made it so we can read indiviual buttons

src/C++/Driver/src/CKobuki.cpp

@@ -671,7 +671,7 @@ void CKobuki::sendNullMessage(){
     0x00,                // Placeholder for radius
     0x00                 // Placeholder for checksum
 };
-
+    
 
 message[10] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
               message[7] ^ message[8] ^ message[9];

src/C++/Driver/src/KobukiParser.cpp

@@ -1,8 +1,6 @@
 #include "KobukiParser.h"
 #include <iostream>
-//checkedValue const maken
+//moet checkenvalue gebruiken of moet kijken naar de payloadlength welke dingen er extra zijn
-//bitwise operators nachecken met website van kobuki serial website
-//cliffsensor kan rauwe getallen zijn
 int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
     int rtrnvalue = checkChecksum(data);
     if (rtrnvalue != 0) {
@@ -110,7 +108,7 @@ void KobukiParser::parseBasicData(TKobukiData &output, unsigned char *data, int
     checkedValue += 2;
     output.BumperCenter = (data[checkedValue] & 0x02) >> 1;
     output.BumperLeft = (data[checkedValue] & 0x04) >> 2;
-    output.BumperRight = data[checkedValue] & 0x01;
+    output.BumperRight = data[checkedValue] & 0x01; 
     checkedValue++;
     output.WheelDropLeft = (data[checkedValue] & 0x02) >> 1;
     output.WheelDropRight = data[checkedValue] & 0x01;
@@ -127,7 +125,9 @@ void KobukiParser::parseBasicData(TKobukiData &output, unsigned char *data, int
     checkedValue++;
     output.PWMright = data[checkedValue];
     checkedValue++;
-    output.ButtonPress = data[checkedValue];
+    output.ButtonPress1  = data[checkedValue] & 0x01;
+    output.ButtonPress2 = data[checkedValue] & 0x02;
+    output.ButtonPress3 = data[checkedValue] & 0x04;
     checkedValue++;
     output.Charger = data[checkedValue];
     checkedValue++;

src/C++/Driver/src/KobukiParser.h

@@ -19,7 +19,8 @@ struct TKobukiData {
     int CliffCenter, CliffLeft, CliffRight;
     int EncoderLeft, EncoderRight;
     int PWMleft, PWMright;
-    int ButtonPress, Charger, Battery, overCurrent;
+    int ButtonPress1, ButtonPress2, ButtonPress3;
+    int Charger, Battery, overCurrent;
     int IRSensorRight, IRSensorCenter, IRSensorLeft;
     int GyroAngle, GyroAngleRate;
     int CliffSensorRight, CliffSensorCenter, CliffSensorLeft;

src/C++/Driver/src/main.cpp

@@ -12,60 +12,60 @@ void logToFile();
 
 int main()
 {
-	unsigned char *null_ptr(0);
+    unsigned char *null_ptr(0);
-	robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
+    robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
-    
+
-    std::thread safety([&robot]() { robot.robotSafety(); }); // use a lambda function to call the member function
+    std::thread safety([&robot]()
+                       { robot.robotSafety(); }); // use a lambda function to call the member function
     safety.detach();
 
     thread movementThread(movement);
-    movementThread.join(); //so the program doesnt quit
+    movementThread.join(); // so the program doesnt quit
-	return 0;
+    return 0;
 }
 
 int checkCenterCliff()
 {
-	while (true)
+    while (true)
-	{
+    {
-		std::cout << robot.parser.data.CliffSensorRight << endl;
+        std::cout << robot.parser.data.CliffSensorRight << endl;
-	}
+    }
 }
 
 int movement()
 {
-	int text;
+    int text;
-	while (true)
+    while (true)
-	{
+    {
         cout << "gimme input: ";
-		cin >> text;
+        cin >> text;
 
-		if (text == 1)
+        if (text == 1)
-		{
+        {
             robot.forward(400);
-
+        }
-		}
+        else if (text == 2)
-		else if (text == 2)
+        {
-		{
+            // 1 is full circle
-			// 1 is full circle
+            robot.Rotate(90);
-			robot.Rotate(90);
+        }
-		}
+        else if (text == 3)
-		else if (text == 3)
+        {
-		{
+            // Add your code here for text == 3
-			// Add your code here for text == 3
+        }
-		}
+        else
-		else
+        {
-		{
+            try
-			try
+            {
-			{
+                robot.doRotation(text);
-				robot.doRotation(text);
+                throw "NaN";
-				throw "NaN";
+            }
-			}
+            catch (const char *msg)
-			catch (const char *msg)
+            {
-			{
+                cerr << msg << endl;
-				cerr << msg << endl;
+            }
-			}
+        }
-		}
+    }
-	}
 }
 
 void logToFile()
@@ -73,7 +73,7 @@ void logToFile()
     while (true)
     {
         TKobukiData robotData = robot.parser.data;
-    	std::ofstream outputFile("log", std::ios_base::app); // Open file in append mode to not overwrite own content
+        std::ofstream outputFile("log", std::ios_base::app); // Open file in append mode to not overwrite own content
         if (outputFile.is_open())
         { // check if the file was opened successfully
             // Get current time
@@ -98,7 +98,9 @@ void logToFile()
             outputFile << "EncoderRight: " << robotData.EncoderRight << "\n";
             outputFile << "PWMleft: " << robotData.PWMleft << "\n";
             outputFile << "PWMright: " << robotData.PWMright << "\n";
-            outputFile << "ButtonPress: " << robotData.ButtonPress << "\n";
+            outputFile << "ButtonPress: " << robotData.ButtonPress1 << "\n";
+            outputFile << "ButtonPress: " << robotData.ButtonPress2 << "\n";
+            outputFile << "ButtonPress: " << robotData.ButtonPress3 << "\n";
             outputFile << "Charger: " << robotData.Charger << "\n";
             outputFile << "Battery: " << robotData.Battery << "\n";
             outputFile << "overCurrent: " << robotData.overCurrent << "\n";
@@ -122,7 +124,7 @@ void logToFile()
             outputFile << "UDID0: " << robotData.extraInfo.UDID0 << "\n";
             outputFile << "UDID1: " << robotData.extraInfo.UDID1 << "\n";
             outputFile << "UDID2: " << robotData.extraInfo.UDID2 << "\n";
-			outputFile.close();
+            outputFile.close();
         }
         else
         {