Merge branch 'master'.

Author: Nightwalker-87

lib/pid/PID_v1.cpp renamed to lib/pid/pid_v1.cpp

@@ -10,19 +10,19 @@
  * based on Arduino PID Library - Version 1.1.1 by Brett Beauregard <br3ttb@gmail.com> brettbeauregard.com, licensed under a GPLv3 License
  */
 
-#include "PID_v1.h"
+#include "pid_v1.h"
 
 
-Pid::Pid(pid_t& input, pid_t& output, pid_t &setpoint, const pid_t kp, const pid_t ki, const pid_t kd, const bool direction) :
-        input_ { input }, output_ { output }, setpoint_ { setpoint }, out_min_ { 0 }, out_max_ { 255 }, in_auto_ { false },
-        direction_ { direction }, sample_time_ { 100 }, last_time_ { 0 } {
+Pid::Pid(pid_t& input, pid_t& output, pid_t& setpoint, const pid_t kp, const pid_t ki, const pid_t kd, const bool direction)
+    : input_ { input }, output_ { output }, setpoint_ { setpoint }, out_min_ { 0 }, out_max_ { 255 }, in_auto_ { false }, direction_ { direction },
+      sample_time_ { 100 }, last_time_ { 0 } {
     set_tunings(kp, ki, kd);
 
     initialize();
 }
 
 bool Pid::compute(const uint32_t time_ms) {
-    if (! in_auto_) {
+    if (!in_auto_) {
         return false;
     }
 
@@ -73,7 +73,7 @@ void Pid::set_tunings(const pid_t kp, const pid_t ki, const pid_t kd) {
     ki_ = ki * sample_time_s;
     kd_ = kd / sample_time_s;
 
-    if (! direction_) {
+    if (!direction_) {
         kp_ = (0.f - kp_);
         ki_ = (0.f - ki_);
         kd_ = (0.f - kd_);
@@ -111,7 +111,7 @@ void Pid::set_output_limits(const pid_t min, const pid_t max) {
 
 void Pid::set_mode(const Modes new_mode) {
     const bool new_auto { new_mode == Modes::AUTOMATIC };
-    if (new_auto && ! in_auto_) {
+    if (new_auto && !in_auto_) {
         /* we just went from manual to auto mode */
         initialize();
     }

lib/pid/PID_v1.h renamed to lib/pid/pid_v1.h

@@ -11,7 +11,7 @@
 
 #ifndef PID_v1_h
 #define PID_v1_h
-#define LIBRARY_VERSION	1.2.0
+#define LIBRARY_VERSION 1.2.0
 
 #include <cstdint>
 

platformio.ini

@@ -9,12 +9,12 @@
 ; http://docs.platformio.org/page/projectconf.html
 
 [env:1284p16m]
-platform = atmelavr
+platform = https://github.com/tsandmann/platform-atmelavr.git
 board = 1284p16m
 board_build.f_cpu = 16000000UL
 ;board_build.f_cpu = 20000000UL
 ;build_unflags = -std=gnu++11 -flto
 build_unflags = -std=gnu++11
-build_flags = -std=gnu++14 -flto -Wextra
+build_flags = -std=gnu++14 -Wextra
 ;build_flags = -std=gnu++14
 ;build_flags = -std=gnu++14 -save-temps -fverbose-asm -dA

src/speed_control.cpp

@@ -26,17 +26,18 @@
 #include "ctbot.h"
 #include "scheduler.h"
 
-#include <PID_v1.h>
+#include <pid_v1.h>
 #include <cmath>
 
 
 namespace ctbot {
 
 std::list<SpeedControl*> SpeedControl::controller_list_;
 
-SpeedControl::SpeedControl(Encoder& wheel_enc, Motor& motor) : direction_ { true }, setpoint_ { 0.f }, kp_ { 40 }, ki_ { 30 }, kd_ { 0 },
-        p_pid_controller_ { new Pid(input_, output_, setpoint_, kp_, ki_, kd_, true) }, wheel_encoder_ { wheel_enc }, motor_ { motor } {
-    if (! p_pid_controller_) {
+SpeedControl::SpeedControl(Encoder& wheel_enc, Motor& motor)
+    : direction_ { true }, setpoint_ {}, input_ {}, output_ {}, kp_ { 40.f }, ki_ { 30.f }, kd_ { 0.f },
+      p_pid_controller_ { new Pid(input_, output_, setpoint_, kp_, ki_, kd_, true) }, wheel_encoder_ { wheel_enc }, motor_ { motor } {
+    if (!p_pid_controller_) {
         return;
     }
 
@@ -57,7 +58,7 @@ SpeedControl::~SpeedControl() {
 }
 
 void SpeedControl::run() {
-    if (! p_pid_controller_) {
+    if (!p_pid_controller_) {
         return;
     }
 
@@ -76,7 +77,7 @@ void SpeedControl::run() {
 }
 
 void SpeedControl::set_parameters(const float kp, const float ki, const float kd) {
-    if (! p_pid_controller_) {
+    if (!p_pid_controller_) {
         return;
     }
 
@@ -87,8 +88,6 @@ void SpeedControl::set_parameters(const float kp, const float ki, const float kd
 }
 
 void SpeedControl::controller(void*) {
-    // std::cout << "SpeedControl::controller(): running speed controller at " << Timer::get_ms() << " ms\n";
-
     for (auto p_ctrl : controller_list_) {
         p_ctrl->run();
     }