refert to older version to check if this is the problem

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

@@ -282,7 +282,6 @@ int CKobuki::measure() {
   return 0;
 }
 
-
 long double CKobuki::gyroToRad(signed short GyroAngle) {
 
   long double rad;
@@ -569,76 +568,71 @@ void CKobuki::forward(int speedvalue) {
 /// @param degrees Rotation in degrees
 void CKobuki::Rotate(int degrees) {
 
-    // convert raidans to degrees
+  // convert raidans to degrees
-    float radians = degrees * PI / 180.0;
+  float radians = degrees * PI / 180.0;
 
-    // Calculate the rotation speed in radians per second
+  // Calculate the rotation speed in radians per second
-    double radpersec = 1; 
+  double radpersec = 1;
 
-    // calculator rotation time and give absolute value
+  // calculator rotation time and give absolute value
-    float rotation_time = std::abs(radians / radpersec);
+  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
+  // Use original function to set the rotation speed in mm/s
-    std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(rotation_time * 1000)));
+  setRotationSpeed(radians);
 
-    // Stop the robot after the rotation
+  // Sleep for the calculated rotation time
-    setRotationSpeed(0);
+  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) {
+  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)));
-
 
+    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) {
+  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
-
-        }
 
+    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(){
+void CKobuki::sendNullMessage() {
 
-    unsigned char message[11] = {
+  unsigned char message[11] = {
-    0xaa,                // Start byte 1
+      0xaa, // Start byte 1
-    0x55,                // Start byte 2
+      0x55, // Start byte 2
-    0x08,                // Payload length (the first 2 bytes dont count)
+      0x08, // Payload length (the first 2 bytes dont count)
-    0x01,                // payload type (0x01 = control command)
+      0x01, // payload type (0x01 = control command)
-    0x04,                // Control byte or additional identifier
+      0x04, // Control byte or additional identifier
-    0x00,  // Lower byte of speed value
+      0x00, // Lower byte of speed value
-    0x00,   // Upper byte of speed value
+      0x00, // Upper byte of speed value
-    0x00,                // Placeholder for radius
+      0x00, // Placeholder for radius
-    0x00,                // Placeholder for radius
+      0x00, // Placeholder for radius
-    0x00                 // Placeholder for checksum
+      0x00  // Placeholder for checksum
-};
+  };
 
-
+  message[10] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
-message[10] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
+                message[7] ^ message[8] ^ message[9];
-              message[7] ^ message[8] ^ message[9];
 
   // Send the message
   uint32_t pocet;
   pocet = write(HCom, &message, 11);
 }
-

src/C++/Driver/src/KobukiDriver/CKobuki.h

@@ -79,6 +79,7 @@ public:
 	void robotSafety(std::string *pointerToMessage);
 	void robotSafety(); //overload
 	void sendNullMessage();
+	bool safetyActive = false;
 	KobukiParser parser;
 
 

src/Python/flask/web/app.py

@@ -34,7 +34,7 @@ def move():
 
 @app.route('/data', methods=['GET'])
 def data():
-    return jsonify({"kobuki_message": kobuki_message})
+    return kobuki_message
 
 
 

src/Python/flask/web/static/script.js

@@ -6,7 +6,6 @@ document.querySelectorAll(".btn").forEach(button => {
     // 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: {
@@ -22,4 +21,27 @@ document.querySelectorAll(".btn").forEach(button => {
       console.error("Error:", error);
     });
   });
-});
+
+  // Fetch data from the server
+  async function fetchData() {
+    const response = await fetch("/data");
+    const data = await response.json();
+    return data;
+  }
+
+  // Parse the data and show it on the website
+  async function parseData() {
+    const data = await fetchData();
+    const sensorDataContainer = document.getElementById("sensor-data");
+    sensorDataContainer.innerHTML = ""; // Clear previous data
+    //for each object in json array create a new paragraph element and append it to the sensorDataContainer
+    for (const [key, value] of Object.entries(data)) {
+      const dataElement = document.createElement("p");
+      dataElement.textContent = `${key}: ${value}`;
+      sensorDataContainer.appendChild(dataElement);
+    }
+  }
+
+  // Fetch and display sensor data every 5 seconds
+  setInterval(parseData, 5000);
+});

src/Python/flask/web/static/style.css

@@ -1,8 +1,8 @@
 body {
-    font-family: 'Poppins', sans-serif;
+  font-family: "Poppins", sans-serif;
-    text-align: -webkit-center;
+  text-align: -webkit-center;
-    margin: 0;
+  margin: 0;
-    padding: 0;
+  padding: 0;
 }
 
 /* This is my code for my navbar */
@@ -29,95 +29,114 @@ body {
 }
 
 .connectButton {
-    border-radius: 10px;
+  border-radius: 10px;
-    height: 100%;
+  height: 100%;
-    width: 100px;
+  width: 100px;
-    box-shadow: none;
+  box-shadow: none;
-    border: none;
+  border: none;
-    font-size: 1rem;
+  font-size: 1rem;
-    height: 40px;
+  height: 40px;
-    background-color: #b3ffb3;
+  background-color: #b3ffb3;
-  }  
+}
 
 /* end navbar */
 
 .container {
-    display: flex;
+  display: flex;
-    justify-content: space-around;
+  justify-content: space-around;
-    align-items: center;
+  align-items: center;
-    margin-top: 50px;
+  margin-top: 50px;
-    width: 80%;
+  width: 80%;
-    background-color: white;
+  background-color: white;
-    border-radius: 20px;
+  border-radius: 20px;
-    box-shadow: 0px 8px 16px rgba(0, 0, 0, 0.2);
+  box-shadow: 0px 8px 16px rgba(0, 0, 0, 0.2);
-    padding: 40px;
+  padding: 40px;
 }
 .button-section {
-    position: relative;
+  position: relative;
-    width: 150px;
+  width: 150px;
-    height: 150px;
+  height: 150px;
 }
 
 .btn {
-    position: absolute;
+  position: absolute;
-    background-color: #007BFF;
+  background-color: #007bff;
-    color: white;
+  color: white;
-    border: none;
+  border: none;
-    border-radius: 50%;
+  border-radius: 50%;
-    width: 60px;
+  width: 60px;
-    height: 60px;
+  height: 60px;
-    font-size: 1.2em;
+  font-size: 1.2em;
-    text-align: center;
+  text-align: center;
-    line-height: 60px;
+  line-height: 60px;
-    cursor: pointer;
+  cursor: pointer;
-    transition: transform 0.2s ease, background-color 0.2s ease;
+  transition: transform 0.2s ease, background-color 0.2s ease;
 }
 
 /* Direction buttons */
-.btn:nth-child(1) { /* Left */
+.btn:nth-child(1) {
-    top: 50%;
+  /* Left */
-    left: 50%;
+  top: 50%;
-    transform: translate(-160%, -50%);
+  left: 50%;
+  transform: translate(-160%, -50%);
 }
 
-.btn:nth-child(2) { /* Up */
+.btn:nth-child(2) {
-    top: 0;
+  /* Up */
-    left: 50%;
+  top: 0;
-    transform: translate(-50%, -35%);
+  left: 50%;
+  transform: translate(-50%, -35%);
 }
 
-.btn:nth-child(3) { /* Right */
+.btn:nth-child(3) {
-    top: 50%;
+  /* Right */
-    right: 0;
+  top: 50%;
-    transform: translate(35%,-50%);
+  right: 0;
+  transform: translate(35%, -50%);
 }
 
-.btn:nth-child(4) { /* Down */
+.btn:nth-child(4) {
-    bottom: 0;
+  /* Down */
-    left: 50%;
+  bottom: 0;
-    transform: translate(-50%, 35%);
+  left: 50%;
+  transform: translate(-50%, 35%);
 }
 
-.btn:nth-child(5) { /* Stop Button */
+.btn:nth-child(5) {
-    top: 50%;
+  /* Stop Button */
-    left: 50%;
+  top: 50%;
-    transform: translate(-50%, -50%);
+  left: 50%;
-    background-color: red; /* Distinct color for the stop button */
+  transform: translate(-50%, -50%);
-    width: 60px; /* Slightly larger for emphasis */
+  background-color: red; /* Distinct color for the stop button */
-    height: 60px; /* Slightly larger for emphasis */
+  width: 60px; /* Slightly larger for emphasis */
-    line-height: 60px; /* Center text vertically */
+  height: 60px; /* Slightly larger for emphasis */
+  line-height: 60px; /* Center text vertically */
 }
 
 /* Hover effects */
 .btn:hover {
-    background-color: #0056b3;
+  background-color: #0056b3;
 }
 
 .btn:active {
-    background-color: #004494;
+  background-color: #004494;
 }
 
 .stop-button:hover {
-    background-color: darkred; /* Different hover color for the stop button */
+  background-color: darkred; /* Different hover color for the stop button */
+}
+
+table {
+  width: 100%;
+  border-collapse: collapse;
+}
+
+th,td {
+  border: 1px solid #ddd;
+  padding: 8px;
+}
+
+th {
+  background-color: #f2f2f2;
+  text-align: left;
 }
-  

src/Python/flask/web/templates/index.html

@@ -1,8 +1,6 @@
-{% extends 'base.html' %}
+{% extends 'base.html' %} {% block head %}
-{% block head %}
 <link rel="stylesheet" href="../static/style.css" />
-{% endblock %}
+{% endblock %} {% block content %}
-{% block content %}
 <!DOCTYPE html>
 <html lang="en">
   <head>
@@ -22,12 +20,27 @@
           <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>
+          <button class="btn stop-button" name="direction" value="stop">
+            Stop
+          </button>
         </form>
       </div>
     </div>
     <div class="container">
       <h1>Sensor Data</h1>
+      <div class="data">
+        <table id="sensor-data-table">
+          <thead>
+            <tr>
+              <th>Sensor</th>
+              <th>Value</th>
+            </tr>
+          </thead>
+          <tbody>
+            <!-- Sensor data rows will be inserted here -->
+          </tbody>
+        </table>
+      </div>
     </div>
     <script src="../static/script.js"></script>
   </body>