTools::readByte();
     for(uint32_t i = 0; i < GPIO_CNT; i++) {
@@ -50,4 +36,4 @@ class EscController : public IController {
   }
 };
 
-#undef GPIO_CNT
+#undef GPIO_CNT

BoneCentral/Brain/CppInterface/ThrustController.js

@@ -8,45 +8,50 @@ module.exports = (function(){
         this._cmdOut = cmdOut;
     }
 
-    ThrustController.prototype.goDirection = function(forward, strafe, dive) {
+    ThrustController.prototype.goDirection = function(move, secondDive, dive) {
         var cmdString =
-            "goDirection " + forward + " " + strafe + " " + " " + dive + "\n";
+            "goDirection " + move + " " + secondDive + " " + " " + dive + "\n";
         this._cmdOut.write(cmdString);
     };
 
-    ThrustController.prototype.faceDirection = function(yaw, dive){
+    ThrustController.prototype.rotate = function(yaw, pitch, roll){
         var cmdString =
-            "faceDirection " + yaw + " " + dive + "\n";
+            "rotate " + yaw + " " + pitch + " " + roll + "\n";
         this._cmdOut.write(cmdString);
     };
 
-    ThrustController.prototype.setDiveOffset = function(front, back) {
-        var cmdString = "setDiveOffset " + front + " " + back + "\n";
+    ThrustController.prototype.move = function (throttle) {
+        var cmdString = "move " + throttle + "\n";
         this._cmdOut.write(cmdString);
     };
 
-    ThrustController.prototype.setForwardTrim = function(left, right) {
-        var cmdString = "setForwardTrim " + left + " " + right + "\n";
+    ThrustController.prototype.secondaryDive = function (throttle) {
+        var cmdString = "secondaryDive " + throttle + "\n";
         this._cmdOut.write(cmdString);
     };
 
-    ThrustController.prototype.setStrafeTrim = function(left, right) {
-        var cmdString = "setStrafeTrim " + left + " " + right + "\n";
+    ThrustController.prototype.dive = function (throttle) {
+        var cmdString = "primaryDive " + throttle + "\n";
         this._cmdOut.write(cmdString);
     };
 
-    ThrustController.prototype.setDiveTrim = function(front, back) {
-        var cmdString = "setDiveTrim " + front + " " + back + "\n";
+    ThrustController.prototype.yaw = function (throttle) {
+        var cmdString = "yaw " + throttle + "\n";
         this._cmdOut.write(cmdString);
     };
 
-    ThrustController.prototype.thrustForward = function (left, right) {
-        var cmdString = "thrustForward " + left + " " + right + "\n";
+    ThrustController.prototype.pitch = function (throttle) {
+        var cmdString = "pitch " + throttle + "\n";
         this._cmdOut.write(cmdString);
     };
 
-    ThrustController.prototype.dive = function (forward, rear) {
-        var cmdString = "dive " + forward + " " + rear + "\n";
+    ThrustController.prototype.roll = function (throttle) {
+        var cmdString = "roll " + throttle + "\n";
+        this._cmdOut.write(cmdString);
+    };
+
+    ThrustController.prototype.kill = function () {
+        var cmdString = "killThrust\n";
         this._cmdOut.write(cmdString);
     };