comment

made working endpoint for kobuki data
attempt to fix endpoint
2025-08-05 12:54:57 +00:00 · 2024-11-06 13:08:48 +01:00 · 2024-11-05 19:11:29 +01:00 · 2024-11-05 17:07:40 +01:00 · 2024-11-05 17:06:07 +01:00 · 2024-11-05 14:20:24 +01:00
31 changed files with 2045 additions and 908 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -19,3 +19,15 @@ src/C++/Driver/Makefile
 src/C++/Driver/log
 build/
 venv
+src/C++/MQTT/CMakeFiles
+src/C++/MQTT/Makefile
+src/C++/MQTT/CMakeCache.txt
+src/C++/MQTT/cmake_install.cmake
+src/Python/flask/web/_pycache_
+venv
+build/
+log
+CMakeFiles/
+Makefile
+CMakeCache.txt
+cmake_install.cmake
--- a/docs/Ishak/feedback.md
+++ b/docs/Ishak/feedback.md
@@ -0,0 +1,2 @@
+# Feedback expert review 
+
--- a/docs/Ishak/smartleerdoel.md
+++ b/docs/Ishak/smartleerdoel.md
@@ -0,0 +1,49 @@
+# Smart leerdoelen
+
+Na de retrospective die ik heb gedaan, heb ik besloten om de volgende smart leerdoelen te stellen:
+
+1 **Ik wil in de volgende blok meer gaan opletten op mijn teamgenoten om zo goed te weten waar iedereen mee bezig is.**
+
+**specifiek:**
+
+ik heb in onze groep de taak als voorzitter alleen merk ik op dit moment dat ik niet goed weet waar iedereen mee bezig is. Dat is niet handig omdat ik dan als voorzitter niet goed kan inschatten of iedereen op schema ligt.
+
+**meetbaar:**
+
+Ik wil dat ik aan het einde van de blok meer contact heb gehad met mijn teamgenoten en dat ik weet waar iedereen mee bezig is. Dit zorgt ervoor dat ik beter kan inschatten of iedereen op schema ligt en of ik moet ingrijpen.
+
+**acceptabel:**
+
+Dit is acceptabel omdat ik als voorzitter de taak heb om te zorgen dat iedereen op schema ligt en dat iedereen weet wat hij/zij moet doen. Zonder deze informatie kan ik niet goed mijn taak uitvoeren waardoor de teamgenoten niet goed kunnen werken.
+
+**realistisch:**
+
+Dit is realistisch omdat ik als voorzitter de taak heb om te zorgen dat iedereen op schema ligt en dat iedereen weet wat hij/zij moet doen. 
+
+**tijdgebonden:**
+
+Ik wil dit doel behalen aan het einde van de blok. Dit is een realistische tijd omdat ik dan genoeg tijd heb om dit doel te behalen. Ik kan mij later ook nog tijdens de opleiding verbeteren op dit punt.
+
+---
+
+2 **Ik wil in de volgende blok meer gaan opletten op mijn eigen documentatie.**
+
+**specifiek:**
+
+In tegen stelling tot vorig jaar hou ik nu mijn documentatie niet goed bij. Dit is niet handig omdat ik dan niet goed kan zien wat ik daadwerkelijk heb gedaan en wat ik allemaal heb geleerd. Ook is het fijn dat ik dan kan terug kijken op mijn werk als ik het later nodig heb. Ik wil daarom minimaal 2 keer per week mijn documentatie bijwerken.
+
+**meetbaar:**
+
+Ik wil dat ik aan het einde van de blok mijn documentatie goed heb bijgehouden. Dit zorgt ervoor dat ik kan zien wat ik heb gedaan en wat ik allemaal heb geleerd. Ook kan ik dan terug kijken op mijn werk als ik het later nodig heb.
+
+**acceptabel:**
+
+Dit is acceptabel omdat ik dan toekomst gericht kan werken. Ik kan dan terug kijken op mijn werk als ik het later nodig heb. Ook kan ik dan zien wat ik heb gedaan en wat ik allemaal heb geleerd.
+
+**realistisch:**
+
+Dit is realistisch omdat ik dit vorig jaar ook heb gedaan. Ik weet hoe ik mijn documentatie moet bijhouden en wat ik allemaal moet opschrijven. Mijn eis van 2 keer per week is ook realistisch omdat ik dan genoeg tijd heb om mijn documentatie bij te werken. 
+
+**tijdgebonden:**
+
+Ik wil dit doel behalen aan het einde van de blok. Dit is een realistische tijd omdat ik dan genoeg tijd heb om mijn documentatie bij te werken.
--- a/docs/Ishak/smartleerdoel.pdf
+++ b/docs/Ishak/smartleerdoel.pdf
--- a/src/C++/Driver/CMakeLists.txt
+++ b/src/C++/Driver/CMakeLists.txt
@@ -1,12 +1,23 @@
 cmake_minimum_required(VERSION 3.9)
 project(kobuki_control)
 set(CMAKE_CXX_STANDARD 23)
+
+# Find the Paho MQTT C++ library (static)
+find_library(PAHO_MQTTPP_LIBRARY paho-mqttpp3 PATHS /usr/local/lib)
+find_library(PAHO_MQTT_LIBRARY paho-mqtt3a PATHS /usr/local/lib)
+
+include_directories(/usr/local/include)
+
 set(SOURCE_FILES
-        src/KobukiParser.cpp
-        src/KobukiParser.h
-        src/CKobuki.cpp
-        src/CKobuki.h
+    src/KobukiDriver/KobukiParser.cpp
+    src/KobukiDriver/KobukiParser.h
+    src/KobukiDriver/CKobuki.cpp
+    src/KobukiDriver/CKobuki.h
+    src/MQTT/MqttClient.cpp
+    src/MQTT/MqttClient.h
    src/main.cpp)

 add_executable(kobuki_control ${SOURCE_FILES})
-#target_link_libraries(kobuki_control )
+
+# Link the static libraries
+target_link_libraries(kobuki_control ${PAHO_MQTTPP_LIBRARY} ${PAHO_MQTT_LIBRARY} pthread)
--- a/src/C++/Driver/src/CKobuki.cpp
+++ b/src/C++/Driver/src/CKobuki.cpp
@@ -1,683 +0,0 @@
-#include "CKobuki.h"
-#include "errno.h"
-#include "termios.h"
-#include <cstddef>
-#include <iostream>
-#include <thread>
-
-
-// plot p;
-static std::vector<float> vectorX;
-static std::vector<float> vectorY;
-static std::vector<float> vectorGyroTheta;
-
-// obsluha tty pod unixom
-int set_interface_attribs2(int fd, int speed, int parity)
-{
-    struct termios tty;
-    memset(&tty, 0, sizeof tty);
-    if (tcgetattr(fd, &tty) != 0)
-    {
-        printf("error %d from tcgetattr", errno);
-        return -1;
-    }
-
-    cfsetospeed(&tty, speed);
-    cfsetispeed(&tty, speed);
-
-    tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8; // 8-bit chars
-    // disable IGNBRK for mismatched speed tests; otherwise receive break
-    // as \000 chars
-    // tty.c_iflag &= ~IGNBRK;         // disable break processing
-    tty.c_lflag = 0; // no signaling chars, no echo,
-    // no canonical processing
-    tty.c_oflag = 0;     // no remapping, no delays
-    tty.c_cc[VMIN] = 0;  // read doesn't block
-    tty.c_cc[VTIME] = 5; // 0.5 seconds read timeout
-
-    tty.c_iflag &= ~(IGNBRK | INLCR | ICRNL | IXON | IXOFF |
-                     IXANY); // shut off xon/xoff ctrl
-
-    tty.c_cflag |= (CLOCAL | CREAD); // ignore modem controls,
-    // enable reading
-    tty.c_cflag &= ~(PARENB | PARODD); // shut off parity
-    tty.c_cflag |= parity;
-    tty.c_cflag &= ~CSTOPB;
-    tty.c_cflag &= ~CRTSCTS;
-
-    if (tcsetattr(fd, TCSANOW, &tty) != 0)
-    {
-        printf("error %d from tcsetattr", errno);
-        return -1;
-    }
-    return 0;
-}
-
-void set_blocking2(int fd, int should_block)
-{
-    struct termios tty;
-    memset(&tty, 0, sizeof tty);
-    if (tcgetattr(fd, &tty) != 0)
-    {
-        printf("error %d from tggetattr", errno);
-        return;
-    }
-
-    tty.c_cc[VMIN] = should_block ? 1 : 0;
-    tty.c_cc[VTIME] = 5; // 0.5 seconds read timeout
-
-    if (tcsetattr(fd, TCSANOW, &tty) != 0)
-        printf("error %d setting term attributes", errno);
-}
-
-int CKobuki::connect(char *comportT)
-{
-    HCom = open(comportT, O_RDWR | O_NOCTTY | O_NONBLOCK);
-
-    if (HCom == -1)
-    {
-        printf("Kobuki nepripojeny\n");
-        return HCom;
-    }
-    else
-    {
-        set_interface_attribs2(HCom, B115200,
-                               0); // set speed to 115,200 bps, 8n1 (no parity)
-        set_blocking2(HCom, 0);    // set no blocking
-        /*  struct termios settings;
-          tcgetattr(HCom, &settings);
-
-          cfsetospeed(&settings, B115200); // baud rate
-          settings.c_cflag &= ~PARENB; // no parity
-          settings.c_cflag &= ~CSTOPB; // 1 stop bit
-          settings.c_cflag &= ~CSIZE;
-          settings.c_cflag |= CS8 | CLOCAL; // 8 bits
-          settings.c_lflag &= ~ICANON; // canonical mode
-          settings.c_cc[VTIME]=1;
-          settings.c_oflag &= ~OPOST; // raw output
-
-          tcsetattr(HCom, TCSANOW, &settings); // apply the settings*/
-        tcflush(HCom, TCOFLUSH);
-
-        printf("Kobuki pripojeny\n");
-        return HCom;
-    }
-}
-
-unsigned char *CKobuki::readKobukiMessage()
-{
-    unsigned char buffer[1];
-    ssize_t Pocet;
-    buffer[0] = 0;
-    unsigned char *null_buffer(0);
-    // citame kym nezachytime zaciatok spravy
-    do
-    {
-        Pocet = read(HCom, buffer, 1);
-    } while (buffer[0] != 0xAA);
-    // mame zaciatok spravy (asi)
-    if (Pocet == 1 && buffer[0] == 0xAA)
-    {
-        // citame dalsi byte
-        do
-        {
-
-            Pocet = read(HCom, buffer, 1);
-
-        } while (Pocet != 1); // na linuxe -1 na windowse 0
-
-        // a ak je to druhy byte hlavicky
-        if (Pocet == 1 && buffer[0] == 0x55)
-        {
-            // precitame dlzku
-            Pocet = read(HCom, buffer, 1);
-
-            // ReadFile(hCom, buffer, 1, &Pocet, NULL);
-            if (Pocet == 1)
-            {
-                // mame dlzku.. nastavime vektor a precitame ho cely
-                int readLenght = buffer[0];
-                unsigned char *outputBuffer =
-                    (unsigned char *)calloc(readLenght + 4, sizeof(char));
-                outputBuffer[0] = buffer[0];
-                int pct = 0;
-
-                do
-                {
-                    Pocet = 0;
-                    int readpoc = (readLenght + 1 - pct);
-                    Pocet = read(HCom, outputBuffer + 1 + pct, readpoc);
-
-                    pct = pct + (Pocet == -1 ? 0 : Pocet);
-                } while (pct != (readLenght + 1));
-
-                // tu si mozeme ceknut co chodi zo serial intefejsu Kobukiho
-                // for(int i=0;i<outputBuffer[0]+2;i++)
-                // {
-                // 	printf("%x ",outputBuffer[i]);
-                // }
-
-                return outputBuffer;
-            }
-        }
-    }
-
-    return null_buffer;
-}
-
-void CKobuki::setLed(int led1, int led2)
-{
-    unsigned char message[8] = {0xaa, 0x55, 0x04, 0x0c, 0x02, 0x00, (unsigned char)((led1 + led2 * 4) % 256), 0x00};
-    message[7] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6];
-    uint32_t pocet;
-    pocet = write(HCom, &message, 8);
-}
-
-// tato funkcia nema moc sama o sebe vyznam, payload o tom, ze maju byt externe
-// napajania aktivne musi byt aj tak v kazdej sprave...
-void CKobuki::setPower(int value)
-{
-    if (value == 1)
-    {
-        unsigned char message[8] = {0xaa, 0x55, 0x04, 0x0C, 0x02, 0xf0, 0x00, 0xAF};
-        uint32_t pocet;
-        pocet = write(HCom, &message, 8);
-    }
-}
-
-void CKobuki::setTranslationSpeed(int mmpersec)
-{
-    unsigned char message[14] = {0xaa, 0x55, 0x0A, 0x0c, 0x02,
-                                 0xf0, 0x00, 0x01, 0x04, mmpersec % 256,
-                                 mmpersec >> 8, 0x00, 0x00, 0x00};
-    message[13] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
-                  message[7] ^ message[8] ^ message[9] ^ message[10] ^
-                  message[11] ^ message[12];
-
-    uint32_t pocet;
-    pocet = write(HCom, &message, 14);
-}
-
-void CKobuki::setRotationSpeed(double radpersec)
-{
-    int speedvalue = radpersec * 230.0f / 2.0f;
-    unsigned char message[14] = {0xaa,
-                                 0x55,
-                                 0x0A,
-                                 0x0c,
-                                 0x02,
-                                 0xf0,
-                                 0x00,
-                                 0x01,
-                                 0x04,
-                                 speedvalue % 256,
-                                 speedvalue >> 8,
-                                 0x01,
-                                 0x00,
-                                 0x00};
-    message[13] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
-                  message[7] ^ message[8] ^ message[9] ^ message[10] ^
-                  message[11] ^ message[12];
-
-    uint32_t pocet;
-    pocet = write(HCom, &message, 14);
-}
-
-void CKobuki::setArcSpeed(int mmpersec, int radius)
-{
-    if (radius == 0)
-    {
-        setTranslationSpeed(mmpersec);
-        return;
-    }
-
-    int speedvalue =
-        mmpersec * ((radius + (radius > 0 ? 230 : -230)) / 2) / radius;
-    unsigned char message[14] = {0xaa,
-                                 0x55,
-                                 0x0A,
-                                 0x0c,
-                                 0x02,
-                                 0xf0,
-                                 0x00,
-                                 0x01,
-                                 0x04,
-                                 speedvalue % 256,
-                                 speedvalue >> 8,
-                                 radius % 256,
-                                 radius >> 8,
-                                 0x00};
-    message[13] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
-                  message[7] ^ message[8] ^ message[9] ^ message[10] ^
-                  message[11] ^ message[12];
-    uint32_t pocet;
-    pocet = write(HCom, &message, 14);
-}
-
-void CKobuki::setSound(int noteinHz, int duration)
-{
-    int notevalue = floor((double)1.0 / ((double)noteinHz * 0.00000275) + 0.5);
-    unsigned char message[9] = {0xaa, 0x55, 0x05,
-                                0x03, 0x03, notevalue % 256,
-                                notevalue >> 8, duration % 256, 0x00};
-    message[8] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
-                 message[7];
-
-    uint32_t pocet;
-    pocet = write(HCom, &message, 9);
-}
-
-void CKobuki::startCommunication(char *portname, bool CommandsEnabled, void *userDataL)
-{
-    connect(portname);
-    enableCommands(CommandsEnabled);
-    userData = userDataL;
-
-    int pthread_result;
-    pthread_result = pthread_create(&threadHandle, NULL, KobukiProcess, (void *)this);
-    if (pthread_result != 0) {
-        std::cerr << "Error creating thread: " << pthread_result << std::endl;
-    }
-}
-
-int CKobuki::measure()
-{
-    while (stopVlakno == 0)
-    {
-        unsigned char *message = readKobukiMessage();
-        if (message == NULL)
-        {
-            // printf("vratil null message\n");
-            continue;
-        }
-        int ok = parser.parseKobukiMessage(parser.data, message);
-
-        // maximalne moze trvat callback funkcia 20 ms, ak by trvala viac, nestihame
-        // citat
-        if (ok == 0)
-        {
-            loop(userData, parser.data);
-        }
-        free(message);
-    }
-    return 0;
-}
-
-long double CKobuki::gyroToRad(signed short GyroAngle)
-{
-
-    long double rad;
-    if (GyroAngle < 0)
-    {
-        rad = GyroAngle + 360;
-    }
-    else
-    {
-        rad = GyroAngle;
-    }
-    return (long double)rad * PI / 180.0;
-}
-
-long CKobuki::loop(void *user_data, TKobukiData &Kobuki_data)
-{
-    if (iterationCount == 0)
-    {
-        prevLeftEncoder = Kobuki_data.EncoderLeft;
-        prevRightEncoder = Kobuki_data.EncoderRight;
-        prevTimestamp = Kobuki_data.timestamp;
-        prevGyroTheta = gyroToRad(Kobuki_data.GyroAngle);
-        iterationCount++;
-    }
-
-    int dLeft;
-    if (abs(Kobuki_data.EncoderLeft - prevLeftEncoder) > 32000)
-    {
-        dLeft = Kobuki_data.EncoderLeft - prevLeftEncoder +
-                (Kobuki_data.EncoderLeft > prevLeftEncoder ? -65536 : +65536);
-    }
-    else
-    {
-        dLeft = Kobuki_data.EncoderLeft - prevLeftEncoder;
-    }
-
-    int dRight;
-    if (abs(Kobuki_data.EncoderRight - prevRightEncoder) > 32000)
-    {
-        dRight = Kobuki_data.EncoderRight - prevRightEncoder +
-                 (Kobuki_data.EncoderRight > prevRightEncoder ? -65536 : +65536);
-    }
-    else
-    {
-        dRight = Kobuki_data.EncoderRight - prevRightEncoder;
-    }
-
-    long double dGyroTheta = prevGyroTheta - gyroToRad(Kobuki_data.GyroAngle);
-
-    if (dGyroTheta > PI)
-    {
-        dGyroTheta -= 2 * PI;
-    }
-    if (dGyroTheta < -1 * PI)
-    {
-        dGyroTheta += 2 * PI;
-    }
-
-    gyroTheta += dGyroTheta;
-
-    uint16_t dTimestamp = Kobuki_data.timestamp - prevTimestamp;
-
-    long double mLeft = dLeft * tickToMeter;
-    long double mRight = dRight * tickToMeter;
-
-    if (mLeft == mRight)
-    {
-        x = x + mRight;
-    }
-    else
-    {
-        x = x + (b * (mRight + mLeft)) / (2 * (mRight - mLeft)) *
-                    (sin((mRight - mLeft) / b + theta) - sin(theta));
-        y = y + (b * (mRight + mLeft)) / (2 * (mRight - mLeft)) *
-                    (cos((mRight - mLeft) / b + theta) - cos(theta));
-        theta = (mRight - mLeft) / b + theta;
-    }
-
-    displacement = (mRight + mLeft) / 2;
-    integratedGyroTheta = integratedGyroTheta + dGyroTheta;
-    gx = gx + displacement * cos(integratedGyroTheta + dGyroTheta / 2);
-
-    gy = gy + displacement * sin(integratedGyroTheta + dGyroTheta / 2);
-
-    totalLeft += dLeft;
-    totalRight += dRight;
-
-    // ak je suma novej a predchadzajucej vacsia ako 65536 tak to pretieklo?
-    directionL = (prevLeftEncoder < Kobuki_data.EncoderLeft ? 1 : -1);
-    directionR = (prevRightEncoder < Kobuki_data.EncoderRight ? 1 : -1);
-    dTimestamp = (Kobuki_data.timestamp < prevTimestamp
-                      ? prevTimestamp - Kobuki_data.timestamp + 65536
-                      : dTimestamp);
-
-    prevLeftEncoder = Kobuki_data.EncoderLeft;
-    prevRightEncoder = Kobuki_data.EncoderRight;
-    prevTimestamp = Kobuki_data.timestamp;
-    prevGyroTheta = gyroToRad(Kobuki_data.GyroAngle);
-
-    //    std::cout << "X: " << x
-    //              << " Y: " << y
-    //              << " Theta: " << theta
-    //              << "Gyro theta:" << gyroTheta
-    //              << std::endl;
-
-    static long counter = 0;
-    
-    //vector for data plotting
-    vectorX.push_back(gx);
-    vectorY.push_back(gy);
-    vectorGyroTheta.push_back(gyroTheta);
-
-    // if (counter % 100 == 0) {
-    //     p.plot_data(vectorY, vectorX);
-    // }
-    counter++;
-
-    return 0;
-}
-
-
-
-
-// tells the kobuki to go a few meters forward or backward, the sign decides
-// the function compensates for walking straight with the controller, internally it uses setArcSpeed and
-// uses encoder data as feedback
-void CKobuki::goStraight(long double distance){
-    long double u_translation = 0; // controlled magnitude, speed of the robot in motion
-    long double w_translation = distance; // requested value
-
-  // controller parameters
-  long double Kp_translation = 4500;
-  long double e_translation = 0;
-  int upper_thresh_translation = 600;
-  int lower_thresh_translation = 40;
-  int translation_start_gain = 20;
-
-    long double u_rotation = 0; // controlled magnitude
-    long double w_rotation = 0;
-    long double Kp_rotation = 57;
-    long double e_rotation = 0;
-
-    x = 0;
-    y = 0;
-    theta = 0;
-
-    long i = 5;
-    //send command and hold until robot reaches point
-    while (fabs(x - w_translation) > 0.005 && x < w_translation)
-    {
-        e_translation = w_translation - x;
-        u_translation = Kp_translation * e_translation;
-
-        e_rotation = w_rotation - theta;
-        if (!e_rotation == 0)
-            u_rotation = Kp_rotation / e_rotation;
-
-        // limit translation speed
-        if (u_translation > upper_thresh_translation)
-            u_translation = upper_thresh_translation;
-        if (u_translation < lower_thresh_translation)
-            u_translation = lower_thresh_translation;
-
-        // rewrite starting speed with line
-        if (i < u_translation)
-        {
-            u_translation = i;
-        }
-
-        if (fabs(u_rotation) > 32767)
-        {
-            u_rotation = -32767;
-        }
-
-        if (u_rotation == 0)
-        {
-            u_rotation = -32767;
-        }
-        //send command to robot
-        this->setArcSpeed(u_translation, u_rotation);
-
-        // increment starting speed
-        i = i + translation_start_gain;
-    }
-    this->setTranslationSpeed(0);
-}
-
-/// the method performs the rotation, it rotates using the regulator, the
-/// gyroscope serves as feedback, because it is much more accurate than encoders
-void CKobuki::doRotation(long double th)
-{
-    long double u = 0;  // controlled variable, angular speed of the robot during movement
-    long double w = th; // desired value in radians
-    long double Kp = PI;
-    long double e = 0;
-    int thresh = PI / 2;
-
-    theta = 0;
-    x = 0;
-    y = 0;
-    gyroTheta = 0;
-
-    long double i = 0;
-
-    if (w > 0)
-    {
-        while (gyroTheta < w)
-        {
-            e = w - gyroTheta;
-            u = Kp * e;
-
-            if (u > thresh)
-                u = thresh;
-            if (u < 0.4)
-                u = 0.4;
-
-            if (i < u)
-            {
-                u = i;
-            }
-
-            std::cout << "Angle: " << gyroTheta << " required:" << w << std::endl;
-            this->setRotationSpeed(-1 * u);
-            usleep(25 * 1000);
-            i = i + 0.1;
-        }
-    }
-    else
-    {
-        while (gyroTheta > w)
-        {
-            e = w - gyroTheta;
-            u = Kp * e * -1;
-
-            if (u > thresh)
-                u = thresh;
-            if (u < 0.4)
-                u = 0.4;
-
-            if (i < u)
-            {
-                u = i;
-            }
-
-            std::cout << "Angle: " << gyroTheta << " required:" << w << std::endl;
-            this->setRotationSpeed(u);
-            usleep(25 * 1000);
-            i = i + 0.1;
-        }
-    }
-
-    std::cout << "Rotation done" << std::endl;
-    this->setRotationSpeed(0);
-    usleep(25*1000);
-}
-
-// combines navigation to a coordinate and rotation by an angle, performs movement to
-// the selected coordinate in the robot's coordinate system
-void CKobuki::goToXy(long double xx, long double yy)
-{
-    long double th;
-
-    yy = yy * -1;
-
-    th = atan2(yy, xx);
-    doRotation(th);
-
-    long double s = sqrt(pow(xx, 2) + pow(yy, 2));
-
-    // resetnem suradnicovu sustavu robota
-    x = 0;
-    y = 0;
-    iterationCount = 0;
-    theta = 0;
-
-    // std::cout << "mam prejst: " << s << "[m]" << std::endl;
-
-    goStraight(s);
-
-    usleep(25 * 1000);
-    return;
-}
-
-/// @brief Makes the Kobuki go forward
-/// @param speedvalue speed of robot in mm/s
-/// @param distance   distance in meters
-void CKobuki::forward(int speedvalue) {
-  // Use the goStraight logic to determine the speed and distance
-
-  // Calculate the actual speed and radius values based on the conversion table
-  int actual_speed = speedvalue;
-  int actual_radius = 0; // Pure translation (straight line)
-
-unsigned char message[11] = {
-    0xaa,                // Start byte 1
-    0x55,                // Start byte 2
-    0x08,                // Payload length (the first 2 bytes dont count)
-    0x01,                // payload type (0x01 = control command)
-    0x04,                // Control byte or additional identifier
-    actual_speed % 256,  // Lower byte of speed value
-    actual_speed >> 8,   // Upper byte of speed value
-    0x00,                // Placeholder for radius
-    0x00,                // Placeholder for radius
-    0x00                 // Placeholder for checksum
-};
-
-// Calculate checksum
-message[10] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
-              message[7] ^ message[8] ^ message[9];
-
-  // Send the message
-  uint32_t pocet;
-  pocet = write(HCom, &message, 11);
-  pocet = write(HCom, &message, 11);
-
-}
-
-/// @brief Makes the kobuki rotate
-/// @param degrees Rotation in degrees
-void CKobuki::Rotate(int degrees) {
-
-    // convert raidans to degrees
-    float radians = degrees * PI / 180.0;
-
-    // Calculate the rotation speed in radians per second
-    double radpersec = 1; 
-
-    // calculator rotation time and give absolute value
-    float rotation_time = std::abs(radians / radpersec);
-    
-    // Use original function to set the rotation speed in mm/s
-    setRotationSpeed(radians);
-
-    // Sleep for the calculated rotation time
-    std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(rotation_time * 1000)));
-
-    // Stop the robot after the rotation
-    setRotationSpeed(0);
-}
-
-
-void CKobuki::robotSafety() {
-    while (true) {
-
-        if (parser.data.BumperCenter || parser.data.BumperLeft || parser.data.BumperRight || 
-            parser.data.CliffLeft || parser.data.CliffCenter || parser.data.CliffRight) {
-            std::cout << "Safety condition triggered!" << std::endl; // Debug print
-            forward(-100); // reverse the robot
-
-        }
-
-    }
-}
-
-void CKobuki::sendNullMessage(){
-
-    unsigned char message[11] = {
-    0xaa,                // Start byte 1
-    0x55,                // Start byte 2
-    0x08,                // Payload length (the first 2 bytes dont count)
-    0x01,                // payload type (0x01 = control command)
-    0x04,                // Control byte or additional identifier
-    0x00,  // Lower byte of speed value
-    0x00,   // Upper byte of speed value
-    0x00,                // Placeholder for radius
-    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];
-
-  // Send the message
-  uint32_t pocet;
-  pocet = write(HCom, &message, 11);
-}
--- a/src/C++/Driver/src/KobukiDriver/CKobuki.cpp
+++ b/src/C++/Driver/src/KobukiDriver/CKobuki.cpp
@@ -0,0 +1,644 @@
+#include "CKobuki.h"
+#include "errno.h"
+#include "termios.h"
+#include <cstddef>
+#include <iostream>
+#include <thread>
+
+// plot p;
+static std::vector<float> vectorX;
+static std::vector<float> vectorY;
+static std::vector<float> vectorGyroTheta;
+
+// obsluha tty pod unixom
+int set_interface_attribs2(int fd, int speed, int parity) {
+  struct termios tty;
+  memset(&tty, 0, sizeof tty);
+  if (tcgetattr(fd, &tty) != 0) {
+    printf("error %d from tcgetattr", errno);
+    return -1;
+  }
+
+  cfsetospeed(&tty, speed);
+  cfsetispeed(&tty, speed);
+
+  tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8; // 8-bit chars
+  // disable IGNBRK for mismatched speed tests; otherwise receive break
+  // as \000 chars
+  // tty.c_iflag &= ~IGNBRK;         // disable break processing
+  tty.c_lflag = 0; // no signaling chars, no echo,
+  // no canonical processing
+  tty.c_oflag = 0;     // no remapping, no delays
+  tty.c_cc[VMIN] = 0;  // read doesn't block
+  tty.c_cc[VTIME] = 5; // 0.5 seconds read timeout
+
+  tty.c_iflag &= ~(IGNBRK | INLCR | ICRNL | IXON | IXOFF |
+                   IXANY); // shut off xon/xoff ctrl
+
+  tty.c_cflag |= (CLOCAL | CREAD); // ignore modem controls,
+  // enable reading
+  tty.c_cflag &= ~(PARENB | PARODD); // shut off parity
+  tty.c_cflag |= parity;
+  tty.c_cflag &= ~CSTOPB;
+  tty.c_cflag &= ~CRTSCTS;
+
+  if (tcsetattr(fd, TCSANOW, &tty) != 0) {
+    printf("error %d from tcsetattr", errno);
+    return -1;
+  }
+  return 0;
+}
+
+void set_blocking2(int fd, int should_block) {
+  struct termios tty;
+  memset(&tty, 0, sizeof tty);
+  if (tcgetattr(fd, &tty) != 0) {
+    printf("error %d from tggetattr", errno);
+    return;
+  }
+
+  tty.c_cc[VMIN] = should_block ? 1 : 0;
+  tty.c_cc[VTIME] = 5; // 0.5 seconds read timeout
+
+  if (tcsetattr(fd, TCSANOW, &tty) != 0)
+    printf("error %d setting term attributes", errno);
+}
+
+int CKobuki::connect(char *comportT) {
+  HCom = open(comportT, O_RDWR | O_NOCTTY | O_NONBLOCK);
+
+  if (HCom == -1) {
+    printf("Kobuki nepripojeny\n");
+    return HCom;
+  } else {
+    set_interface_attribs2(HCom, B115200,
+                           0); // set speed to 115,200 bps, 8n1 (no parity)
+    set_blocking2(HCom, 0);    // set no blocking
+    /*  struct termios settings;
+      tcgetattr(HCom, &settings);
+
+      cfsetospeed(&settings, B115200); // baud rate
+      settings.c_cflag &= ~PARENB; // no parity
+      settings.c_cflag &= ~CSTOPB; // 1 stop bit
+      settings.c_cflag &= ~CSIZE;
+      settings.c_cflag |= CS8 | CLOCAL; // 8 bits
+      settings.c_lflag &= ~ICANON; // canonical mode
+      settings.c_cc[VTIME]=1;
+      settings.c_oflag &= ~OPOST; // raw output
+
+      tcsetattr(HCom, TCSANOW, &settings); // apply the settings*/
+    tcflush(HCom, TCOFLUSH);
+
+    printf("Kobuki pripojeny\n");
+    return HCom;
+  }
+}
+
+unsigned char *CKobuki::readKobukiMessage() {
+  unsigned char buffer[1];
+  ssize_t Pocet;
+  buffer[0] = 0;
+  unsigned char *null_buffer(0);
+  // citame kym nezachytime zaciatok spravy
+  do {
+    Pocet = read(HCom, buffer, 1);
+  } while (buffer[0] != 0xAA);
+  // mame zaciatok spravy (asi)
+  if (Pocet == 1 && buffer[0] == 0xAA) {
+    // citame dalsi byte
+    do {
+
+      Pocet = read(HCom, buffer, 1);
+
+    } while (Pocet != 1); // na linuxe -1 na windowse 0
+
+    // a ak je to druhy byte hlavicky
+    if (Pocet == 1 && buffer[0] == 0x55) {
+      // precitame dlzku
+      Pocet = read(HCom, buffer, 1);
+
+      // ReadFile(hCom, buffer, 1, &Pocet, NULL);
+      if (Pocet == 1) {
+        // mame dlzku.. nastavime vektor a precitame ho cely
+        int readLenght = buffer[0];
+        unsigned char *outputBuffer =
+            (unsigned char *)calloc(readLenght + 4, sizeof(char));
+        outputBuffer[0] = buffer[0];
+        int pct = 0;
+
+        do {
+          Pocet = 0;
+          int readpoc = (readLenght + 1 - pct);
+          Pocet = read(HCom, outputBuffer + 1 + pct, readpoc);
+
+          pct = pct + (Pocet == -1 ? 0 : Pocet);
+        } while (pct != (readLenght + 1));
+
+        // tu si mozeme ceknut co chodi zo serial intefejsu Kobukiho
+        // for(int i=0;i<outputBuffer[0]+2;i++)
+        // {
+        // 	printf("%x ",outputBuffer[i]);
+        // }
+
+        return outputBuffer;
+      }
+    }
+  }
+
+  return null_buffer;
+}
+
+void CKobuki::setLed(int led1, int led2) {
+  unsigned char message[8] = {0xaa,
+                              0x55,
+                              0x04,
+                              0x0c,
+                              0x02,
+                              0x00,
+                              (unsigned char)((led1 + led2 * 4) % 256),
+                              0x00};
+  message[7] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6];
+  uint32_t pocet;
+  pocet = write(HCom, &message, 8);
+}
+
+// tato funkcia nema moc sama o sebe vyznam, payload o tom, ze maju byt externe
+// napajania aktivne musi byt aj tak v kazdej sprave...
+void CKobuki::setPower(int value) {
+  if (value == 1) {
+    unsigned char message[8] = {0xaa, 0x55, 0x04, 0x0C, 0x02, 0xf0, 0x00, 0xAF};
+    uint32_t pocet;
+    pocet = write(HCom, &message, 8);
+  }
+}
+
+void CKobuki::setTranslationSpeed(int mmpersec) {
+  unsigned char message[14] = {0xaa,          0x55, 0x0A, 0x0c, 0x02,
+                               0xf0,          0x00, 0x01, 0x04, mmpersec % 256,
+                               mmpersec >> 8, 0x00, 0x00, 0x00};
+  message[13] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
+                message[7] ^ message[8] ^ message[9] ^ message[10] ^
+                message[11] ^ message[12];
+
+  uint32_t pocet;
+  pocet = write(HCom, &message, 14);
+}
+
+void CKobuki::setRotationSpeed(double radpersec) {
+  int speedvalue = radpersec * 230.0f / 2.0f;
+  unsigned char message[14] = {0xaa,
+                               0x55,
+                               0x0A,
+                               0x0c,
+                               0x02,
+                               0xf0,
+                               0x00,
+                               0x01,
+                               0x04,
+                               speedvalue % 256,
+                               speedvalue >> 8,
+                               0x01,
+                               0x00,
+                               0x00};
+  message[13] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
+                message[7] ^ message[8] ^ message[9] ^ message[10] ^
+                message[11] ^ message[12];
+
+  uint32_t pocet;
+  pocet = write(HCom, &message, 14);
+}
+
+void CKobuki::setArcSpeed(int mmpersec, int radius) {
+  if (radius == 0) {
+    setTranslationSpeed(mmpersec);
+    return;
+  }
+
+  int speedvalue =
+      mmpersec * ((radius + (radius > 0 ? 230 : -230)) / 2) / radius;
+  unsigned char message[14] = {0xaa,
+                               0x55,
+                               0x0A,
+                               0x0c,
+                               0x02,
+                               0xf0,
+                               0x00,
+                               0x01,
+                               0x04,
+                               speedvalue % 256,
+                               speedvalue >> 8,
+                               radius % 256,
+                               radius >> 8,
+                               0x00};
+  message[13] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
+                message[7] ^ message[8] ^ message[9] ^ message[10] ^
+                message[11] ^ message[12];
+  uint32_t pocet;
+  pocet = write(HCom, &message, 14);
+}
+
+void CKobuki::setSound(int noteinHz, int duration) {
+  int notevalue = floor((double)1.0 / ((double)noteinHz * 0.00000275) + 0.5);
+  unsigned char message[9] = {0xaa,           0x55,           0x05,
+                              0x03,           0x03,           notevalue % 256,
+                              notevalue >> 8, duration % 256, 0x00};
+  message[8] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
+               message[7];
+
+  uint32_t pocet;
+  pocet = write(HCom, &message, 9);
+}
+
+void CKobuki::startCommunication(char *portname, bool CommandsEnabled,
+                                 void *userDataL) {
+  connect(portname);
+  enableCommands(CommandsEnabled);
+  userData = userDataL;
+
+  int pthread_result;
+  pthread_result =
+      pthread_create(&threadHandle, NULL, KobukiProcess, (void *)this);
+  if (pthread_result != 0) {
+    std::cerr << "Error creating thread: " << pthread_result << std::endl;
+  }
+}
+
+int CKobuki::measure() {
+  while (stopVlakno == 0) {
+    unsigned char *message = readKobukiMessage();
+    if (message == NULL) {
+      // printf("vratil null message\n");
+      continue;
+    }
+    int ok = parser.parseKobukiMessage(parser.data, message);
+
+    // maximalne moze trvat callback funkcia 20 ms, ak by trvala viac, nestihame
+    // citat
+    if (ok == 0) {
+      loop(userData, parser.data);
+    }
+    free(message);
+  }
+  return 0;
+}
+
+
+long double CKobuki::gyroToRad(signed short GyroAngle) {
+
+  long double rad;
+  if (GyroAngle < 0) {
+    rad = GyroAngle + 360;
+  } else {
+    rad = GyroAngle;
+  }
+  return (long double)rad * PI / 180.0;
+}
+
+long CKobuki::loop(void *user_data, TKobukiData &Kobuki_data) {
+  if (iterationCount == 0) {
+    prevLeftEncoder = Kobuki_data.EncoderLeft;
+    prevRightEncoder = Kobuki_data.EncoderRight;
+    prevTimestamp = Kobuki_data.timestamp;
+    prevGyroTheta = gyroToRad(Kobuki_data.GyroAngle);
+    iterationCount++;
+  }
+
+  int dLeft;
+  if (abs(Kobuki_data.EncoderLeft - prevLeftEncoder) > 32000) {
+    dLeft = Kobuki_data.EncoderLeft - prevLeftEncoder +
+            (Kobuki_data.EncoderLeft > prevLeftEncoder ? -65536 : +65536);
+  } else {
+    dLeft = Kobuki_data.EncoderLeft - prevLeftEncoder;
+  }
+
+  int dRight;
+  if (abs(Kobuki_data.EncoderRight - prevRightEncoder) > 32000) {
+    dRight = Kobuki_data.EncoderRight - prevRightEncoder +
+             (Kobuki_data.EncoderRight > prevRightEncoder ? -65536 : +65536);
+  } else {
+    dRight = Kobuki_data.EncoderRight - prevRightEncoder;
+  }
+
+  long double dGyroTheta = prevGyroTheta - gyroToRad(Kobuki_data.GyroAngle);
+
+  if (dGyroTheta > PI) {
+    dGyroTheta -= 2 * PI;
+  }
+  if (dGyroTheta < -1 * PI) {
+    dGyroTheta += 2 * PI;
+  }
+
+  gyroTheta += dGyroTheta;
+
+  uint16_t dTimestamp = Kobuki_data.timestamp - prevTimestamp;
+
+  long double mLeft = dLeft * tickToMeter;
+  long double mRight = dRight * tickToMeter;
+
+  if (mLeft == mRight) {
+    x = x + mRight;
+  } else {
+    x = x + (b * (mRight + mLeft)) / (2 * (mRight - mLeft)) *
+                (sin((mRight - mLeft) / b + theta) - sin(theta));
+    y = y + (b * (mRight + mLeft)) / (2 * (mRight - mLeft)) *
+                (cos((mRight - mLeft) / b + theta) - cos(theta));
+    theta = (mRight - mLeft) / b + theta;
+  }
+
+  displacement = (mRight + mLeft) / 2;
+  integratedGyroTheta = integratedGyroTheta + dGyroTheta;
+  gx = gx + displacement * cos(integratedGyroTheta + dGyroTheta / 2);
+
+  gy = gy + displacement * sin(integratedGyroTheta + dGyroTheta / 2);
+
+  totalLeft += dLeft;
+  totalRight += dRight;
+
+  // ak je suma novej a predchadzajucej vacsia ako 65536 tak to pretieklo?
+  directionL = (prevLeftEncoder < Kobuki_data.EncoderLeft ? 1 : -1);
+  directionR = (prevRightEncoder < Kobuki_data.EncoderRight ? 1 : -1);
+  dTimestamp = (Kobuki_data.timestamp < prevTimestamp
+                    ? prevTimestamp - Kobuki_data.timestamp + 65536
+                    : dTimestamp);
+
+  prevLeftEncoder = Kobuki_data.EncoderLeft;
+  prevRightEncoder = Kobuki_data.EncoderRight;
+  prevTimestamp = Kobuki_data.timestamp;
+  prevGyroTheta = gyroToRad(Kobuki_data.GyroAngle);
+
+  //    std::cout << "X: " << x
+  //              << " Y: " << y
+  //              << " Theta: " << theta
+  //              << "Gyro theta:" << gyroTheta
+  //              << std::endl;
+
+  static long counter = 0;
+
+  vectorX.push_back(gx);
+  vectorY.push_back(gy);
+  vectorGyroTheta.push_back(gyroTheta);
+
+  // if (counter % 100 == 0) {
+  //     p.plot_data(vectorY, vectorX);
+  // }
+  counter++;
+
+  return 0;
+}
+
+// tells the kobuki to go a few meters forward or backward, the sign decides
+// the function compensates for walking straight with the controller, internally
+// it uses setArcSpeed and uses encoder data as feedback
+void CKobuki::goStraight(long double distance) {
+  long double u_translation =
+      0; // controlled magnitude, speed of the robot in motion
+  long double w_translation = distance; // requested value
+
+  // controller parameters
+  long double Kp_translation = 4500;
+  long double e_translation = 0;
+  int upper_thresh_translation = 600;
+  int lower_thresh_translation = 40;
+  int translation_start_gain = 20;
+
+  long double u_rotation = 0; // controlled magnitude
+  long double w_rotation = 0;
+  long double Kp_rotation = 57;
+  long double e_rotation = 0;
+
+  x = 0;
+  y = 0;
+  theta = 0;
+
+  long i = 5;
+  // send command and hold until robot reaches point
+  while (fabs(x - w_translation) > 0.005 && x < w_translation) {
+    e_translation = w_translation - x;
+    u_translation = Kp_translation * e_translation;
+
+    e_rotation = w_rotation - theta;
+    if (!e_rotation == 0)
+      u_rotation = Kp_rotation / e_rotation;
+
+    // limit translation speed
+    if (u_translation > upper_thresh_translation)
+      u_translation = upper_thresh_translation;
+    if (u_translation < lower_thresh_translation)
+      u_translation = lower_thresh_translation;
+
+    // rewrite starting speed with line
+    if (i < u_translation) {
+      u_translation = i;
+    }
+
+    if (fabs(u_rotation) > 32767) {
+      u_rotation = -32767;
+    }
+
+    if (u_rotation == 0) {
+      u_rotation = -32767;
+    }
+    // send command to robot
+    this->setArcSpeed(u_translation, u_rotation);
+
+    // increment starting speed
+    i = i + translation_start_gain;
+  }
+  this->setTranslationSpeed(0);
+}
+
+/// the method performs the rotation, it rotates using the regulator, the
+/// gyroscope serves as feedback, because it is much more accurate than encoders
+void CKobuki::doRotation(long double th) {
+  long double u =
+      0; // controlled variable, angular speed of the robot during movement
+  long double w = th; // desired value in radians
+  long double Kp = PI;
+  long double e = 0;
+  long double thresh = PI / 2;
+
+  theta = 0;
+  x = 0;
+  y = 0;
+  gyroTheta = 0;
+
+  long double i = 0;
+
+  if (w > 0) {
+    while (gyroTheta < w) {
+      e = w - gyroTheta;
+      u = Kp * e;
+
+      if (u > thresh) {
+        u = thresh;
+      }
+      if (u < 0.4) {
+        u = 0.4;
+      }
+      if (i < u) {
+        u = i;
+      }
+
+      std::cout << "Angle: " << gyroTheta << " required:" << w << std::endl;
+      this->setRotationSpeed(-1 * u);
+      usleep(25 * 1000);
+      i = i + 0.1;
+    }
+  } else {
+    while (gyroTheta > w) {
+      e = w - gyroTheta;
+      u = Kp * e * -1;
+
+      if (u > thresh)
+        u = thresh;
+      if (u < 0.4)
+        u = 0.4;
+
+      if (i < u) {
+        u = i;
+      }
+
+      std::cout << "Angle: " << gyroTheta << " required:" << w << std::endl;
+      this->setRotationSpeed(u);
+      usleep(25 * 1000);
+      i = i + 0.1;
+    }
+  }
+
+  std::cout << "Rotation done" << std::endl;
+  this->setRotationSpeed(0);
+  usleep(25 * 1000);
+}
+
+// combines navigation to a coordinate and rotation by an angle, performs
+// movement to the selected coordinate in the robot's coordinate system
+void CKobuki::goToXy(long double xx, long double yy) {
+  long double th;
+
+  yy = yy * -1;
+
+  th = atan2(yy, xx);
+  doRotation(th);
+
+  long double s = sqrt(pow(xx, 2) + pow(yy, 2));
+
+  // resetnem suradnicovu sustavu robota
+  x = 0;
+  y = 0;
+  iterationCount = 0;
+  theta = 0;
+
+  // std::cout << "mam prejst: " << s << "[m]" << std::endl;
+
+  goStraight(s);
+
+  usleep(25 * 1000);
+  return;
+}
+
+void CKobuki::forward(int speedvalue) {
+  // Use the goStraight logic to determine the speed and distance
+
+  // Calculate the actual speed and radius values based on the conversion table
+  int actual_speed = speedvalue;
+  int actual_radius = 0; // Pure translation (straight line)
+
+  unsigned char message[11] = {
+      0xaa,               // Start byte 1
+      0x55,               // Start byte 2
+      0x08,               // Payload length (the first 2 bytes dont count)
+      0x01,               // payload type (0x01 = control command)
+      0x04,               // Control byte or additional identifier
+      actual_speed % 256, // Lower byte of speed value
+      actual_speed >> 8,  // Upper byte of speed value
+      0x00,               // Placeholder for radius
+      0x00,               // Placeholder for radius
+      0x00                // Placeholder for checksum
+  };
+
+  // Calculate checksum
+  message[10] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
+                message[7] ^ message[8] ^ message[9];
+
+  // Send the message
+  uint32_t pocet;
+  pocet = write(HCom, &message, 11);
+}
+
+/// @brief Makes the kobuki rotate
+/// @param degrees Rotation in degrees
+void CKobuki::Rotate(int degrees) {
+
+    // convert raidans to degrees
+    float radians = degrees * PI / 180.0;
+
+    // Calculate the rotation speed in radians per second
+    double radpersec = 1; 
+
+    // calculator rotation time and give absolute value
+    float rotation_time = std::abs(radians / radpersec);
+    
+    // Use original function to set the rotation speed in mm/s
+    setRotationSpeed(radians);
+
+    // Sleep for the calculated rotation time
+    std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(rotation_time * 1000)));
+
+    // Stop the robot after the rotation
+    setRotationSpeed(0);
+}
+
+
+void CKobuki::robotSafety(std::string *pointerToMessage) {
+    while (true) {
+
+        if (parser.data.BumperCenter || parser.data.BumperLeft || parser.data.BumperRight || 
+            parser.data.CliffLeft || parser.data.CliffCenter || parser.data.CliffRight) {
+            std::cout << "Safety condition triggered!" << std::endl; // Debug print
+            *pointerToMessage = "estop";
+            forward(-100); // reverse the robot
+
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(100)));
+
+
+    }
+}
+
+void CKobuki::robotSafety() {
+    while (true) {
+
+        if (parser.data.BumperCenter || parser.data.BumperLeft || parser.data.BumperRight || 
+            parser.data.CliffLeft || parser.data.CliffCenter || parser.data.CliffRight) {
+            std::cout << "Safety condition triggered!" << std::endl; // Debug print
+            forward(-100); // reverse the robot
+
+        }
+
+    }
+}
+
+void CKobuki::sendNullMessage(){
+
+    unsigned char message[11] = {
+    0xaa,                // Start byte 1
+    0x55,                // Start byte 2
+    0x08,                // Payload length (the first 2 bytes dont count)
+    0x01,                // payload type (0x01 = control command)
+    0x04,                // Control byte or additional identifier
+    0x00,  // Lower byte of speed value
+    0x00,   // Upper byte of speed value
+    0x00,                // Placeholder for radius
+    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];
+
+  // Send the message
+  uint32_t pocet;
+  pocet = write(HCom, &message, 11);
+}
+
--- a/src/C++/Driver/src/KobukiDriver/CKobuki.h
+++ b/src/C++/Driver/src/KobukiDriver/CKobuki.h
@@ -76,7 +76,8 @@ public:
 	void goToXy(long double xx, long double yy);
 	void Rotate(int degrees);
 	std::ofstream odometry_log;
-	void robotSafety();
+	void robotSafety(std::string *pointerToMessage);
+	void robotSafety(); //overload
 	void sendNullMessage();
 	KobukiParser parser;

--- a/src/C++/Driver/src/KobukiDriver/KobukiParser.cpp
+++ b/src/C++/Driver/src/KobukiDriver/KobukiParser.cpp
@@ -4,7 +4,7 @@
 int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
    int rtrnvalue = checkChecksum(data);
    if (rtrnvalue != 0) {
-        std::cerr << "Invalid checksum" << std::endl;
+        // std::cerr << "Invalid checksum" << std::endl;
        return -2;
    }

--- a/src/C++/Driver/src/KobukiDriver/KobukiParser.h
+++ b/src/C++/Driver/src/KobukiDriver/KobukiParser.h
--- a/src/C++/Driver/src/KobukiDriver/graph.h
+++ b/src/C++/Driver/src/KobukiDriver/graph.h
--- a/src/C++/Driver/src/MQTT/CMakeLists.txt
+++ b/src/C++/Driver/src/MQTT/CMakeLists.txt
@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 3.10)
+set(CMAKE_CXX_STANDARD 23)
+
+# Project name
+project(mqtt_receiver)
+
+# Find the Paho MQTT C++ library
+find_library(PAHO_MQTTPP_LIBRARY paho-mqttpp3 PATHS /usr/local/lib)
+find_library(PAHO_MQTT_LIBRARY paho-mqtt3a PATHS /usr/local/lib)
+
+# Include the headers
+include_directories(/usr/local/include)
+
+# Set source files
+set(SOURCE_FILES
+    main.cpp
+    MqttClient.cpp
+    MqttClient.h
+)
+
+# Add the executable
+add_executable(mqtt_receiver ${SOURCE_FILES})
+
+# Link the libraries
+
+# Include directories for headers
+target_include_directories(mqtt_receiver PRIVATE)
+
+find_package(Threads REQUIRED)
+target_link_libraries(mqtt_receiver Threads::Threads)
--- a/src/C++/Driver/src/MQTT/MqttClient.cpp
+++ b/src/C++/Driver/src/MQTT/MqttClient.cpp
@@ -0,0 +1,75 @@
+#include "MqttClient.h"
+
+MqttClient::MqttClient(const std::string& address, const std::string& clientId, const std::string& username, const std::string& password)
+    //client_ is the connection
+    : client_(address, clientId), username_(username), password_(password), callback_(*this) {
+    client_.set_callback(callback_);
+    options.set_clean_session(true);
+    options.set_mqtt_version(MQTTVERSION_3_1_1);  // For MQTT 3.1.1
+    if (!username_.empty() && !password_.empty()) {
+        options.set_user_name(username_);
+        options.set_password(password_);
+    }
+}
+
+void MqttClient::connect() {
+    try {
+        std::cout << "Connecting to broker..." << std::endl;
+        client_.connect(options)->wait();
+        std::cout << "Connected!" << std::endl;
+    } catch (const mqtt::exception& exc) {
+        std::cerr << "Error: " << exc.what() << std::endl;
+        throw;
+    }
+}
+
+void MqttClient::subscribe(const std::string& topic, int qos) {
+    try {
+        std::cout << "Subscribing to topic: " << topic << std::endl;
+        client_.subscribe(topic, qos)->wait();
+    } catch (const mqtt::exception& exc) {
+        std::cerr << "Error: " << exc.what() << std::endl;
+        throw;
+    }
+}
+
+void MqttClient::publishMessage(const std::string& topic, const std::string& payload) {
+    try {
+        std::cout << "Publishing message: " << payload << std::endl;
+        client_.publish(topic, payload)->wait();
+    } catch (const mqtt::exception& exc) {
+        std::cerr << "Error: " << exc.what() << std::endl;
+        throw;
+    }
+}
+
+/// @brief Only needed when program doesnt keep itself alive
+void MqttClient::run() {
+    // Keep the client running to receive messages
+    while (true) {
+        std::this_thread::sleep_for(std::chrono::seconds(1));  // Wait to reduce CPU usage
+    }
+}
+
+void MqttClient::Callback::message_arrived(mqtt::const_message_ptr msg) {
+    //lock the variable, it automaticly unlocks when going out of scope using lock_guard
+    std::lock_guard<std::mutex> lock(client_.messageMutex_);
+    client_.lastMessage_ = msg->to_string();
+}
+
+void MqttClient::Callback::connection_lost(const std::string& cause) {
+    std::cerr << "Connection lost. Cause: " << cause << std::endl;
+}
+
+void MqttClient::Callback::delivery_complete(mqtt::delivery_token_ptr token) {
+    std::cout << "Message delivered!" << std::endl;
+}
+
+/// @brief Get the last message received from the MQTT broker
+/// @return The last message received in a string
+//std::string is the datatype of the return value
+std::string MqttClient::getLastMessage() {
+    //lock the variable, it automaticly unlocks when going out of scope using lock_guard
+    std::lock_guard<std::mutex> lock(messageMutex_);
+    return lastMessage_;
+}
--- a/src/C++/Driver/src/MQTT/MqttClient.h
+++ b/src/C++/Driver/src/MQTT/MqttClient.h
@@ -0,0 +1,39 @@
+#ifndef MQTTCLIENT_H
+#define MQTTCLIENT_H
+
+#include <iostream>
+#include <thread>
+#include <mutex>
+#include <mqtt/async_client.h>
+
+class MqttClient {
+public:
+    MqttClient(const std::string& address, const std::string& clientId, const std::string& username = "", const std::string& password = "");
+    void connect();
+    void subscribe(const std::string& topic, int qos = 1);
+    void run();
+    std::string getLastMessage();
+    void publishMessage(const std::string& topic, const std::string& payload);
+
+private:
+    class Callback : public virtual mqtt::callback {
+    public:
+        Callback(MqttClient& client) : client_(client) {}
+        void message_arrived(mqtt::const_message_ptr msg) override;
+        void connection_lost(const std::string& cause) override;
+        void delivery_complete(mqtt::delivery_token_ptr token) override;
+
+    private:
+        MqttClient& client_;
+    };
+
+    mqtt::async_client client_;
+    mqtt::connect_options options;
+    Callback callback_;
+    std::string username_;
+    std::string password_;
+    std::string lastMessage_;
+    std::mutex messageMutex_;
+};
+
+#endif //MQTTCLIENT_H
--- a/src/C++/Driver/src/MQTT/example.cpp
+++ b/src/C++/Driver/src/MQTT/example.cpp
@@ -0,0 +1,10 @@
+#include "MqttClient.h"
+
+int main(){
+    MqttClient client("mqtt://localhost:1883", "raspberry_pi_client", "ishak", "kobuki");
+    client.connect();
+    client.subscribe("home/commands");
+    client.run();
+
+    return 0;
+}
--- a/src/C++/Driver/src/main.cpp
+++ b/src/C++/Driver/src/main.cpp
@@ -1,70 +1,84 @@
-#include "CKobuki.h"
 #include <iostream>
 #include <cmath>
 #include <thread>
-#include "graph.h"
+#include "KobukiDriver/graph.h"
+#include "MQTT/MqttClient.h"
+#include "KobukiDriver/CKobuki.h"

 using namespace std;
 CKobuki robot;
-int movement();
-int checkCenterCliff();
-void logToFile();
+std::string readMQTT();
+void parseMQTT(std::string message);
+MqttClient client("mqtt://145.92.224.21:1883", "KobukiRPI", "ishak", "kobuki"); // create a client object
+std::string message = "stop";
+std::string serializeKobukiData(const TKobukiData &data);
+void sendKobukiData(TKobukiData &data);

-int main()
+void setup()
 {
    unsigned char *null_ptr(0);
    robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
+    client.connect();
+    client.subscribe("home/commands");
+}

-    std::thread safety([&robot]()
-                       { robot.robotSafety(); }); // use a lambda function to call the member function
-    safety.detach();
+int main()
+{
+    setup();
+    std::thread safety([&]() { robot.robotSafety(&message); });
+    std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
    
-    thread movementThread(movement);
-    movementThread.join(); // so the program doesnt quit
+    while(true){
+    parseMQTT(readMQTT());
+    }
+    sendMqtt.join();
+    safety.join();
    return 0;
 }

-int checkCenterCliff()
+std::string readMQTT()
 {
-    while (true)
+    message = client.getLastMessage();
+    if (!message.empty())
    {
-        std::cout << robot.parser.data.CliffSensorRight << endl;
+        std::cout << "MQTT Message: " << message << std::endl;
    }
+
+    // Add a small delay to avoid busy-waiting
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    return message;
 }

-int movement()
+void parseMQTT(std::string message)
 {
-    int text;
-    while (true)
+    if (message == "up")
    {
-        cout << "gimme input: ";
-        cin >> text;
-
-        if (text == 1)
-        {
-            robot.forward(400);
+        robot.forward(1024);
    }
-        else if (text == 2)
+    else if (message == "left")
    {
-            // 1 is full circle
-            robot.Rotate(90);
+        robot.setRotationSpeed(4);
    }
-        else if (text == 3)
+    else if (message == "right")
    {
-            // Add your code here for text == 3
+        robot.setRotationSpeed(-4);
+    }
+    else if (message == "down")
+    {
+        robot.forward(-800);
+    }
+    else if (message == "stop")
+    {
+        robot.sendNullMessage();
+        robot.sendNullMessage();
+    }
+    else if (message == "estop")
+    {
+        robot.forward(-400);
    }
    else
    {
-            try
-            {
-                robot.doRotation(text);
-                throw "NaN";
-            }
-            catch (const char *msg)
-            {
-                cerr << msg << endl;
-            }
-        }
+        std::cout << "Invalid command" << std::endl;
    }
 }

@@ -134,3 +148,68 @@ void logToFile()
        std::this_thread::sleep_for(std::chrono::seconds(2)); // Sleep for 2 seconds
    }
 }
+
+std::string serializeKobukiData(const TKobukiData &data) {
+    std::string json = "{\"timestamp\":" + std::to_string(data.timestamp) +
+                       ",\"BumperCenter\":" + std::to_string(data.BumperCenter) +
+                       ",\"BumperLeft\":" + std::to_string(data.BumperLeft) +
+                       ",\"BumperRight\":" + std::to_string(data.BumperRight) +
+                       ",\"WheelDropLeft\":" + std::to_string(data.WheelDropLeft) +
+                       ",\"WheelDropRight\":" + std::to_string(data.WheelDropRight) +
+                       ",\"CliffCenter\":" + std::to_string(data.CliffCenter) +
+                       ",\"CliffLeft\":" + std::to_string(data.CliffLeft) +
+                       ",\"CliffRight\":" + std::to_string(data.CliffRight) +
+                       ",\"EncoderLeft\":" + std::to_string(data.EncoderLeft) +
+                       ",\"EncoderRight\":" + std::to_string(data.EncoderRight) +
+                       ",\"PWMleft\":" + std::to_string(data.PWMleft) +
+                       ",\"PWMright\":" + std::to_string(data.PWMright) +
+                       ",\"ButtonPress1\":" + std::to_string(data.ButtonPress1) +
+                       ",\"ButtonPress2\":" + std::to_string(data.ButtonPress2) +
+                       ",\"ButtonPress3\":" + std::to_string(data.ButtonPress3) +
+                       ",\"Charger\":" + std::to_string(data.Charger) +
+                       ",\"Battery\":" + std::to_string(data.Battery) +
+                       ",\"overCurrent\":" + std::to_string(data.overCurrent) +
+                       ",\"IRSensorRight\":" + std::to_string(data.IRSensorRight) +
+                       ",\"IRSensorCenter\":" + std::to_string(data.IRSensorCenter) +
+                       ",\"IRSensorLeft\":" + std::to_string(data.IRSensorLeft) +
+                       ",\"GyroAngle\":" + std::to_string(data.GyroAngle) +
+                       ",\"GyroAngleRate\":" + std::to_string(data.GyroAngleRate) +
+                       ",\"CliffSensorRight\":" + std::to_string(data.CliffSensorRight) +
+                       ",\"CliffSensorCenter\":" + std::to_string(data.CliffSensorCenter) +
+                       ",\"CliffSensorLeft\":" + std::to_string(data.CliffSensorLeft) +
+                       ",\"wheelCurrentLeft\":" + std::to_string(data.wheelCurrentLeft) +
+                       ",\"wheelCurrentRight\":" + std::to_string(data.wheelCurrentRight) +
+                       ",\"digitalInput\":" + std::to_string(data.digitalInput) +
+                       ",\"analogInputCh0\":" + std::to_string(data.analogInputCh0) +
+                       ",\"analogInputCh1\":" + std::to_string(data.analogInputCh1) +
+                       ",\"analogInputCh2\":" + std::to_string(data.analogInputCh2) +
+                       ",\"analogInputCh3\":" + std::to_string(data.analogInputCh3) +
+                       ",\"frameId\":" + std::to_string(data.frameId) +
+                       ",\"extraInfo\":{\"HardwareVersionPatch\":" + std::to_string(data.extraInfo.HardwareVersionPatch) +
+                       ",\"HardwareVersionMinor\":" + std::to_string(data.extraInfo.HardwareVersionMinor) +
+                       ",\"HardwareVersionMajor\":" + std::to_string(data.extraInfo.HardwareVersionMajor) +
+                       ",\"FirmwareVersionPatch\":" + std::to_string(data.extraInfo.FirmwareVersionPatch) +
+                       ",\"FirmwareVersionMinor\":" + std::to_string(data.extraInfo.FirmwareVersionMinor) +
+                       ",\"FirmwareVersionMajor\":" + std::to_string(data.extraInfo.FirmwareVersionMajor) +
+                       ",\"UDID0\":" + std::to_string(data.extraInfo.UDID0) +
+                       ",\"UDID1\":" + std::to_string(data.extraInfo.UDID1) +
+                       ",\"UDID2\":" + std::to_string(data.extraInfo.UDID2) + "},\"gyroData\":[";
+
+    if (!data.gyroData.empty()) {
+        const auto& latestGyro = data.gyroData.back();
+        json += "{\"x\":" + std::to_string(latestGyro.x) +
+                ",\"y\":" + std::to_string(latestGyro.y) +
+                ",\"z\":" + std::to_string(latestGyro.z) + "}";
+    }
+
+    json += "]}";
+    return json;
+}
+//create extra function to send the message every 100ms
+//needed it so it can be threaded
+void sendKobukiData(TKobukiData &data) {
+    while (true) {
+        client.publishMessage("kobuki/data", serializeKobukiData(data));
+        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+    }
+}
--- a/src/C++/Driver/src/test.cpp
+++ b/src/C++/Driver/src/test.cpp
@@ -1,67 +1,61 @@
 #include "CKobuki.h"
-#include <iostream>
-#include <cmath>
-#include <thread>
 #include "graph.h"
+#include <cmath>
+#include <iostream>
+#include <thread>

 using namespace std;
+
+// Globale instantie van de CKobuki-klasse
 CKobuki robot;
+
+// Functieprototypes
 int command();
+int checkCenterCliff();
+int checkWheelDrop();

-const int forward = 1;
-const int ROTATE = 2;
-
-int main()
-{
+int main() {
+  // Start communicatie met de robot
  unsigned char *null_ptr(0);
  robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
  usleep(1 * 1000 * 1000);
+
+  // Start een nieuwe thread voor de command-functie
  thread mv(command);
  usleep(30 * 1000 * 1000);
-	mv.join(); //only exit once thread one is done running
+  mv.join(); // Wacht tot de command-thread klaar is
+
 }

-// int checkCenterCliff()
-// {
-// 	while (true)
-// 	{
-// 		std::cout << "cliffsensordata:" << robot.parser.data.CliffSensorCenter << std::endl;
-// 	}
-// }
+// Functie om commando's van de gebruiker te verwerken
+int command() {
+  int input;

-// int checkWheelDrop(){
-// 	while (true)
-// 	{
-// 		std::cout << "wheeldropdata:" << robot.parser.data.WheelDropLeft << std::endl;
-// 	}
-// }
+  while (true) {
+    // Vraag de gebruiker om een commando
+    std::cout << "choose between forward = 1 or rotate = 2" << endl;
+    std::cout << "What must the robot do?";
+    std::cin >> input;

-int command(){
-	cout << "choose between forward and rotate" << endl;
-	cout << "What must the robot do?";
-	cin >> input;
-
-	switch(input){
-		case forward:{
+    // Verwerk de invoer van de gebruiker
+    switch (input) {
+    case 1: {
      int distance;
-			std::cout >> "Enter distance to move forward: ";
+      std::cout << "Enter distance to move forward: ";
      std::cin >> distance;
-			robot.goStraight(distance);
-		}
+      robot.goStraight(distance); // Beweeg de robot naar voren
+    } break;

-		case ROTATE:{
+    case 2: {
      int angle;
-			std::cout >> "Enter angle to rotate: ";
+      std::cout << "Enter angle to rotate in degrees: ";
      std::cin >> angle;
-			robot.doRotation(angle);
-		}
-			robot.goStraight(-1);
-			break;
+      robot.doRotation(angle); // Draai de robot
+    } break;

    default:
-			cout << "Invalid input" << endl;
+      cout << "Invalid input" << endl; // Ongeldige invoer
      break;
    }
-	
+  }
 }
-
--- a/src/C++/MQTT/CMakeLists.txt
+++ b/src/C++/MQTT/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.10)
+set(CMAKE_CXX_STANDARD 23)
+
+# Find the Paho MQTT C++ library
+find_library(PAHO_MQTTPP_LIBRARY paho-mqttpp3 PATHS /usr/local/lib)
+find_library(PAHO_MQTT_LIBRARY paho-mqtt3a PATHS /usr/local/lib)
+
+# Include the headers
+include_directories(/usr/local/include)
+
+# Add the executable
+add_executable(my_program main.cpp)
+
+# Link the libraries
+target_link_libraries(my_program ${PAHO_MQTTPP_LIBRARY} ${PAHO_MQTT_LIBRARY})
--- a/src/C++/MQTT/main.cpp
+++ b/src/C++/MQTT/main.cpp
@@ -0,0 +1,56 @@
+#include <iostream>
+#include <mqtt/async_client.h>
+#include <thread>  // Voor std::this_thread::sleep_for
+#include <chrono>  // Voor std::chrono::seconds
+
+const std::string ADDRESS("mqtt://localhost:1883");  // Aanpassen indien nodig
+const std::string CLIENT_ID("raspberry_pi_client");
+const std::string TOPIC("home/commands");
+
+class callback : public virtual mqtt::callback {
+  void message_arrived(mqtt::const_message_ptr msg) override {
+    std::cout << "Ontvangen bericht: '" << msg->get_topic()
+              << "' : " << msg->to_string() << std::endl;
+    // Doe iets met het bericht, bijvoorbeeld een GP.IO-activering
+  }
+
+  void connection_lost(const std::string& cause) override {
+    std::cerr << "Verbinding verloren. Oorzaak: " << cause << std::endl;
+  }
+
+  void delivery_complete(mqtt::delivery_token_ptr token) override {
+    std::cout << "Bericht afgeleverd!" << std::endl;
+  }
+};
+
+int main() {
+  mqtt::async_client client(ADDRESS, CLIENT_ID);
+  callback cb;
+  client.set_callback(cb);
+
+  mqtt::connect_options connOpts;
+  connOpts.set_clean_session(true);
+  connOpts.set_user_name("ishak");
+  connOpts.set_password("kobuki");
+  connOpts.set_mqtt_version(MQTTVERSION_3_1_1);  // Voor MQTT 3.1.1
+
+  try {
+    std::cout << "Verbinden met broker..." << std::endl;
+    client.connect(connOpts)->wait();
+    std::cout << "Verbonden!" << std::endl;
+
+    std::cout << "Abonneren op topic: " << TOPIC << std::endl;
+    client.subscribe(TOPIC, 1)->wait();
+
+    // Houd de client draaiende om berichten te blijven ontvangen
+    while (true) {
+      std::this_thread::sleep_for(std::chrono::seconds(1));  // Wacht om CPU-gebruik te verminderen
+    }
+
+  } catch (const mqtt::exception &exc) {
+    std::cerr << "Fout: " << exc.what() << std::endl;
+    return 1;
+  }
+
+  return 0;
+}
--- a/src/C++/Sensor/GPSModule/GPSModule.ino
+++ b/src/C++/Sensor/GPSModule/GPSModule.ino
--- a/src/C++/Sensor/lib/src/TinyGPS++.cpp
+++ b/src/C++/Sensor/lib/src/TinyGPS++.cpp
@@ -0,0 +1,503 @@
+/*
+TinyGPS++ - a small GPS library for Arduino providing universal NMEA parsing
+Based on work by and "distanceBetween" and "courseTo" courtesy of Maarten Lamers.
+Suggestion to add satellites, courseTo(), and cardinal() by Matt Monson.
+Location precision improvements suggested by Wayne Holder.
+Copyright (C) 2008-2013 Mikal Hart
+All rights reserved.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#include "TinyGPS++.h"
+
+#include <string.h>
+#include <ctype.h>
+#include <stdlib.h>
+
+#define _GPRMCterm   "GPRMC"
+#define _GPGGAterm   "GPGGA"
+#define _GNRMCterm   "GNRMC"
+#define _GNGGAterm   "GNGGA"
+
+TinyGPSPlus::TinyGPSPlus()
+  :  parity(0)
+  ,  isChecksumTerm(false)
+  ,  curSentenceType(GPS_SENTENCE_OTHER)
+  ,  curTermNumber(0)
+  ,  curTermOffset(0)
+  ,  sentenceHasFix(false)
+  ,  customElts(0)
+  ,  customCandidates(0)
+  ,  encodedCharCount(0)
+  ,  sentencesWithFixCount(0)
+  ,  failedChecksumCount(0)
+  ,  passedChecksumCount(0)
+{
+  term[0] = '\0';
+}
+
+//
+// public methods
+//
+
+bool TinyGPSPlus::encode(char c)
+{
+  ++encodedCharCount;
+
+  switch(c)
+  {
+  case ',': // term terminators
+    parity ^= (uint8_t)c;
+  case '\r':
+  case '\n':
+  case '*':
+    {
+      bool isValidSentence = false;
+      if (curTermOffset < sizeof(term))
+      {
+        term[curTermOffset] = 0;
+        isValidSentence = endOfTermHandler();
+      }
+      ++curTermNumber;
+      curTermOffset = 0;
+      isChecksumTerm = c == '*';
+      return isValidSentence;
+    }
+    break;
+
+  case '$': // sentence begin
+    curTermNumber = curTermOffset = 0;
+    parity = 0;
+    curSentenceType = GPS_SENTENCE_OTHER;
+    isChecksumTerm = false;
+    sentenceHasFix = false;
+    return false;
+
+  default: // ordinary characters
+    if (curTermOffset < sizeof(term) - 1)
+      term[curTermOffset++] = c;
+    if (!isChecksumTerm)
+      parity ^= c;
+    return false;
+  }
+
+  return false;
+}
+
+//
+// internal utilities
+//
+int TinyGPSPlus::fromHex(char a)
+{
+  if (a >= 'A' && a <= 'F')
+    return a - 'A' + 10;
+  else if (a >= 'a' && a <= 'f')
+    return a - 'a' + 10;
+  else
+    return a - '0';
+}
+
+// static
+// Parse a (potentially negative) number with up to 2 decimal digits -xxxx.yy
+int32_t TinyGPSPlus::parseDecimal(const char *term)
+{
+  bool negative = *term == '-';
+  if (negative) ++term;
+  int32_t ret = 100 * (int32_t)atol(term);
+  while (isdigit(*term)) ++term;
+  if (*term == '.' && isdigit(term[1]))
+  {
+    ret += 10 * (term[1] - '0');
+    if (isdigit(term[2]))
+      ret += term[2] - '0';
+  }
+  return negative ? -ret : ret;
+}
+
+// static
+// Parse degrees in that funny NMEA format DDMM.MMMM
+void TinyGPSPlus::parseDegrees(const char *term, RawDegrees &deg)
+{
+  uint32_t leftOfDecimal = (uint32_t)atol(term);
+  uint16_t minutes = (uint16_t)(leftOfDecimal % 100);
+  uint32_t multiplier = 10000000UL;
+  uint32_t tenMillionthsOfMinutes = minutes * multiplier;
+
+  deg.deg = (int16_t)(leftOfDecimal / 100);
+
+  while (isdigit(*term))
+    ++term;
+
+  if (*term == '.')
+    while (isdigit(*++term))
+    {
+      multiplier /= 10;
+      tenMillionthsOfMinutes += (*term - '0') * multiplier;
+    }
+
+  deg.billionths = (5 * tenMillionthsOfMinutes + 1) / 3;
+  deg.negative = false;
+}
+
+#define COMBINE(sentence_type, term_number) (((unsigned)(sentence_type) << 5) | term_number)
+
+// Processes a just-completed term
+// Returns true if new sentence has just passed checksum test and is validated
+bool TinyGPSPlus::endOfTermHandler()
+{
+  // If it's the checksum term, and the checksum checks out, commit
+  if (isChecksumTerm)
+  {
+    byte checksum = 16 * fromHex(term[0]) + fromHex(term[1]);
+    if (checksum == parity)
+    {
+      passedChecksumCount++;
+      if (sentenceHasFix)
+        ++sentencesWithFixCount;
+
+      switch(curSentenceType)
+      {
+      case GPS_SENTENCE_GPRMC:
+        date.commit();
+        time.commit();
+        if (sentenceHasFix)
+        {
+           location.commit();
+           speed.commit();
+           course.commit();
+        }
+        break;
+      case GPS_SENTENCE_GPGGA:
+        time.commit();
+        if (sentenceHasFix)
+        {
+          location.commit();
+          altitude.commit();
+        }
+        satellites.commit();
+        hdop.commit();
+        break;
+      }
+
+      // Commit all custom listeners of this sentence type
+      for (TinyGPSCustom *p = customCandidates; p != NULL && strcmp(p->sentenceName, customCandidates->sentenceName) == 0; p = p->next)
+         p->commit();
+      return true;
+    }
+
+    else
+    {
+      ++failedChecksumCount;
+    }
+
+    return false;
+  }
+
+  // the first term determines the sentence type
+  if (curTermNumber == 0)
+  {
+    if (!strcmp(term, _GPRMCterm) || !strcmp(term, _GNRMCterm))
+      curSentenceType = GPS_SENTENCE_GPRMC;
+    else if (!strcmp(term, _GPGGAterm) || !strcmp(term, _GNGGAterm))
+      curSentenceType = GPS_SENTENCE_GPGGA;
+    else
+      curSentenceType = GPS_SENTENCE_OTHER;
+
+    // Any custom candidates of this sentence type?
+    for (customCandidates = customElts; customCandidates != NULL && strcmp(customCandidates->sentenceName, term) < 0; customCandidates = customCandidates->next);
+    if (customCandidates != NULL && strcmp(customCandidates->sentenceName, term) > 0)
+       customCandidates = NULL;
+
+    return false;
+  }
+
+  if (curSentenceType != GPS_SENTENCE_OTHER && term[0])
+    switch(COMBINE(curSentenceType, curTermNumber))
+  {
+    case COMBINE(GPS_SENTENCE_GPRMC, 1): // Time in both sentences
+    case COMBINE(GPS_SENTENCE_GPGGA, 1):
+      time.setTime(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 2): // GPRMC validity
+      sentenceHasFix = term[0] == 'A';
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 3): // Latitude
+    case COMBINE(GPS_SENTENCE_GPGGA, 2):
+      location.setLatitude(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 4): // N/S
+    case COMBINE(GPS_SENTENCE_GPGGA, 3):
+      location.rawNewLatData.negative = term[0] == 'S';
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 5): // Longitude
+    case COMBINE(GPS_SENTENCE_GPGGA, 4):
+      location.setLongitude(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 6): // E/W
+    case COMBINE(GPS_SENTENCE_GPGGA, 5):
+      location.rawNewLngData.negative = term[0] == 'W';
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 7): // Speed (GPRMC)
+      speed.set(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 8): // Course (GPRMC)
+      course.set(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 9): // Date (GPRMC)
+      date.setDate(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPGGA, 6): // Fix data (GPGGA)
+      sentenceHasFix = term[0] > '0';
+      break;
+    case COMBINE(GPS_SENTENCE_GPGGA, 7): // Satellites used (GPGGA)
+      satellites.set(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPGGA, 8): // HDOP
+      hdop.set(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPGGA, 9): // Altitude (GPGGA)
+      altitude.set(term);
+      break;
+  }
+
+  // Set custom values as needed
+  for (TinyGPSCustom *p = customCandidates; p != NULL && strcmp(p->sentenceName, customCandidates->sentenceName) == 0 && p->termNumber <= curTermNumber; p = p->next)
+    if (p->termNumber == curTermNumber)
+         p->set(term);
+
+  return false;
+}
+
+/* static */
+double TinyGPSPlus::distanceBetween(double lat1, double long1, double lat2, double long2)
+{
+  // returns distance in meters between two positions, both specified
+  // as signed decimal-degrees latitude and longitude. Uses great-circle
+  // distance computation for hypothetical sphere of radius 6372795 meters.
+  // Because Earth is no exact sphere, rounding errors may be up to 0.5%.
+  // Courtesy of Maarten Lamers
+  double delta = radians(long1-long2);
+  double sdlong = sin(delta);
+  double cdlong = cos(delta);
+  lat1 = radians(lat1);
+  lat2 = radians(lat2);
+  double slat1 = sin(lat1);
+  double clat1 = cos(lat1);
+  double slat2 = sin(lat2);
+  double clat2 = cos(lat2);
+  delta = (clat1 * slat2) - (slat1 * clat2 * cdlong);
+  delta = sq(delta);
+  delta += sq(clat2 * sdlong);
+  delta = sqrt(delta);
+  double denom = (slat1 * slat2) + (clat1 * clat2 * cdlong);
+  delta = atan2(delta, denom);
+  return delta * 6372795;
+}
+
+double TinyGPSPlus::courseTo(double lat1, double long1, double lat2, double long2)
+{
+  // returns course in degrees (North=0, West=270) from position 1 to position 2,
+  // both specified as signed decimal-degrees latitude and longitude.
+  // Because Earth is no exact sphere, calculated course may be off by a tiny fraction.
+  // Courtesy of Maarten Lamers
+  double dlon = radians(long2-long1);
+  lat1 = radians(lat1);
+  lat2 = radians(lat2);
+  double a1 = sin(dlon) * cos(lat2);
+  double a2 = sin(lat1) * cos(lat2) * cos(dlon);
+  a2 = cos(lat1) * sin(lat2) - a2;
+  a2 = atan2(a1, a2);
+  if (a2 < 0.0)
+  {
+    a2 += TWO_PI;
+  }
+  return degrees(a2);
+}
+
+const char *TinyGPSPlus::cardinal(double course)
+{
+  static const char* directions[] = {"N", "NNE", "NE", "ENE", "E", "ESE", "SE", "SSE", "S", "SSW", "SW", "WSW", "W", "WNW", "NW", "NNW"};
+  int direction = (int)((course + 11.25f) / 22.5f);
+  return directions[direction % 16];
+}
+
+void TinyGPSLocation::commit()
+{
+   rawLatData = rawNewLatData;
+   rawLngData = rawNewLngData;
+   lastCommitTime = millis();
+   valid = updated = true;
+}
+
+void TinyGPSLocation::setLatitude(const char *term)
+{
+   TinyGPSPlus::parseDegrees(term, rawNewLatData);
+}
+
+void TinyGPSLocation::setLongitude(const char *term)
+{
+   TinyGPSPlus::parseDegrees(term, rawNewLngData);
+}
+
+double TinyGPSLocation::lat()
+{
+   updated = false;
+   double ret = rawLatData.deg + rawLatData.billionths / 1000000000.0;
+   return rawLatData.negative ? -ret : ret;
+}
+
+double TinyGPSLocation::lng()
+{
+   updated = false;
+   double ret = rawLngData.deg + rawLngData.billionths / 1000000000.0;
+   return rawLngData.negative ? -ret : ret;
+}
+
+void TinyGPSDate::commit()
+{
+   date = newDate;
+   lastCommitTime = millis();
+   valid = updated = true;
+}
+
+void TinyGPSTime::commit()
+{
+   time = newTime;
+   lastCommitTime = millis();
+   valid = updated = true;
+}
+
+void TinyGPSTime::setTime(const char *term)
+{
+   newTime = (uint32_t)TinyGPSPlus::parseDecimal(term);
+}
+
+void TinyGPSDate::setDate(const char *term)
+{
+   newDate = atol(term);
+}
+
+uint16_t TinyGPSDate::year()
+{
+   updated = false;
+   uint16_t year = date % 100;
+   return year + 2000;
+}
+
+uint8_t TinyGPSDate::month()
+{
+   updated = false;
+   return (date / 100) % 100;
+}
+
+uint8_t TinyGPSDate::day()
+{
+   updated = false;
+   return date / 10000;
+}
+
+uint8_t TinyGPSTime::hour()
+{
+   updated = false;
+   return time / 1000000;
+}
+
+uint8_t TinyGPSTime::minute()
+{
+   updated = false;
+   return (time / 10000) % 100;
+}
+
+uint8_t TinyGPSTime::second()
+{
+   updated = false;
+   return (time / 100) % 100;
+}
+
+uint8_t TinyGPSTime::centisecond()
+{
+   updated = false;
+   return time % 100;
+}
+
+void TinyGPSDecimal::commit()
+{
+   val = newval;
+   lastCommitTime = millis();
+   valid = updated = true;
+}
+
+void TinyGPSDecimal::set(const char *term)
+{
+   newval = TinyGPSPlus::parseDecimal(term);
+}
+
+void TinyGPSInteger::commit()
+{
+   val = newval;
+   lastCommitTime = millis();
+   valid = updated = true;
+}
+
+void TinyGPSInteger::set(const char *term)
+{
+   newval = atol(term);
+}
+
+TinyGPSCustom::TinyGPSCustom(TinyGPSPlus &gps, const char *_sentenceName, int _termNumber)
+{
+   begin(gps, _sentenceName, _termNumber);
+}
+
+void TinyGPSCustom::begin(TinyGPSPlus &gps, const char *_sentenceName, int _termNumber)
+{
+   lastCommitTime = 0;
+   updated = valid = false;
+   sentenceName = _sentenceName;
+   termNumber = _termNumber;
+   memset(stagingBuffer, '\0', sizeof(stagingBuffer));
+   memset(buffer, '\0', sizeof(buffer));
+
+   // Insert this item into the GPS tree
+   gps.insertCustom(this, _sentenceName, _termNumber);
+}
+
+void TinyGPSCustom::commit()
+{
+   strcpy(this->buffer, this->stagingBuffer);
+   lastCommitTime = millis();
+   valid = updated = true;
+}
+
+void TinyGPSCustom::set(const char *term)
+{
+   strncpy(this->stagingBuffer, term, sizeof(this->stagingBuffer));
+}
+
+void TinyGPSPlus::insertCustom(TinyGPSCustom *pElt, const char *sentenceName, int termNumber)
+{
+   TinyGPSCustom **ppelt;
+
+   for (ppelt = &this->customElts; *ppelt != NULL; ppelt = &(*ppelt)->next)
+   {
+      int cmp = strcmp(sentenceName, (*ppelt)->sentenceName);
+      if (cmp < 0 || (cmp == 0 && termNumber < (*ppelt)->termNumber))
+         break;
+   }
+
+   pElt->next = *ppelt;
+   *ppelt = pElt;
+}
--- a/src/C++/Sensor/lib/src/TinyGPS++.h
+++ b/src/C++/Sensor/lib/src/TinyGPS++.h
@@ -0,0 +1,278 @@
+/*
+TinyGPS++ - a small GPS library for Arduino providing universal NMEA parsing
+Based on work by and "distanceBetween" and "courseTo" courtesy of Maarten Lamers.
+Suggestion to add satellites, courseTo(), and cardinal() by Matt Monson.
+Location precision improvements suggested by Wayne Holder.
+Copyright (C) 2008-2022 Mikal Hart
+All rights reserved.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef __TinyGPSPlus_h
+#define __TinyGPSPlus_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+#include <limits.h>
+
+#define _GPS_VERSION "1.0.3" // software version of this library
+#define _GPS_MPH_PER_KNOT 1.15077945
+#define _GPS_MPS_PER_KNOT 0.51444444
+#define _GPS_KMPH_PER_KNOT 1.852
+#define _GPS_MILES_PER_METER 0.00062137112
+#define _GPS_KM_PER_METER 0.001
+#define _GPS_FEET_PER_METER 3.2808399
+#define _GPS_MAX_FIELD_SIZE 15
+
+struct RawDegrees
+{
+   uint16_t deg;
+   uint32_t billionths;
+   bool negative;
+public:
+   RawDegrees() : deg(0), billionths(0), negative(false)
+   {}
+};
+
+struct TinyGPSLocation
+{
+   friend class TinyGPSPlus;
+public:
+   bool isValid() const    { return valid; }
+   bool isUpdated() const  { return updated; }
+   uint32_t age() const    { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
+   const RawDegrees &rawLat()     { updated = false; return rawLatData; }
+   const RawDegrees &rawLng()     { updated = false; return rawLngData; }
+   double lat();
+   double lng();
+
+   TinyGPSLocation() : valid(false), updated(false)
+   {}
+
+private:
+   bool valid, updated;
+   RawDegrees rawLatData, rawLngData, rawNewLatData, rawNewLngData;
+   uint32_t lastCommitTime;
+   void commit();
+   void setLatitude(const char *term);
+   void setLongitude(const char *term);
+};
+
+struct TinyGPSDate
+{
+   friend class TinyGPSPlus;
+public:
+   bool isValid() const       { return valid; }
+   bool isUpdated() const     { return updated; }
+   uint32_t age() const       { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
+
+   uint32_t value()           { updated = false; return date; }
+   uint16_t year();
+   uint8_t month();
+   uint8_t day();
+
+   TinyGPSDate() : valid(false), updated(false), date(0)
+   {}
+
+private:
+   bool valid, updated;
+   uint32_t date, newDate;
+   uint32_t lastCommitTime;
+   void commit();
+   void setDate(const char *term);
+};
+
+struct TinyGPSTime
+{
+   friend class TinyGPSPlus;
+public:
+   bool isValid() const       { return valid; }
+   bool isUpdated() const     { return updated; }
+   uint32_t age() const       { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
+
+   uint32_t value()           { updated = false; return time; }
+   uint8_t hour();
+   uint8_t minute();
+   uint8_t second();
+   uint8_t centisecond();
+
+   TinyGPSTime() : valid(false), updated(false), time(0)
+   {}
+
+private:
+   bool valid, updated;
+   uint32_t time, newTime;
+   uint32_t lastCommitTime;
+   void commit();
+   void setTime(const char *term);
+};
+
+struct TinyGPSDecimal
+{
+   friend class TinyGPSPlus;
+public:
+   bool isValid() const    { return valid; }
+   bool isUpdated() const  { return updated; }
+   uint32_t age() const    { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
+   int32_t value()         { updated = false; return val; }
+
+   TinyGPSDecimal() : valid(false), updated(false), val(0)
+   {}
+
+private:
+   bool valid, updated;
+   uint32_t lastCommitTime;
+   int32_t val, newval;
+   void commit();
+   void set(const char *term);
+};
+
+struct TinyGPSInteger
+{
+   friend class TinyGPSPlus;
+public:
+   bool isValid() const    { return valid; }
+   bool isUpdated() const  { return updated; }
+   uint32_t age() const    { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
+   uint32_t value()        { updated = false; return val; }
+
+   TinyGPSInteger() : valid(false), updated(false), val(0)
+   {}
+
+private:
+   bool valid, updated;
+   uint32_t lastCommitTime;
+   uint32_t val, newval;
+   void commit();
+   void set(const char *term);
+};
+
+struct TinyGPSSpeed : TinyGPSDecimal
+{
+   double knots()    { return value() / 100.0; }
+   double mph()      { return _GPS_MPH_PER_KNOT * value() / 100.0; }
+   double mps()      { return _GPS_MPS_PER_KNOT * value() / 100.0; }
+   double kmph()     { return _GPS_KMPH_PER_KNOT * value() / 100.0; }
+};
+
+struct TinyGPSCourse : public TinyGPSDecimal
+{
+   double deg()      { return value() / 100.0; }
+};
+
+struct TinyGPSAltitude : TinyGPSDecimal
+{
+   double meters()       { return value() / 100.0; }
+   double miles()        { return _GPS_MILES_PER_METER * value() / 100.0; }
+   double kilometers()   { return _GPS_KM_PER_METER * value() / 100.0; }
+   double feet()         { return _GPS_FEET_PER_METER * value() / 100.0; }
+};
+
+struct TinyGPSHDOP : TinyGPSDecimal
+{
+   double hdop() { return value() / 100.0; }
+};
+
+class TinyGPSPlus;
+class TinyGPSCustom
+{
+public:
+   TinyGPSCustom() {};
+   TinyGPSCustom(TinyGPSPlus &gps, const char *sentenceName, int termNumber);
+   void begin(TinyGPSPlus &gps, const char *_sentenceName, int _termNumber);
+
+   bool isUpdated() const  { return updated; }
+   bool isValid() const    { return valid; }
+   uint32_t age() const    { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
+   const char *value()     { updated = false; return buffer; }
+
+private:
+   void commit();
+   void set(const char *term);
+
+   char stagingBuffer[_GPS_MAX_FIELD_SIZE + 1];
+   char buffer[_GPS_MAX_FIELD_SIZE + 1];
+   unsigned long lastCommitTime;
+   bool valid, updated;
+   const char *sentenceName;
+   int termNumber;
+   friend class TinyGPSPlus;
+   TinyGPSCustom *next;
+};
+
+class TinyGPSPlus
+{
+public:
+  TinyGPSPlus();
+  bool encode(char c); // process one character received from GPS
+  TinyGPSPlus &operator << (char c) {encode(c); return *this;}
+
+  TinyGPSLocation location;
+  TinyGPSDate date;
+  TinyGPSTime time;
+  TinyGPSSpeed speed;
+  TinyGPSCourse course;
+  TinyGPSAltitude altitude;
+  TinyGPSInteger satellites;
+  TinyGPSHDOP hdop;
+
+  static const char *libraryVersion() { return _GPS_VERSION; }
+
+  static double distanceBetween(double lat1, double long1, double lat2, double long2);
+  static double courseTo(double lat1, double long1, double lat2, double long2);
+  static const char *cardinal(double course);
+
+  static int32_t parseDecimal(const char *term);
+  static void parseDegrees(const char *term, RawDegrees &deg);
+
+  uint32_t charsProcessed()   const { return encodedCharCount; }
+  uint32_t sentencesWithFix() const { return sentencesWithFixCount; }
+  uint32_t failedChecksum()   const { return failedChecksumCount; }
+  uint32_t passedChecksum()   const { return passedChecksumCount; }
+
+private:
+  enum {GPS_SENTENCE_GPGGA, GPS_SENTENCE_GPRMC, GPS_SENTENCE_OTHER};
+
+  // parsing state variables
+  uint8_t parity;
+  bool isChecksumTerm;
+  char term[_GPS_MAX_FIELD_SIZE];
+  uint8_t curSentenceType;
+  uint8_t curTermNumber;
+  uint8_t curTermOffset;
+  bool sentenceHasFix;
+
+  // custom element support
+  friend class TinyGPSCustom;
+  TinyGPSCustom *customElts;
+  TinyGPSCustom *customCandidates;
+  void insertCustom(TinyGPSCustom *pElt, const char *sentenceName, int index);
+
+  // statistics
+  uint32_t encodedCharCount;
+  uint32_t sentencesWithFixCount;
+  uint32_t failedChecksumCount;
+  uint32_t passedChecksumCount;
+
+  // internal utilities
+  int fromHex(char a);
+  bool endOfTermHandler();
+};
+
+#endif // def(__TinyGPSPlus_h)
--- a/src/C++/Sensor/lib/src/TinyGPSPlus.h
+++ b/src/C++/Sensor/lib/src/TinyGPSPlus.h
@@ -0,0 +1,26 @@
+/*
+TinyGPSPlus - a small GPS library for Arduino providing universal NMEA parsing
+Based on work by and "distanceBetween" and "courseTo" courtesy of Maarten Lamers.
+Suggestion to add satellites, courseTo(), and cardinal() by Matt Monson.
+Location precision improvements suggested by Wayne Holder.
+Copyright (C) 2008-2013 Mikal Hart
+All rights reserved.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef __TinyGPSPlus_h
+#include "TinyGPS++.h"
+#endif
--- a/src/C++/Socket/a.out
+++ b/src/C++/Socket/a.out
--- a/src/C++/Socket/main.cpp
+++ b/src/C++/Socket/main.cpp
@@ -1,53 +0,0 @@
-#include <iostream>
-#include <boost/asio.hpp>
-#include <string>
-
-using boost::asio::ip::tcp;
-
-int main() {
-    try {
-        // Create an io_context object
-        boost::asio::io_context io_context;
-
-        // Resolve the server address and port
-        tcp::resolver resolver(io_context);
-        tcp::resolver::results_type endpoints = resolver.resolve("127.0.0.1", "4024");
-
-        // Create and connect the socket
-        tcp::socket socket(io_context);
-        boost::asio::connect(socket, endpoints);
-
-        std::cout << "Connected to the server." << std::endl;
-
-        // Receive initial message from the server
-        boost::asio::streambuf buffer;
-        boost::asio::read_until(socket, buffer, "\n");
-        std::istream is(&buffer);
-        std::string initial_message;
-        std::getline(is, initial_message);
-        std::cout << "Initial message from server: " << initial_message << std::endl;
-
-        // Send and receive messages
-        while (true) {
-            // Send a message to the server
-            std::string message;
-            std::cout << "Enter message: ";
-            std::getline(std::cin, message);
-            message += "\n"; // Add newline to mark the end of the message
-            boost::asio::write(socket, boost::asio::buffer(message));
-
-            // Receive a response from the server
-            boost::asio::streambuf response_buffer;
-            boost::asio::read_until(socket, response_buffer, "\n");
-            std::istream response_stream(&response_buffer);
-            std::string reply;
-            std::getline(response_stream, reply);
-            std::cout << "Reply from server: " << reply << std::endl;
-        }
-
-    } catch (std::exception& e) {
-        std::cerr << "Exception: " << e.what() << std::endl;
-    }
-
-    return 0;
-}
--- a/src/Python/flask/web/pycache/app.cpython-311.pyc
+++ b/src/Python/flask/web/pycache/app.cpython-311.pyc
--- a/src/Python/flask/web/app.py
+++ b/src/Python/flask/web/app.py
@@ -1,17 +1,43 @@
-from flask import Flask, render_template
+from flask import Flask, request, render_template, jsonify
+import paho.mqtt.client as mqtt

 app = Flask(__name__)
+# This function gets triggered when it receives a mqtt message
+def on_message(client, userdata, message):
+    global kobuki_message #set scope for this variable
+    kobuki_message = str(message.payload.decode("utf-8"))

-@app.route('/')
+# Create an MQTT client instance
+mqtt_client = mqtt.Client()
+mqtt_client.username_pw_set("ishak", "kobuki")
+mqtt_client.connect("145.92.224.21", 1883, 60)
+mqtt_client.loop_start()
+mqtt_client.subscribe("kobuki/data")
+mqtt_client.on_message = on_message # this lines needs to be under the function definition otherwise it cant find which function it needs to use
+
+
+@app.route('/', methods=["GET","POST"])
 def index():
    return render_template('index.html')

-@app.route('/control', methods=['POST'])
-def control():
-    return("hello")
+@app.route('/move', methods=['POST'])
+def move():
+    data = request.get_json()
+    direction = data.get("direction")
+
+    # Verstuur de richting via MQTT
+    if direction:
+        mqtt_client.publish("home/commands", direction)  # Het topic kan aangepast worden
+
+    return jsonify({"status": "success", "direction": direction})
+
+
+@app.route('/data', methods=['GET'])
+def data():
+    return jsonify({"kobuki_message": kobuki_message})
+
+


 if __name__ == '__main__':
    app.run(debug=True)
-
-
--- a/src/Python/flask/web/static/script.js
+++ b/src/Python/flask/web/static/script.js
@@ -0,0 +1,25 @@
+// Selecteer alle knoppen en voeg een event listener toe aan elke knop
+document.querySelectorAll(".btn").forEach(button => {
+  button.addEventListener("click", function(event) {
+    event.preventDefault(); // voorkomt pagina-verversing
+
+    // Haal de waarde van de knop op
+    const direction = event.target.value;
+
+    // Verstuur de richting naar de server met fetch
+    fetch("/move", {
+      method: "POST",
+      headers: {
+        "Content-Type": "application/json"
+      },
+      body: JSON.stringify({ direction: direction })
+    })
+    .then(response => response.json())
+    .then(data => {
+      console.log("Success:", data);
+    })
+    .catch(error => {
+      console.error("Error:", error);
+    });
+  });
+});
--- a/src/Python/flask/web/static/style.css
+++ b/src/Python/flask/web/static/style.css
@@ -10,7 +10,7 @@ body {
 .navbar {
  display: flex;
  justify-content: space-between;
-  max-width: 70rem;
+  max-width: 80%;
  background-color: #fff;
  border: 1px solid #f0f0f0;
  border-radius: 50px;
@@ -56,8 +56,6 @@ body {
    position: relative;
    width: 150px;
    height: 150px;
-    margin-left: auto;
-    margin-right: auto;
 }

 .btn {
@@ -75,47 +73,51 @@ body {
    transition: transform 0.2s ease, background-color 0.2s ease;
 }

-/* Middenknop */
-.btn:nth-child(1) {
+/* Direction buttons */
+.btn:nth-child(1) { /* Left */
    top: 50%;
    left: 50%;
-    transform: translate(-125%, -50%);
+    transform: translate(-160%, -50%);
 }

-/* Knop boven */
-.btn:nth-child(2) {
+.btn:nth-child(2) { /* Up */
    top: 0;
    left: 50%;
-    transform: translateX(-50%);
+    transform: translate(-50%, -35%);
 }

-/* Knop rechts */
-.btn:nth-child(3) {
+.btn:nth-child(3) { /* Right */
    top: 50%;
    right: 0;
-    transform: translateY(-50%);
+    transform: translate(35%,-50%);
 }

-/* Knop onder */
-.btn:nth-child(4) {
+.btn:nth-child(4) { /* Down */
    bottom: 0;
    left: 50%;
-    transform: translateX(-50%);
+    transform: translate(-50%, 35%);
 }

-/* Knop links */
-.btn:nth-child(5) {
+.btn:nth-child(5) { /* Stop Button */
    top: 50%;
-    left: 0;
-    transform: translateY(-50%);
+    left: 50%;
+    transform: translate(-50%, -50%);
+    background-color: red; /* Distinct color for the stop button */
+    width: 60px; /* Slightly larger for emphasis */
+    height: 60px; /* Slightly larger for emphasis */
+    line-height: 60px; /* Center text vertically */
 }

+/* Hover effects */
 .btn:hover {
    background-color: #0056b3;
-    /* transform: scale(1.1); */
 }

 .btn:active {
    background-color: #004494;
 }

+.stop-button:hover {
+    background-color: darkred; /* Different hover color for the stop button */
+}
+  
--- a/src/Python/flask/web/templates/index.html
+++ b/src/Python/flask/web/templates/index.html
@@ -1,19 +1,35 @@
-{%extends 'base.html'%}
-
-{%block head%}
-
-{%endblock%}
-
-{%block content%}
-<div class="container">
+{% extends 'base.html' %}
+{% block head %}
+<link rel="stylesheet" href="../static/style.css" />
+{% endblock %}
+{% block content %}
+<!DOCTYPE html>
+<html lang="en">
+  <head>
+    <meta charset="UTF-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>Kobuki</title>
+    <link rel="stylesheet" href="../static/style.css" />
+  </head>
+  <body>
+    <div class="container">
      <div class="image-section">
-        <img src="kobuki.jpg" alt="Kobuki Robot" id="robot-image">
+        <img src="kobuki.jpg" alt="Kobuki Robot" id="robot-image" />
      </div>
      <div class="button-section">
-        <button class="btn">1</button>
-        <button class="btn">2</button>
-        <button class="btn">3</button>
-        <button class="btn">4</button>
+        <form id="form" action="/move" method="post">
+          <button class="btn" name="direction" value="left">←</button>
+          <button class="btn" name="direction" value="up">↑</button>
+          <button class="btn" name="direction" value="right">→</button>
+          <button class="btn" name="direction" value="down">↓</button>
+          <button class="btn stop-button" name="direction" value="stop">Stop</button>
+        </form>
      </div>
-</div>
-{%endblock%}
+    </div>
+    <div class="container">
+      <h1>Sensor Data</h1>
+    </div>
+    <script src="../static/script.js"></script>
+  </body>
+</html>
+{% endblock %}
--- a/src/Python/socket/socketServer.py
+++ b/src/Python/socket/socketServer.py
@@ -1,20 +0,0 @@
-import socket
-
-HOST = "127.0.0.1"  # Listen on all available interfaces
-PORT = 4024  # Port to listen on (non-privileged ports are > 1023)
-
-with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
-    s.bind((HOST, PORT))
-    s.listen()
-    print(f"Server listening on {HOST}:{PORT}")
-    conn, addr = s.accept()
-    with conn:
-        print(f"Connected by {addr}")
-        conn.sendall(b"hallo\n")
-        while True:
-            data = conn.recv(2048)
-            if data:
-                print("Received:", repr(data))
-                conn.sendall(b"message received\n")
-            if not data:
-                break
Author	SHA1	Message	Date
Sam Hos	f95b78d236	comment	2024-11-06 13:08:48 +01:00
Sam Hos	6326227be6	made working endpoint for kobuki data	2024-11-05 19:11:29 +01:00
Sam Hos	5f4a7606ce	attempt to fix endpoint	2024-11-05 17:07:40 +01:00
Sam Hos	9cdf9aa44d	intergrated everything and added simple endpoint for mqtt data	2024-11-05 17:06:07 +01:00
Sam Hos	7424c2d033	made it so it automaticly sends all its data in json to kobuki/data	2024-11-05 14:20:24 +01:00
Sam Hos	47f29f0f0a	whole struct to json	2024-11-05 13:47:26 +01:00
Sam Hos	222b14b9e5	can send messages to server from cpp	2024-11-05 12:55:02 +01:00
Mees Roelofsz	ce5412847f	added to a correctly named file	2024-11-05 12:43:28 +01:00
Mees Roelofsz	8dde47febb	added ino file	2024-11-05 12:39:06 +01:00
Mees Roelofsz	6dcf25c810	added tinygpslibrary	2024-11-05 12:38:59 +01:00
Sam Hos	d31c70269c	remove old parser	2024-11-04 15:16:18 +01:00
Sam Hos	206bf965e5	fix safety	2024-11-04 14:42:53 +01:00
Sam Hos	9cb5468885	flip rotation value to negative	2024-11-04 14:39:05 +01:00
Sam Hos	a422456747	change rotation way	2024-11-04 14:36:46 +01:00
Sam Hos	a508d5c881	stop the robot	2024-11-04 14:10:17 +01:00
ishak jmilou.ishak	4aa0356a8a	Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79	2024-11-04 14:06:28 +01:00
ishak jmilou.ishak	1b747edb8d	FIXED CSS	2024-11-04 14:06:27 +01:00
Sam Hos	f3033b1632	change rotation controls	2024-11-04 14:00:35 +01:00
Sam Hos	f111030e73	added better safety	2024-11-04 13:37:09 +01:00
Sam Hos	0a43e2ef57	added more preciese controls	2024-11-04 13:31:40 +01:00
Sam Hos	95bd144c2e	drive testing	2024-11-04 13:29:18 +01:00
Sam Hos	c3270a1c47	fix thread going out of scope	2024-11-04 13:23:02 +01:00
Sam Hos	0dc267536e	fix nullpointer	2024-11-04 13:19:31 +01:00
Sam Hos	60a51daf7b	added sleep	2024-11-04 13:16:10 +01:00
Sam Hos	3af23f61cf	start safety thread	2024-11-04 13:10:16 +01:00
Sam Hos	b90bca0060	re-added robotsafety	2024-11-04 13:05:17 +01:00
ishak jmilou.ishak	7cc2fbd8ec	Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79	2024-11-04 12:32:33 +01:00
ishak jmilou.ishak	d14108d656	Add 'Stop' button to direction control in index.html	2024-11-04 12:32:32 +01:00
Sam Hos	3d7bcf84e4	added more drive logic	2024-11-04 12:31:30 +01:00
Sam Hos	25a179ded6	fix last build errors	2024-11-04 12:29:24 +01:00
Sam Hos	a3ed0f0f30	used wrong operator	2024-11-04 12:23:34 +01:00
Sam Hos	c246258c6d	.	2024-11-04 12:22:31 +01:00
Sam Hos	94f1b40e74	fix compile errors	2024-11-04 12:19:38 +01:00
Sam Hos	d845d01e0a	reset mqtt var after running command	2024-11-04 12:18:14 +01:00
ishak jmilou.ishak	005021e2d5	Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79	2024-11-04 12:17:18 +01:00
ishak jmilou.ishak	38dfccbd28	Change fetch endpoint from /send-direction to /move	2024-11-04 12:17:17 +01:00
Sam Hos	d9f0abd86c	fix	2024-11-04 12:15:14 +01:00
ishak jmilou.ishak	85d54f8422	Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79	2024-11-04 12:14:43 +01:00
ishak jmilou.ishak	99676cc83a	Refactor button event handling to send direction via fetch to /send-direction	2024-11-04 12:14:42 +01:00
Sam Hos	d09352861f	reset message after input	2024-11-04 12:13:52 +01:00
Sam Hos	ff599e127d	remove debug prints	2024-11-04 11:58:06 +01:00
Sam Hos	cf59adae8b	attempt to fix	2024-11-04 11:56:57 +01:00
Sam Hos	7449f713fa	added breaks	2024-11-04 11:55:27 +01:00
ishak jmilou.ishak	705ffcd98d	Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79	2024-11-04 11:54:22 +01:00
ishak jmilou.ishak	ca9b81c03e	Refactor move endpoint to accept JSON input and update form submission method	2024-11-04 11:54:21 +01:00
Sam Hos	b64ccd51eb	more debug prints	2024-11-04 11:53:58 +01:00
Sam Hos	7e1e46bcc3	added debugging print	2024-11-04 11:50:51 +01:00
Sam Hos	60f27af05d	some changes	2024-11-04 11:44:51 +01:00
ishak jmilou.ishak	17e1399643	Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79	2024-11-04 11:43:21 +01:00
ishak jmilou.ishak	d673b4e0ad	loading js correctly	2024-11-04 11:43:20 +01:00
Sam Hos	e708cbb6ea	added comments and controls for mqtt	2024-11-04 11:43:04 +01:00
ishak jmilou.ishak	41034ba85c	fixed fetch	2024-11-04 11:34:42 +01:00
ishak jmilou.ishak	21ed9c5080	changed location	2024-11-04 10:55:39 +01:00
ishak jmilou.ishak	19bc1a4184	made get method	2024-11-04 10:26:15 +01:00
Sam Hos	b8b61df756	it compiles again	2024-11-04 10:09:39 +01:00
Sam Hos	896897d1b0	added thread library to driver	2024-11-04 09:36:21 +01:00
Sam Hos	fd4615f0af	re-added functions that where removed when merged	2024-11-04 09:32:02 +01:00
Sam Hos	9c5825fd61	fix driver	2024-11-04 09:27:18 +01:00
ishak jmilou.ishak	6f17c1ed6f	named action /move	2024-11-04 09:23:07 +01:00
Sam Hos	a46900dfd2	Merge branch 'test_script_movement'	2024-10-31 21:51:04 +01:00
Sam Hos	2919e20970	update gitignore	2024-10-31 21:49:17 +01:00
ishak jmilou.ishak	0f8d68f391	added a newline at the end of script.js	2024-10-31 16:19:06 +01:00
ishak jmilou.ishak	dd49de9d8c	wrote some small comments	2024-10-28 16:57:53 +01:00
Sam Hos	edf1cabdf3	testing cpp	2024-10-24 13:33:28 +02:00
Sam Hos	dfb1415940	added so program doesnt instandly quit	2024-10-24 13:30:59 +02:00
Sam Hos	0bfe04e67e	small fix	2024-10-24 13:29:48 +02:00
Sam Hos	152ba37cd5	edited cmakelists	2024-10-24 13:28:27 +02:00
ishak jmilou.ishak	a9003d5299	Merge branch 'test_script_movement' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79 into test_script_movement	2024-10-24 13:23:38 +02:00
ishak jmilou.ishak	80771dc740	started with fetch	2024-10-24 13:23:37 +02:00
Sam Hos	294af308ec	bugfixes	2024-10-24 12:52:37 +02:00
Sam Hos	990d064766	edited cmakelists	2024-10-24 12:48:23 +02:00
Sam Hos	c2b4a5418b	remove debug prints in mqtt class	2024-10-24 12:45:32 +02:00
Sam Hos	6546dcbdd6	re-orginasation	2024-10-24 12:23:42 +02:00
Sam Hos	d35a79c1ca	moved folder	2024-10-24 12:23:42 +02:00
Sam Hos	0089be40d3	flask bugfix	2024-10-24 10:22:24 +00:00
ishak jmilou.ishak	c84c0d2cef	Refactor button handling in index.html form action	2024-10-24 12:20:24 +02:00
ishak jmilou.ishak	27ee1fb996	Merge branch 'test_script_movement' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79 into test_script_movement	2024-10-24 12:14:53 +02:00
ishak jmilou.ishak	5fe14a2f8f	Refactor button handling in index.html and app.py	2024-10-24 12:14:52 +02:00
Sam Hos	411982cf35	test	2024-10-23 19:38:50 +02:00
Sam Hos	8a0fb065d8	cmakelists	2024-10-23 19:34:40 +02:00
Sam Hos	2cd52981fc	edited cmakelist	2024-10-23 19:29:28 +02:00
ishak jmilou.ishak	4f3bb0b009	Merge branch 'test_script_movement' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79 into test_script_movement	2024-10-23 17:03:43 +02:00
ishak jmilou.ishak	07451d0188	fixed error	2024-10-23 17:03:42 +02:00
Sam Hos	dc77c104e6	attempt to make mqtt class	2024-10-23 16:17:36 +02:00
ishak jmilou.ishak	30933b0ca7	Refactor button handling in index.html and app.py	2024-10-23 15:08:23 +02:00
ishak jmilou.ishak	89968e40a0	REMOVED TYPE OF BUTTON	2024-10-23 15:00:31 +02:00
ishak jmilou.ishak	bf276d5d81	removed type of button	2024-10-23 14:59:12 +02:00
ishak jmilou.ishak	9d6816f210	making page stay on the same page when pressing button	2024-10-23 14:56:39 +02:00
ishak jmilou.ishak	76315649f7	Refactor move function to publish direction from request form	2024-10-23 14:32:03 +02:00
Sam Hos	5a4c396704	Delete a.out	2024-10-23 14:27:40 +02:00
Sam Hos	e523018fec	mqtt loop so it doesnt disconect	2024-10-23 12:24:58 +00:00
Sam Hos	d768be0b18	added mqtt_client loop	2024-10-23 14:22:48 +02:00
Sam Hos	481ae4f2c3	reorginisatie	2024-10-23 14:18:36 +02:00
Sam Hos	5b2570dace	made cmakelists and edited ip adress	2024-10-23 11:52:31 +00:00
Sam Hos	416631350d	update gitignore	2024-10-23 13:10:26 +02:00
ishak jmilou.ishak	0b40f63af0	made print to see if message is sent correctly	2024-10-22 14:53:14 +02:00
ishak jmilou.ishak	5739655e97	Update MQTT topic to publish button press event	2024-10-22 14:38:54 +02:00
ishak jmilou.ishak	714910d61e	Update MQTT topic to publish button press event	2024-10-22 13:03:18 +02:00
ishak jmilou.ishak	cc1a03c04c	Update MQTT address to use SSL and change broker address	2024-10-22 12:52:22 +02:00
ishak jmilou.ishak	ce2956e504	Update MQTT address to use SSL and change broker address	2024-10-22 12:48:27 +02:00
ishak jmilou.ishak	995b3858ab	Update MQTT version to 3.1.1 and change address to use SSL - In main.cpp, update the MQTT version to 3.1.1 and change the address to use SSL instead of TCP. - In app.py, create a new MQTT client using MQTTv311 protocol.	2024-10-22 12:27:29 +02:00
ishak jmilou.ishak	34cfa61257	changed version op mqtt	2024-10-22 12:16:40 +02:00
ishak jmilou.ishak	6c1e44151e	changed address of broker	2024-10-21 14:12:17 +02:00
ishak jmilou.ishak	7e5103bce2	changed adress from tcp so ssl	2024-10-21 13:49:29 +02:00
ishak jmilou.ishak	2efa191c07	added username and password	2024-10-21 12:55:37 +02:00
ishak jmilou.ishak	4c7f70c074	changed adress	2024-10-21 11:15:49 +02:00
ishak jmilou.ishak	a87cb1b12e	added username and password	2024-10-21 11:12:04 +02:00
ishak jmilou.ishak	82bc53e2c7	include paho mqtt	2024-10-21 10:49:57 +02:00
ishak jmilou.ishak	2dadabba18	Refactor MQTT connection and message receiving in C++ Socket code	2024-10-21 09:56:07 +02:00
ishak jmilou.ishak	9aec5eaaa4	Refactor MQTT connection and message sending in Flask app	2024-10-21 09:55:06 +02:00
ishak jmilou.ishak	17333a6939	changed ip	2024-10-17 12:04:11 +02:00
ishak jmilou.ishak	0e1099a608	changed ip	2024-10-17 12:02:47 +02:00
ishak jmilou.ishak	ab38b4928b	changed port	2024-10-16 17:11:11 +02:00
ishak jmilou.ishak	2aeb41af7c	cpp code for receiving message	2024-10-16 16:27:36 +02:00
ishak jmilou.ishak	55c24eabf7	wrote message and connect function for the mqtt connection to pi	2024-10-16 16:26:51 +02:00
ishak jmilou.ishak	ebfacd52b4	test rotation	2024-10-10 13:19:57 +02:00
ishak jmilou.ishak	5d1c0fd44c	change some values	2024-10-10 13:01:48 +02:00
ishak jmilou.ishak	a8fcf0e0f8	added curly brackets	2024-10-10 12:24:15 +02:00
ishak jmilou.ishak	9de0bbf50e	no idea what this is	2024-10-10 12:11:40 +02:00
ishak jmilou.ishak	0cca80d04f	fixed problem	2024-10-09 16:35:25 +02:00
ishak jmilou.ishak	c711ee5682	1	2024-10-09 16:18:12 +02:00
ishak jmilou.ishak	4716ce4ede	test	2024-10-09 16:10:53 +02:00
ishak jmilou.ishak	d3b7aafc76	removed backward	2024-10-09 16:08:59 +02:00
ishak jmilou.ishak	30628cf16e	test	2024-10-09 16:08:26 +02:00
ishak jmilou.ishak	06e211b508	testing if robot can go backwards	2024-10-09 15:45:13 +02:00
ishak jmilou.ishak	ff93036a00	changed website	2024-10-09 14:10:34 +02:00
ishak jmilou.ishak	c9643464a2	changed something	2024-10-08 13:51:59 +02:00
ishak jmilou.ishak	c062ad30f4	added comments	2024-10-08 13:44:08 +02:00
ishak jmilou.ishak	5d11d4866b	removed invalid checksum. added info text	2024-10-08 13:28:03 +02:00
ishak jmilou.ishak	8a7747ca13	fixed text input	2024-10-08 13:24:04 +02:00
ishak jmilou.ishak	89592c17d3	fixing error	2024-10-08 13:15:51 +02:00
ishak jmilou.ishak	ca2154cb6f	fixed the input text	2024-10-08 13:14:08 +02:00
ishak jmilou.ishak	4a5862dd6a	making some explanation better	2024-10-08 13:10:45 +02:00
ishak jmilou.ishak	45bd2196ef	making a loop so it doesnt stop	2024-10-08 13:10:03 +02:00
ishak jmilou.ishak	b5874dbf9e	checking if it can start over again when finishing	2024-10-08 13:02:53 +02:00
ishak jmilou.ishak	9e5eb6e19f	removed line in parser	2024-10-08 12:55:57 +02:00
ishak jmilou.ishak	618ad37cff	added some std	2024-10-08 12:53:42 +02:00
ishak jmilou.ishak	dcd28e3587	Made some variables full caps	2024-10-08 12:43:46 +02:00
ishak jmilou.ishak	3f5c352451	fixed some small problems	2024-10-08 12:41:12 +02:00
ishak jmilou.ishak	06f152d455	uncomment cliff and wheel sensor	2024-10-08 12:33:22 +02:00
ishak jmilou.ishak	423b8a8dee	made variable input	2024-10-08 12:29:57 +02:00
ishak jmilou.ishak	7db10d2238	fixing error	2024-10-08 12:28:23 +02:00
ishak jmilou.ishak	ee7099654e	test in another branch	2024-10-08 12:25:08 +02:00