update review feedback with additional documentation and planning notes

feedback sprint 4
fix
2025-08-05 12:54:57 +00:00 · 2024-12-03 13:37:44 +01:00 · 2024-12-03 13:34:43 +01:00 · 2024-12-03 12:45:18 +01:00 · 2024-12-03 12:18:02 +01:00 · 2024-12-02 12:58:14 +00:00
47 changed files with 1902 additions and 540 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -16,6 +16,13 @@ src/C++/Driver/Makefile
 src/C++/Driver/vgcore*
 src/C++/Driver/cmake_install.cmake
 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/
--- a/.gitlab/issue_templates/Learning
+++ b/.gitlab/issue_templates/Learning
@@ -0,0 +1,21 @@
+```
+Inleiding van de learning story:
+Vul hier een korte beschrijving in van de learning story. 
+Probeer dit direct te koppelen aan het project wat studenten gaan doen.
+```
+
+**Wat ga ik leren?**
+
+```
+Zet hier een overzicht van de vaardigheden die een student gaat leren. 
+Als de student alle vinkjes heeft afgevinkt, dan hebben ze dit onderwerp goed begrepen.
+```
+
+- [ ] <- Maak op deze manier afvinklijstjes
+
+**Hoe ga ik dit leren?**
+
+```
+Zet hier de bronnenlijst.
+```
+- [ ] <- Maak op deze manier afvinklijstjes
--- a/.gitlab/issue_templates/User
+++ b/.gitlab/issue_templates/User
@@ -0,0 +1,27 @@
+Als gebruiker wil ik ..., zodat ... (verwijder deze regel, plaats de tekst in de titel)
+
+
+[beschrijving van de user story en context]
+
+**Taken**
+
+Deze user story is opgedeeld in een aantal taken. Vul onderstaande lijst zelf aan.
+
+- [ ] Taak 1.
+- [ ] Taak 2.
+- [ ] ...
+
+**Acceptatie criteria**
+
+Acceptatie criteria zijn specifieke eisen waaraan de User Story moet voldoen. Deze zijn meestal uniek per User Story.
+
+- [ ] Acceptatiecriterium 1 
+- [ ] Acceptatiecriterium 2 
+- [ ] ...
+
+**Definition of Done: Hardware**
+
+- [ ] Alle acceptatiecriteria van de user story zijn afgevinkt.
+- [ ] Je werk is gedocumenteerd.
+- [ ] Je hebt testen uitgevoerd.
+- [ ] 
--- a/docs/Infrastructure/infrastructure.md
+++ b/docs/Infrastructure/infrastructure.md
@@ -2,35 +2,51 @@

 ```mermaid
 classDiagram
+Apache <--> Flask
+Flask <--> MariaDB
+ESP32 --> RPI : Wired communication
+RPI <--> Wireguard : MQTT with a VPN connection
+Wireguard <--> Flask
+

-VirtualMachine <--> RPI
-Kobuki <--> RPI
 namespace Server {
-    class VirtualMachine {
-        +Apache()
-        +Flask()
-        +SocketServer()
-        +MariaDB()
-        Python/C++
-        Database
-        Website
-

+    class Wireguard {
+        +VPN()
    }
+
+    class Apache {
+        +ReverseProxy()
+    }
+
+    class MariaDB {
+        +Database()
+    }
+
+    class Flask {
+        Python
+        +Webserver()
+        +endpoints communication()
+    }
+
+
 }
-namespace robot {
-    class RPI {
-    Receiver
-    Sensors
-    C++
-    +SocketClient()
-    +Kobuki()

-    }
+    namespace Kobuki {
+        class RPI {
+            +KobukiCommunication()
+            +ESP32Communication()
+            C++
+            }

-    class Kobuki {
-        +data
-    }
- 
+        class ESP32 {
+            +TVOC()
+            +ECO2()
+            +Temperature()
+            +LDR()
+            +Camera()
+            +GPS()
+            +ToF()
+        }
 }
-```
+```
--- a/docs/Ishak/feedback.md
+++ b/docs/Ishak/feedback.md
@@ -1,2 +0,0 @@
-# Feedback expert review 
-
--- a/docs/code/code-requirements.md
+++ b/docs/code/code-requirements.md
@@ -0,0 +1,10 @@
+# Requirements
+
+1. Het compileerd op x86 en ARM architechturen
+2. Geen dubbele code
+3. commentaar bij lastige code
+4. Doxygen comments bij elke functie, behalve als het duidelijk is in de functienaam
+5. Hou je code leesbaar
+6. Geen dode code
+7. Gebruik TODO comments (TODO TREE)
+8. 
--- a/docs/code/idea.md
+++ b/docs/code/idea.md
@@ -22,3 +22,32 @@ The ideas we came up with where:
 - A mobile scarecrow that will ride around a farm scaring birds, checking for optimal growing conditions using sensors, and checking (and possibly fighting) pests.
 - A robot that would be sent into buildings with a gasleak and check where the leak is the strongest and thus where it would most likely be coming from. (also possible lighting mechanic for controlled explosions in case of preventable disasters without loss of a human life)
 - A mobile fire extinguisher placed in buildings or terrains that are prone to fires. The robot would be able to detect fires and extinguish them before they get out of hand. Or control the fire before the fire department arrives.
+- A mobile solar panel that moves to the spot with the harshest sunlight (without a certain area). After which it would plug itself into a battery and charge it. This battery could then be used to power a building or a car.
+- A robot that is dropped in dangerous environments to scout the area and report back to the people who sent it. This could be used in warzones, dangerous buildings, or other dangerous environments.
+It scouts for stuff in the air using air sensors, it scouts for stuff on the ground using cameras, and it scouts for possible hazards like fire using infrared and other sensors.
+
+### Decision
+
+In the end we decided to go with the final idea. This was partially due to the  fact that it merges some of the most interresting aspect of the other ideas. We think that this is the most fitting with our goal oof minimizing the loss of human life because it can be used in not just fires or gasleaks but also in warzones and other dangerous environments. This makes it so that it has way more usecases than the other ideas and the buyer has enough with just these robots to cover a lot of dangerous situations.
+
+## Realization & Plan
+
+### Hardware
+
+#### Sensors
+
+placeholder
+
+#### IC's
+
+placeholder
+
+#### Motors
+
+placeholder
+
+#### Batteries
+
+placeholder
+
+### Software
--- a/docs/explanation/projectplan.md
+++ b/docs/explanation/projectplan.md
@@ -1,22 +1,21 @@
 # **Projectplan - robot voor Gevaarlijke Omgevingen**

-### Projectbescrhijving
+### Projectbeschrijving

 Het project betreft de ontwikkeling van een robot voor gevaarlijke omgevingen. De robot is bedoeld om gevaarlijke situaties te verkennen en in kaart te brengen. De robot is uitgerust met verschillende sensoren en daar gaan we zelf nog een camera en andere sensoren op zetten om de omgeving te verkennen. De data wordt verzameld en geanalyseerd om een beeld te krijgen van de situatie. De robot kan worden ingezet in verschillende situaties, zoals branden, instortingen en andere gevaarlijke situaties.

-
 ### 1. Organisatorische Context

 Bij de ontwikkeling van de robot zijn verschillende factoren van belang. Maatschappelijke veranderingen zoals duurzaamheid en de toenemende vraag naar technologische oplossingen voor gevaarlijke werkomgevingen spelen een grote rol. De robot kan worden ingezet voor gevaarlijke situaties waar bijvoorbeeld geen mensen naar binnen kunnen.

 **Vervolgstappen:**

- Focus op duurzaamheid en herbruikbaarheid. 
+- Focus op duurzaamheid en herbruikbaarheid.
 - Inzetten op veiligheid en efficiëntie.

 ### 2. Ethiek

-Ethische vragen staan centraal bij de ontwikkeling van de robot. Er moet rekening gehouden worden met de veiligheid van de gegevens van gebruiker. Het minimaliseren van de milieu-impact door duurzame materialen te gebruiken zoals hout en metaal. Privacy speelt ook een belangrijke rol. De verzamelde data moet veilig worden gebruikt en opgeslagen en het moet de EU privacy richtlijnen volgen. 
+Ethische vragen staan centraal bij de ontwikkeling van de robot. Er moet rekening gehouden worden met de veiligheid van de gegevens van gebruiker. Het minimaliseren van de milieu-impact door duurzame materialen te gebruiken zoals hout en metaal. Privacy speelt ook een belangrijke rol. De verzamelde data moet veilig worden gebruikt en opgeslagen en het moet de EU privacy richtlijnen volgen.

 **Punten waar we rekening mee moeten houden:**

@@ -27,7 +26,6 @@ Ethische vragen staan centraal bij de ontwikkeling van de robot. Er moet rekenin

 Het project wordt uitgevoerd vanuit een duidelijk plan waar elke sprint een deel van het project centraal staat. Driver bouwen, testen en verbindingen leggen tussen elk gedeelte van het project. We gebruiken de Agile methodiek dus alles kan nog veranderen. Hierbij moeten wij dus ook rekening houden met de etische en organisatorische aspecten, zoals duurzaamheid en veiligheid.

-
 ### Aanpak

 **Werk methode:** Gebruik van Agile projectmanagement voor flexibiliteit.
@@ -36,4 +34,4 @@ Het project wordt uitgevoerd vanuit een duidelijk plan waar elke sprint een deel

 **Duurzaamheid & Verbetering:** Zorgen dat we duurzame materialen kunnen gebruiken en dat we de robot kunnen blijven verbeteren.

-Deze aanpak zorgt ervoor dat het project niet alleen technisch succesvol is, maar ook voldoet aan ethische en organisatorische normen.
+Deze aanpak zorgt ervoor dat het project niet alleen technisch succesvol is, maar ook voldoet aan ethische en organisatorische normen.
--- a/docs/explanation/sensoren.md
+++ b/docs/explanation/sensoren.md
@@ -0,0 +1,40 @@
+# Wat gaan we maken
+
+## Sensoren
+
+* Camera
+* GPS module
+* Temparatuur sensor
+* TVOC sensor
+* ECO2 sensor
+* LDR sensor
+* Time of Flight sensor
+
+## Wat gaan we met de sensoren doen?
+
+### Camera
+
+De camera word gebruikt om foto's te maken in de omgeving in het geval van informatie verkrijgen voor als de robot bijvoorbeeld vast zit, geeft ook optie om informatie te krijgen zonder op de plek zelf te zijn.
+
+### GPS module
+
+De GPS module word gebruikt om de locatie van de robot te bepalen en aan te geven waar bijzonderheden bevinden.
+
+### Temparatuur, TVOC en ECO2 sensor
+
+Deze sensoren zijn bedoeld om de omgeving te meten en te kijken of de omgeving veilig is voor mensen om in te gaan.
+
+### LDR sensor
+
+De LDR sensor word gebruikt om de lichtsterkte te meten en te kijken of er een lamp op de robot aan moet gaan voor de camera.
+
+### Time of Flight sensor
+
+De Time of Flight sensor word gebruikt om de afstand te meten tussen de robot en de muur, zodat de robot niet tegen de muur aan botst.
+
+## Het project
+
+Bij brand of op fabrieksterreinen met gevaarlijke stoffen kan het nodig zijn om een verkenning te 
+doen van een verdachte omgeving. Het is dan niet verstandig om mensen naar binnen te sturen, in 
+die gevallen vallen de hulpdiensten terug om een verkenningsrobot. Het doel van het project is het 
+realiseren van een verkenningsrobot die zelfstandig een gevaarlijke omgeving in kaart kan brengen.
--- a/docs/home/home.md
+++ b/docs/home/home.md
@@ -1 +0,0 @@
-# home
--- a/docs/home/stappenplan.md
+++ b/docs/home/stappenplan.md
@@ -1,5 +0,0 @@
- [x] Kobuki werkt met driver.
- [x] Ik kan de data uitlezen.
- [ ] Data wordt correct weergegeven.
- [ ] Ik kan de data laten zien in op de website.
- [ ] Ik kan de kobuki besturen vanaf de website.
--- a/docs/scrum/daily_stand_up.md
+++ b/docs/scrum/daily_stand_up.md
@@ -0,0 +1,20 @@
+# Daily stand ups
+
+??? note "Daily Stand-ups Sprint 4"
+    | Day        | Submitted by | What did you do yesterday     | What will you do today                             | Any blockers?                        |
+    | ---------- | ------------ | ----------------------------- | -------------------------------------------------- | ------------------------------------ |
+    | 18/11/2024 | Ishak        | ---                           | Engels, Repo fixen, beginnen met nieuwe user story | ---                                  |
+    | 18/11/2024 | Sam          | ---                           | Engels, Feedback verwerken medium stake            | None                                 |
+    | 18/11/2024 | Yannick      | ---                           | Engels, Documentatie, Code samenvoegen             | None                                 |
+    | 18/11/2024 | Mees         | ---                           | Engels, Onderzoek                                  | None                                 |
+    | 19/11/2024 | Ishak        | Engels, Repo fixen            | workshop                                           | ---                                  |
+    | 19/11/2024 | Sam          | Engels, Feedback verwerken    | workshop                                           | None                                 |
+    | 19/11/2024 | Yannick      | code samenvoegen,schema maken | workshop, documentatie                             | None                                 |
+    | 19/11/2024 | Mees         | niks                          | workshop, fixen include path                       | include path werkt niet              |
+    | 26/11/2024 | Ishak        | Workshop                      | database, engels video opnemen                     | phpmyadmin werkt niet(weet probleem) |
+    | 26/11/2024 | Sam          | opencv                        | opencv                                             | ---                                  |
+    | 26/11/2024 | Yannick      | ziek                          | ziek                                               | ---                                  |
+    | 26/11/2024 | Mees         | Engels video                  | stepper motor                                      | vscode werkt niet                    |
+    | 02/12/2024 | Ishak        | database                      | database                                           | ---                                  |
+    | 02/12/2024 | Sam          | opencv                        | camera beeld op website                            | ---                                  |
+    | 02/12/2024 | Yannick      | ziek, documentatie            | behuizing voor esp                                 | ---                                  |
--- a/docs/scrum/retrospective/retro_sprint_2.md
+++ b/docs/scrum/retrospective/retro_sprint_2.md
--- a/docs/scrum/review_feedback.md
+++ b/docs/scrum/review_feedback.md
@@ -0,0 +1,12 @@
+# sprint review 4 feedback
+
+- Definition of done SMART maken
+- Uitgebreider beschrijven wat er voor de definition of done nodig is
+- Testen van de software niet meer dan een halve A4
+- Acceptatie criteria beter uitschrijven( vragen aan ed)
+- Meer software ontwikkelen
+- kijken of we met een punten systeem kunnen werken in user stories. zo kan je zien hoe groot een user story is.
+- read.me file aanpassen
+- meer aan documentatie doen.
+- technisch iets te uitdagend
+- planning beter maken
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -34,17 +34,22 @@ plugins:
      modules: [mkdocs_macros_mdocotion]

 markdown_extensions:
-  - attr_list
-  - md_in_html
-  - fenced_code
-  - pymdownx.highlight:
-      linenums: true
-      use_pygments: true
-  - pymdownx.inlinehilite
-  - pymdownx.snippets
-  - pymdownx.tabbed
-  - pymdownx.superfences:
-      custom_fences:
-        - name: mermaid
-          class: mermaid
-          format: !!python/name:pymdownx.superfences.fence_code_format
+    - attr_list
+    - admonition
+    - pymdownx.details
+    - pymdownx.superfences
+    - md_in_html
+    - fenced_code
+    - pymdownx.highlight:
+          linenums: true
+          use_pygments: true
+    - pymdownx.inlinehilite
+    - pymdownx.snippets
+    - pymdownx.superfences:
+          custom_fences:
+                - name: mermaid
+                  class: mermaid
+                  format: !!python/name:pymdownx.superfences.fence_code_format
+    - toc:
+        permalink: true
+    - pymdownx.details
--- a/src/C++/Driver/src/KobukiDriver/CKobuki.cpp
+++ b/src/C++/Driver/src/KobukiDriver/CKobuki.cpp
@@ -3,6 +3,7 @@
 #include "termios.h"
 #include <cstddef>
 #include <iostream>
+#include <thread>

 // plot p;
 static std::vector<float> vectorX;
@@ -281,199 +282,6 @@ int CKobuki::measure() {
  return 0;
 }

-// int CKobuki::parseKobukiMessage(TKobukiData &output, unsigned char *data)
-// {
-//     int rtrnvalue = checkChecksum(data);
-//     // ak je zly checksum,tak kaslat na to
-//     if (rtrnvalue != 0)
-//         return -2;
-
-//     int checkedValue = 1;
-//     // kym neprejdeme celu dlzku
-//     while (checkedValue < data[0])
-//     {
-//         // basic data subload
-//         if (data[checkedValue] == 0x01)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x0F)
-//                 return -1;
-//             checkedValue++;
-//             output.timestamp = data[checkedValue + 1] * 256 +
-//             data[checkedValue]; checkedValue += 2; output.BumperCenter =
-//             data[checkedValue] && 0x02; output.BumperLeft =
-//             data[checkedValue] && 0x04; output.BumperRight =
-//             data[checkedValue] && 0x01; checkedValue++; output.WheelDropLeft
-//             = data[checkedValue] && 0x02; output.WheelDropRight =
-//             data[checkedValue] && 0x01; checkedValue++; output.CliffCenter =
-//             data[checkedValue] && 0x02; output.CliffLeft = data[checkedValue]
-//             && 0x04; output.CliffRight = data[checkedValue] && 0x01;
-//             checkedValue++;
-//             output.EncoderLeft = data[checkedValue + 1] * 256 +
-//             data[checkedValue]; checkedValue += 2; output.EncoderRight =
-//             data[checkedValue + 1] * 256 + data[checkedValue]; checkedValue
-//             += 2; output.PWMleft = data[checkedValue]; checkedValue++;
-//             output.PWMright = data[checkedValue];
-//             checkedValue++;
-//             output.ButtonPress = data[checkedValue];
-//             checkedValue++;
-//             output.Charger = data[checkedValue];
-//             checkedValue++;
-//             output.Battery = data[checkedValue];
-//             checkedValue++;
-//             output.overCurrent = data[checkedValue];
-//             checkedValue++;
-//         }
-//         else if (data[checkedValue] == 0x03)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x03)
-//                 return -3;
-//             checkedValue++;
-//             output.IRSensorRight = data[checkedValue];
-//             checkedValue++;
-//             output.IRSensorCenter = data[checkedValue];
-//             checkedValue++;
-//             output.IRSensorLeft = data[checkedValue];
-//             checkedValue++;
-//         }
-//         else if (data[checkedValue] == 0x04)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x07)
-//                 return -4;
-//             checkedValue++;
-//             output.GyroAngle = data[checkedValue + 1] * 256 +
-//             data[checkedValue]; checkedValue += 2; output.GyroAngleRate =
-//             data[checkedValue + 1] * 256 + data[checkedValue]; checkedValue
-//             += 5; // 3 unsued
-//         }
-//         else if (data[checkedValue] == 0x05)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x06)
-//                 return -5;
-//             checkedValue++;
-//             output.CliffSensorRight =
-//                 data[checkedValue + 1] * 256 + data[checkedValue];
-//             checkedValue += 2;
-//             output.CliffSensorCenter =
-//                 data[checkedValue + 1] * 256 + data[checkedValue];
-//             checkedValue += 2;
-//             output.CliffSensorLeft =
-//                 data[checkedValue + 1] * 256 + data[checkedValue];
-//             checkedValue += 2;
-//         }
-//         else if (data[checkedValue] == 0x06)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x02)
-//                 return -6;
-//             checkedValue++;
-//             output.wheelCurrentLeft = data[checkedValue];
-//             checkedValue++;
-//             output.wheelCurrentRight = data[checkedValue];
-//             checkedValue++;
-//         }
-//         else if (data[checkedValue] == 0x0A)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x04)
-//                 return -7;
-//             checkedValue++;
-//             output.extraInfo.HardwareVersionPatch = data[checkedValue];
-//             checkedValue++;
-//             output.extraInfo.HardwareVersionMinor = data[checkedValue];
-//             checkedValue++;
-//             output.extraInfo.HardwareVersionMajor = data[checkedValue];
-//             checkedValue += 2;
-//         }
-//         else if (data[checkedValue] == 0x0B)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x04)
-//                 return -8;
-//             checkedValue++;
-//             output.extraInfo.FirmwareVersionPatch = data[checkedValue];
-//             checkedValue++;
-//             output.extraInfo.FirmwareVersionMinor = data[checkedValue];
-//             checkedValue++;
-//             output.extraInfo.FirmwareVersionMajor = data[checkedValue];
-//             checkedValue += 2;
-//         }
-//         else if (data[checkedValue] == 0x0D)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] % 2 != 0)
-//                 return -9;
-//             checkedValue++;
-//             output.frameId = data[checkedValue];
-//             checkedValue++;
-//             int howmanyFrames = data[checkedValue] / 3;
-//             checkedValue++;
-//             output.gyroData.reserve(howmanyFrames);
-//             output.gyroData.clear();
-//             for (int hk = 0; hk < howmanyFrames; hk++)
-//             {
-//                 TRawGyroData temp;
-//                 temp.x = data[checkedValue + 1] * 256 + data[checkedValue];
-//                 checkedValue += 2;
-//                 temp.y = data[checkedValue + 1] * 256 + data[checkedValue];
-//                 checkedValue += 2;
-//                 temp.z = data[checkedValue + 1] * 256 + data[checkedValue];
-//                 checkedValue += 2;
-//                 output.gyroData.push_back(temp);
-//             }
-//         }
-//         else if (data[checkedValue] == 0x10)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x10)
-//                 return -10;
-//             checkedValue++;
-//             output.digitalInput = data[checkedValue + 1] * 256 +
-//             data[checkedValue]; checkedValue += 2; output.analogInputCh0 =
-//             data[checkedValue + 1] * 256 + data[checkedValue]; checkedValue
-//             += 2; output.analogInputCh1 = data[checkedValue + 1] * 256 +
-//             data[checkedValue]; checkedValue += 2; output.analogInputCh2 =
-//             data[checkedValue + 1] * 256 + data[checkedValue]; checkedValue
-//             += 2; output.analogInputCh3 = data[checkedValue + 1] * 256 +
-//             data[checkedValue]; checkedValue += 8; // 2+6
-//         }
-//         else if (data[checkedValue] == 0x13)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x0C)
-//                 return -11;
-//             checkedValue++;
-//             output.extraInfo.UDID0 = data[checkedValue + 3] * 256 * 256 * 256
-//             +
-//                                      data[checkedValue + 2] * 256 * 256 +
-//                                      data[checkedValue + 1] * 256 +
-//                                      data[checkedValue];
-//             checkedValue += 4;
-//             output.extraInfo.UDID1 = data[checkedValue + 3] * 256 * 256 * 256
-//             +
-//                                      data[checkedValue + 2] * 256 * 256 +
-//                                      data[checkedValue + 1] * 256 +
-//                                      data[checkedValue];
-//             checkedValue += 4;
-//             output.extraInfo.UDID2 = data[checkedValue + 3] * 256 * 256 * 256
-//             +
-//                                      data[checkedValue + 2] * 256 * 256 +
-//                                      data[checkedValue + 1] * 256 +
-//                                      data[checkedValue];
-//             checkedValue += 4;
-//         }
-//         else
-//         {
-//             checkedValue++;
-//             checkedValue += data[checkedValue] + 1;
-//         }
-//     }
-//     return 0;
-// }
-
 long double CKobuki::gyroToRad(signed short GyroAngle) {

  long double rad;
@@ -727,7 +535,9 @@ void CKobuki::goToXy(long double xx, long double yy) {
  return;
 }

-void CKobuki::forward(int speedvalue, long double distance) {
+/// @brief Makes the robot move forward for 3 seconds
+/// @param speedvalue How fast it will drive forward from 0 - 1024
+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
@@ -755,3 +565,82 @@ void CKobuki::forward(int speedvalue, long double distance) {
  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 RADS_PER_SEC = 1;
+
+  // calculator rotation time and give absolute value
+  float rotation_time = std::abs(radians / RADS_PER_SEC);
+
+  // 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);
+}
+
+
+/// @brief Robot safety function to be ran in another thread. Makes sure the robot does not throw inteself from the table. Only use this when the speed is lower than 350
+/// @param pointerToMessage Set this pointer to the control message and then it attempts to reset it when it bumps into something so it doesnt keep trying to do the past commant
+// TODO: make this return bool so it can be used in the control part
+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)));
+  }
+}
+
+/// @brief Robot safety function to be ran in another thread. Makes sure the robot does not throw inteself from the table. Only use this when the speed is lower than 350
+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
+    }
+  }
+}
+
+/// @brief When called the robot gets a control message to stop whatever its doing
+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
@@ -12,7 +12,7 @@
 ////*************************************************************************************
 #ifndef KOBUKI_CLASS_123456789
 #define KOBUKI_CLASS_123456789
-#define PI          3.141592653589793238462643383279502884L /* pi */
+#define PI  3.141592653589793238462643383279502884L /* pi */
 #define MS_INSTRUCTION_DELAY 25

 #include <stdio.h>
@@ -35,91 +35,6 @@

 using namespace std;

-
-// typedef struct
-// {
-	
-// 	unsigned short x;
-// 	unsigned short y;
-// 	unsigned short z;
-
-// }TRawGyroData;
-// typedef struct
-// {
-// 	//Hardware Version
-// 	unsigned char HardwareVersionMajor;
-// 	unsigned char HardwareVersionMinor;
-// 	unsigned char HardwareVersionPatch;
-// 	//Firmware Version
-// 	unsigned char FirmwareVersionMajor;
-// 	unsigned char FirmwareVersionMinor;
-// 	unsigned char FirmwareVersionPatch;
-
-// 	//Unique Device IDentifier(UDID)
-// 	unsigned int UDID0;
-// 	unsigned int UDID1;
-// 	unsigned int UDID2;
-// 	//Controller Info
-// 	unsigned char PIDtype;
-// 	unsigned int PIDgainP;
-// 	unsigned int PIDgainI;
-// 	unsigned int PIDgainD;
-// }TExtraRequestData;
-
-// typedef struct
-// {
-// 	//---basic package
-// 	unsigned short timestamp;
-// 	//bumpers
-// 	bool BumperLeft;
-// 	bool BumperCenter;
-// 	bool BumperRight;
-// 	//cliff
-// 	bool CliffLeft;
-// 	bool CliffCenter;
-// 	bool CliffRight;
-// 	// wheel drop
-// 	bool WheelDropLeft;  
-// 	bool WheelDropRight; 
-// 	//wheel rotation
-// 	unsigned short EncoderRight;
-// 	unsigned short EncoderLeft;
-// 	unsigned char PWMright;
-// 	unsigned char PWMleft;
-// 	//buttons
-// 	unsigned char ButtonPress;// 0 no, 1 2 4 for button 0 1 2 (7 is all three)
-// 	//power
-// 	unsigned char Charger;
-// 	unsigned char Battery;
-// 	unsigned char overCurrent;
-// 	//---docking ir
-// 	unsigned char IRSensorRight;
-// 	unsigned char IRSensorCenter;
-// 	unsigned char IRSensorLeft;
-// 	//---Inertial Sensor Data
-// 	signed short GyroAngle;
-// 	unsigned short GyroAngleRate;
-// 	//---Cliff Sensor Data
-// 	unsigned short CliffSensorRight;
-// 	unsigned short CliffSensorCenter;
-// 	unsigned short CliffSensorLeft;
-// 	//---Current
-// 	unsigned char wheelCurrentLeft;
-// 	unsigned char wheelCurrentRight;
-// 	//---Raw Data Of 3D Gyro
-// 	unsigned char frameId;
-// 	std::vector<TRawGyroData> gyroData;
-// 	//---General Purpose Input
-// 	unsigned short digitalInput;
-// 	unsigned short analogInputCh0;
-// 	unsigned short analogInputCh1;
-// 	unsigned short analogInputCh2;
-// 	unsigned short analogInputCh3;
-// 	//---structure with data that appears only on request
-// 	TExtraRequestData extraInfo;
-// }TKobukiData;
-
-
 typedef long(*src_callback_kobuki_data) (void *user_data, TKobukiData &Kobuki_data);

 class CKobuki
@@ -156,10 +71,15 @@ public:

 	// control functions 
 	void goStraight(long double distance);
-	void forward(int speedvalue, long double distance);
+	void forward(int speedvalue);
 	void doRotation(long double th);
 	void goToXy(long double xx, long double yy);
+	void Rotate(int degrees);
 	std::ofstream odometry_log;
+	void robotSafety(std::string *pointerToMessage);
+	void robotSafety(); //overload
+	void sendNullMessage();
+	bool safetyActive = false;
 	KobukiParser parser;


--- a/src/C++/Driver/src/KobukiDriver/KobukiParser.cpp
+++ b/src/C++/Driver/src/KobukiDriver/KobukiParser.cpp
@@ -1,6 +1,6 @@
 #include "KobukiParser.h"
 #include <iostream>
-
+//moet checkenvalue gebruiken of moet kijken naar de payloadlength welke dingen er extra zijn
 int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
    int rtrnvalue = checkChecksum(data);
    if (rtrnvalue != 0) {
@@ -108,7 +108,7 @@ void KobukiParser::parseBasicData(TKobukiData &output, unsigned char *data, int
    checkedValue += 2;
    output.BumperCenter = (data[checkedValue] & 0x02) >> 1;
    output.BumperLeft = (data[checkedValue] & 0x04) >> 2;
-    output.BumperRight = data[checkedValue] & 0x01;
+    output.BumperRight = data[checkedValue] & 0x01; 
    checkedValue++;
    output.WheelDropLeft = (data[checkedValue] & 0x02) >> 1;
    output.WheelDropRight = data[checkedValue] & 0x01;
@@ -125,7 +125,9 @@ void KobukiParser::parseBasicData(TKobukiData &output, unsigned char *data, int
    checkedValue++;
    output.PWMright = data[checkedValue];
    checkedValue++;
-    output.ButtonPress = data[checkedValue];
+    output.ButtonPress1  = data[checkedValue] & 0x01;
+    output.ButtonPress2 = data[checkedValue] & 0x02;
+    output.ButtonPress3 = data[checkedValue] & 0x04;
    checkedValue++;
    output.Charger = data[checkedValue];
    checkedValue++;
@@ -151,13 +153,13 @@ void KobukiParser::parseGyroData(TKobukiData &output, unsigned char *data, int &
    checkedValue += 5; // 3 unused
 }

-void KobukiParser::parseCliffSensorData(TKobukiData &output, unsigned char *data, int &checkedValue){
-    output.CliffSensorRight = data[checkedValue];
-    checkedValue++;
-    output.CliffSensorCenter = data[checkedValue];
-    checkedValue++;
-    output.CliffSensorLeft = data[checkedValue];
-    checkedValue++;
+void KobukiParser::parseCliffSensorData(TKobukiData &output, unsigned char *data, int &checkedValue) {
+    output.CliffSensorRight = (data[checkedValue] << 8) | data[checkedValue + 1];
+    checkedValue += 2;
+    output.CliffSensorCenter = (data[checkedValue] << 8) | data[checkedValue + 1];
+    checkedValue += 2;
+    output.CliffSensorLeft = (data[checkedValue] << 8) | data[checkedValue + 1];
+    checkedValue += 2;
 }

 void KobukiParser::parseWheelCurrentData(TKobukiData &output, unsigned char *data, int &checkedValue){
--- a/src/C++/Driver/src/KobukiDriver/KobukiParser.h
+++ b/src/C++/Driver/src/KobukiDriver/KobukiParser.h
@@ -19,7 +19,8 @@ struct TKobukiData {
    int CliffCenter, CliffLeft, CliffRight;
    int EncoderLeft, EncoderRight;
    int PWMleft, PWMright;
-    int ButtonPress, Charger, Battery, overCurrent;
+    int ButtonPress1, ButtonPress2, ButtonPress3;
+    int Charger, Battery, overCurrent;
    int IRSensorRight, IRSensorCenter, IRSensorLeft;
    int GyroAngle, GyroAngleRate;
    int CliffSensorRight, CliffSensorCenter, CliffSensorLeft;
--- a/src/C++/Driver/src/MQTT/MqttClient.cpp
+++ b/src/C++/Driver/src/MQTT/MqttClient.cpp
@@ -1,20 +1,22 @@
 #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
+    //here all the @PARAMS are getting set for the connection
    : client_(address, clientId), username_(username), password_(password), callback_(*this) {
    client_.set_callback(callback_);
-    connOpts_.set_clean_session(true);
-    connOpts_.set_mqtt_version(MQTTVERSION_3_1_1);  // For MQTT 3.1.1
+    options.set_clean_session(true);
+    options.set_mqtt_version(MQTTVERSION_3_1_1);  // For MQTT 3.1.1
    if (!username_.empty() && !password_.empty()) {
-        connOpts_.set_user_name(username_);
-        connOpts_.set_password(password_);
+        options.set_user_name(username_);
+        options.set_password(password_);
    }
 }

 void MqttClient::connect() {
    try {
        std::cout << "Connecting to broker..." << std::endl;
-        client_.connect(connOpts_)->wait();
+        client_.connect(options)->wait();
        std::cout << "Connected!" << std::endl;
    } catch (const mqtt::exception& exc) {
        std::cerr << "Error: " << exc.what() << std::endl;
@@ -32,6 +34,16 @@ void MqttClient::subscribe(const std::string& topic, int qos) {
    }
 }

+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
@@ -41,6 +53,7 @@ void MqttClient::run() {
 }

 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();
 }
@@ -55,7 +68,9 @@ void MqttClient::Callback::delivery_complete(mqtt::delivery_token_ptr token) {

 /// @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
@@ -13,6 +13,7 @@ public:
    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 {
@@ -27,7 +28,7 @@ private:
    };

    mqtt::async_client client_;
-    mqtt::connect_options connOpts_;
+    mqtt::connect_options options;
    Callback callback_;
    std::string username_;
    std::string password_;
@@ -35,4 +36,4 @@ private:
    std::mutex messageMutex_;
 };

-#endif // MQTTCLIENT_H
+#endif //MQTTCLIENT_H
--- a/src/C++/Driver/src/MQTT/example.cpp
+++ b/src/C++/Driver/src/MQTT/example.cpp
@@ -1,5 +1,5 @@
 #include "MqttClient.h"
-
+//example file for testing
 int main(){
    MqttClient client("mqtt://localhost:1883", "raspberry_pi_client", "ishak", "kobuki");
    client.connect();
--- a/src/C++/Driver/src/main.cpp
+++ b/src/C++/Driver/src/main.cpp
@@ -5,75 +5,271 @@
 #include "MQTT/MqttClient.h"
 #include "KobukiDriver/CKobuki.h"

-
 using namespace std;
 CKobuki robot;
-int movement();
 std::string readMQTT();
-MqttClient client("mqtt://localhost:1883", "KobukiRPI", "ishak", "kobuki");
+void parseMQTT(std::string message);
+//ip, clientID, username, password
+MqttClient client("mqtt://145.92.224.21:1884", "KobukiRPI", "rpi", "rpiwachtwoordofzo"); // create a client object
+std::string message = "stop";
+std::string serializeKobukiData(const TKobukiData &data);
+void sendKobukiData(TKobukiData &data);

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

-int main(){
-	setup();
-	while(true){
-	readMQTT();
-	}
-	client.run();
-	return 0;
+int main()
+{
+    setup();
+    std::thread safety([&]() { robot.robotSafety(&message); });
+    std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
+    
+    while(true){
+    parseMQTT(readMQTT());
+    }
+    sendMqtt.join();
+    safety.join();
+    return 0;
 }

 std::string readMQTT()
 {
-        std::string message = client.getLastMessage();
-        if (!message.empty()) {
-            std::cout << "MQTT Message: " << message << std::endl;
+    message = client.getLastMessage();
+    if (!message.empty())
+    {
+        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;
+}
+
+void parseMQTT(std::string message)
+{
+    if (message == "up")
+    {
+        robot.forward(1024);
+    }
+    else if (message == "left")
+    {
+        robot.setRotationSpeed(4);
+    }
+    else if (message == "right")
+    {
+        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
+    {
+        std::cout << "Invalid command" << std::endl;
+    }
+}
+
+void logToFile()
+{
+    while (true)
+    {
+        TKobukiData robotData = robot.parser.data;
+        std::ofstream outputFile("log", std::ios_base::app); // Open file in append mode to not overwrite own content
+        if (outputFile.is_open())
+        { // check if the file was opened successfully
+            // Get current time
+            std::time_t now = std::time(nullptr);
+            outputFile << "Timestamp: " << std::ctime(&now);
+            // Write data to the file
+            outputFile << "analogInputCh0: " << robotData.analogInputCh0 << "\n";
+            outputFile << "analogInputCh1: " << robotData.analogInputCh1 << "\n";
+            outputFile << "analogInputCh2: " << robotData.analogInputCh2 << "\n";
+            outputFile << "analogInputCh3: " << robotData.analogInputCh3 << "\n";
+            outputFile << "digitalInput: " << robotData.digitalInput << "\n";
+            outputFile << "timestamp: " << robotData.timestamp << "\n";
+            outputFile << "BumperCenter: " << robotData.BumperCenter << "\n";
+            outputFile << "BumperLeft: " << robotData.BumperLeft << "\n";
+            outputFile << "BumperRight: " << robotData.BumperRight << "\n";
+            outputFile << "WheelDropLeft: " << robotData.WheelDropLeft << "\n";
+            outputFile << "WheelDropRight: " << robotData.WheelDropRight << "\n";
+            outputFile << "CliffCenter: " << robotData.CliffCenter << "\n";
+            outputFile << "CliffLeft: " << robotData.CliffLeft << "\n";
+            outputFile << "CliffRight: " << robotData.CliffRight << "\n";
+            outputFile << "EncoderLeft: " << robotData.EncoderLeft << "\n";
+            outputFile << "EncoderRight: " << robotData.EncoderRight << "\n";
+            outputFile << "PWMleft: " << robotData.PWMleft << "\n";
+            outputFile << "PWMright: " << robotData.PWMright << "\n";
+            outputFile << "ButtonPress: " << robotData.ButtonPress1 << "\n";
+            outputFile << "ButtonPress: " << robotData.ButtonPress2 << "\n";
+            outputFile << "ButtonPress: " << robotData.ButtonPress3 << "\n";
+            outputFile << "Charger: " << robotData.Charger << "\n";
+            outputFile << "Battery: " << robotData.Battery << "\n";
+            outputFile << "overCurrent: " << robotData.overCurrent << "\n";
+            outputFile << "IRSensorRight: " << robotData.IRSensorRight << "\n";
+            outputFile << "IRSensorCenter: " << robotData.IRSensorCenter << "\n";
+            outputFile << "IRSensorLeft: " << robotData.IRSensorLeft << "\n";
+            outputFile << "GyroAngle: " << robotData.GyroAngle << "\n";
+            outputFile << "GyroAngleRate: " << robotData.GyroAngleRate << "\n";
+            outputFile << "CliffSensorRight: " << robotData.CliffSensorRight << "\n";
+            outputFile << "CliffSensorCenter: " << robotData.CliffSensorCenter << "\n";
+            outputFile << "CliffSensorLeft: " << robotData.CliffSensorLeft << "\n";
+            outputFile << "wheelCurrentLeft: " << robotData.wheelCurrentLeft << "\n";
+            outputFile << "wheelCurrentRight: " << robotData.wheelCurrentRight << "\n";
+            outputFile << "frameId: " << robotData.frameId << "\n";
+            outputFile << "HardwareVersionPatch: " << robotData.extraInfo.HardwareVersionPatch << "\n";
+            outputFile << "HardwareVersionMinor: " << robotData.extraInfo.HardwareVersionMinor << "\n";
+            outputFile << "HardwareVersionMajor: " << robotData.extraInfo.HardwareVersionMajor << "\n";
+            outputFile << "FirmwareVersionPatch: " << robotData.extraInfo.FirmwareVersionPatch << "\n";
+            outputFile << "FirmwareVersionMinor: " << robotData.extraInfo.FirmwareVersionMinor << "\n";
+            outputFile << "FirmwareVersionMajor: " << robotData.extraInfo.FirmwareVersionMajor << "\n";
+            outputFile << "UDID0: " << robotData.extraInfo.UDID0 << "\n";
+            outputFile << "UDID1: " << robotData.extraInfo.UDID1 << "\n";
+            outputFile << "UDID2: " << robotData.extraInfo.UDID2 << "\n";
+            outputFile.close();
+        }
+        else
+        {
+            std::cerr << "Error opening file\n";
        }

-        // Add a small delay to avoid busy-waiting
-        std::this_thread::sleep_for(std::chrono::milliseconds(100));
-		return message;
+        std::this_thread::sleep_for(std::chrono::seconds(2)); // Sleep for 2 seconds
+    }
 }

+void sendIndividualKobukiData(const TKobukiData &data) {
+    while (true) {
+        client.publishMessage("kobuki/data/timestamp", std::to_string(data.timestamp));
+        client.publishMessage("kobuki/data/BumperCenter", std::to_string(data.BumperCenter));
+        client.publishMessage("kobuki/data/BumperLeft", std::to_string(data.BumperLeft));
+        client.publishMessage("kobuki/data/BumperRight", std::to_string(data.BumperRight));
+        client.publishMessage("kobuki/data/WheelDropLeft", std::to_string(data.WheelDropLeft));
+        client.publishMessage("kobuki/data/WheelDropRight", std::to_string(data.WheelDropRight));
+        client.publishMessage("kobuki/data/CliffCenter", std::to_string(data.CliffCenter));
+        client.publishMessage("kobuki/data/CliffLeft", std::to_string(data.CliffLeft));
+        client.publishMessage("kobuki/data/CliffRight", std::to_string(data.CliffRight));
+        client.publishMessage("kobuki/data/EncoderLeft", std::to_string(data.EncoderLeft));
+        client.publishMessage("kobuki/data/EncoderRight", std::to_string(data.EncoderRight));
+        client.publishMessage("kobuki/data/PWMleft", std::to_string(data.PWMleft));
+        client.publishMessage("kobuki/data/PWMright", std::to_string(data.PWMright));
+        client.publishMessage("kobuki/data/ButtonPress1", std::to_string(data.ButtonPress1));
+        client.publishMessage("kobuki/data/ButtonPress2", std::to_string(data.ButtonPress2));
+        client.publishMessage("kobuki/data/ButtonPress3", std::to_string(data.ButtonPress3));
+        client.publishMessage("kobuki/data/Charger", std::to_string(data.Charger));
+        client.publishMessage("kobuki/data/Battery", std::to_string(data.Battery));
+        client.publishMessage("kobuki/data/overCurrent", std::to_string(data.overCurrent));
+        client.publishMessage("kobuki/data/IRSensorRight", std::to_string(data.IRSensorRight));
+        client.publishMessage("kobuki/data/IRSensorCenter", std::to_string(data.IRSensorCenter));
+        client.publishMessage("kobuki/data/IRSensorLeft", std::to_string(data.IRSensorLeft));
+        client.publishMessage("kobuki/data/GyroAngle", std::to_string(data.GyroAngle));
+        client.publishMessage("kobuki/data/GyroAngleRate", std::to_string(data.GyroAngleRate));
+        client.publishMessage("kobuki/data/CliffSensorRight", std::to_string(data.CliffSensorRight));
+        client.publishMessage("kobuki/data/CliffSensorCenter", std::to_string(data.CliffSensorCenter));
+        client.publishMessage("kobuki/data/CliffSensorLeft", std::to_string(data.CliffSensorLeft));
+        client.publishMessage("kobuki/data/wheelCurrentLeft", std::to_string(data.wheelCurrentLeft));
+        client.publishMessage("kobuki/data/wheelCurrentRight", std::to_string(data.wheelCurrentRight));
+        client.publishMessage("kobuki/data/digitalInput", std::to_string(data.digitalInput));
+        client.publishMessage("kobuki/data/analogInputCh0", std::to_string(data.analogInputCh0));
+        client.publishMessage("kobuki/data/analogInputCh1", std::to_string(data.analogInputCh1));
+        client.publishMessage("kobuki/data/analogInputCh2", std::to_string(data.analogInputCh2));
+        client.publishMessage("kobuki/data/analogInputCh3", std::to_string(data.analogInputCh3));
+        client.publishMessage("kobuki/data/frameId", std::to_string(data.frameId));
+        client.publishMessage("kobuki/data/extraInfo/HardwareVersionPatch", std::to_string(data.extraInfo.HardwareVersionPatch));
+        client.publishMessage("kobuki/data/extraInfo/HardwareVersionMinor", std::to_string(data.extraInfo.HardwareVersionMinor));
+        client.publishMessage("kobuki/data/extraInfo/HardwareVersionMajor", std::to_string(data.extraInfo.HardwareVersionMajor));
+        client.publishMessage("kobuki/data/extraInfo/FirmwareVersionPatch", std::to_string(data.extraInfo.FirmwareVersionPatch));
+        client.publishMessage("kobuki/data/extraInfo/FirmwareVersionMinor", std::to_string(data.extraInfo.FirmwareVersionMinor));
+        client.publishMessage("kobuki/data/extraInfo/FirmwareVersionMajor", std::to_string(data.extraInfo.FirmwareVersionMajor));
+        client.publishMessage("kobuki/data/extraInfo/UDID0", std::to_string(data.extraInfo.UDID0));
+        client.publishMessage("kobuki/data/extraInfo/UDID1", std::to_string(data.extraInfo.UDID1));
+        client.publishMessage("kobuki/data/extraInfo/UDID2", std::to_string(data.extraInfo.UDID2));

-int movement()
-{
-	int text;
-	while (true)
-	{
-		cin >> text;
+        if (!data.gyroData.empty()) {
+            const auto& latestGyro = data.gyroData.back();
+            client.publishMessage("kobuki/data/gyroData/x", std::to_string(latestGyro.x));
+            client.publishMessage("kobuki/data/gyroData/y", std::to_string(latestGyro.y));
+            client.publishMessage("kobuki/data/gyroData/z", std::to_string(latestGyro.z));
+        }

-		if (text == 1)
-		{
-			robot.forward(1024, 1);
-		}
-		else if (text == 2)
-		{
-			// 1 is full circle
-			robot.doRotation(0.25);
-		}
-		else if (text == 3)
-		{
-			// Add your code here for text == 3
-		}
-		else
-		{
-			try
-			{
-				robot.doRotation(text);
-				throw "NaN";
-			}
-			catch (const char *msg)
-			{
-				cerr << msg << endl;
-			}
-		}
-	}
+        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+    }
+}
+
+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++/MQTT/main.cpp
+++ b/src/C++/MQTT/main.cpp
@@ -1,56 +1,64 @@
 #include <iostream>
 #include <mqtt/async_client.h>
-#include <thread>  // Voor std::this_thread::sleep_for
-#include <chrono>  // Voor std::chrono::seconds
+#include <thread>  // For std::this_thread::sleep_for
+#include <chrono>  // For std::chrono::seconds

-const std::string ADDRESS("mqtt://localhost:1883");  // Aanpassen indien nodig
+// Define the address of the MQTT broker, the client ID, and the topic to subscribe to.
+const std::string ADDRESS("mqtt://localhost:1883");  // Broker address (Raspberry Pi)
 const std::string CLIENT_ID("raspberry_pi_client");
 const std::string TOPIC("home/commands");

+// Define a callback class that handles incoming messages and connection events.
 class callback : public virtual mqtt::callback {
+  // Called when a message arrives on a subscribed topic.
  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
+    std::cout << "Received message: '" << msg->get_topic()<< "' : " << msg->to_string() << std::endl;
  }

+  // Called when the connection to the broker is lost.
  void connection_lost(const std::string& cause) override {
-    std::cerr << "Verbinding verloren. Oorzaak: " << cause << std::endl;
+    std::cerr << "Connection lost. Reason: " << cause << std::endl;
  }

+  // Called when a message delivery is complete.
  void delivery_complete(mqtt::delivery_token_ptr token) override {
-    std::cout << "Bericht afgeleverd!" << std::endl;
+    std::cout << "Message delivered!" << std::endl;
  }
 };

 int main() {
+  // Create an MQTT async client and set up the callback class.
  mqtt::async_client client(ADDRESS, CLIENT_ID);
  callback cb;
  client.set_callback(cb);

+  // Set up the connection options (such as username and password).
  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
+  connOpts.set_mqtt_version(MQTTVERSION_3_1_1);

  try {
-    std::cout << "Verbinden met broker..." << std::endl;
-    client.connect(connOpts)->wait();
-    std::cout << "Verbonden!" << std::endl;
+    // Try to connect to the broker and wait until successful.
+    std::cout << "Connecting to broker..." << std::endl;
+    client.connect(connOpts)->wait();  // Connect with the provided options
+    std::cout << "Connected!" << std::endl;

-    std::cout << "Abonneren op topic: " << TOPIC << std::endl;
-    client.subscribe(TOPIC, 1)->wait();
+    // Subscribe to the specified topic and wait for confirmation.
+    std::cout << "Subscribing to topic: " << TOPIC << std::endl;
+    client.subscribe(TOPIC, 1)->wait();  // Subscribe with QoS level 1

-    // Houd de client draaiende om berichten te blijven ontvangen
+    // Keep the program running to continue receiving messages from the broker.
    while (true) {
-      std::this_thread::sleep_for(std::chrono::seconds(1));  // Wacht om CPU-gebruik te verminderen
+      std::this_thread::sleep_for(std::chrono::seconds(1));  // Sleep to reduce CPU usage
    }

  } catch (const mqtt::exception &exc) {
-    std::cerr << "Fout: " << exc.what() << std::endl;
+    // Catch any MQTT exceptions and display the error message.
+    std::cerr << "Error: " << exc.what() << std::endl;
    return 1;
  }

-  return 0;
+  return 0;  // Return 0 to indicate successful execution
 }
--- 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/Python/flask/web/app.py
+++ b/src/Python/flask/web/app.py
@@ -3,30 +3,54 @@ import paho.mqtt.client as mqtt

 app = Flask(__name__)

+kobuki_message = "empty"
+def on_message(client, userdata, message):
+    global kobuki_message #set scope for this variable
+    kobuki_message = str(message.payload.decode("utf-8"))
+    print(kobuki_message)
+
 # Create an MQTT client instance
 mqtt_client = mqtt.Client()
-mqtt_client.username_pw_set("ishak", "kobuki")
-mqtt_client.connect("localhost", 1883, 60)
+mqtt_client.username_pw_set("server", "serverwachtwoordofzo")
+mqtt_client.connect("localhost", 80, 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=["POST"])
+@app.route('/')
 def index():
    return render_template('index.html')

+
+@app.route('/control', methods=["GET","POST"])
+def control():
+    if request.authorization and request.authorization.username == 'ishak' and request.authorization.password == 'kobuki':
+        return render_template('control.html')
+    else:
+        return ('Unauthorized', 401, {'WWW-Authenticate': 'Basic realm="Login Required"'})
+
@app.route('/move', methods=['POST'])
 def move():
-    # Get the direction from the form data
-    direction = request.form['direction']
-    
-    # Publish the direction to the MQTT topic "home/commands"
-    result = mqtt_client.publish("home/commands", direction)
-    
-    # Check if the publish was successful
-    if result.rc == mqtt.MQTT_ERR_SUCCESS:
-        return jsonify({"message": "Bericht succesvol gepubliceerd"}), 200
-    else:
-        return jsonify({"message": "Fout bij het publiceren van bericht"}), 500
+    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 kobuki_message
+
+@app.route('/phpmyadmin/<path:path>')
+def phpmyadmin_passthrough(path):
+    # Laat Apache deze route direct afhandelen
+    return "", 404
+
+

-# Run the Flask application in debug mode
 if __name__ == '__main__':
-    app.run(debug=True)
+    app.run(debug=True, port=5000)
--- a/src/Python/flask/web/static/images/logo.png
+++ b/src/Python/flask/web/static/images/logo.png
--- a/src/Python/flask/web/static/script.js
+++ b/src/Python/flask/web/static/script.js
@@ -1,14 +1,47 @@
-window.onload = function () {
-  const form = document.getElementById("form");
-  form.onclick = function (event) {
-    event.preventDefault();
+// 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;
+
    fetch("/move", {
-      method: "GET",
+      method: "POST",
+      headers: {
+        "Content-Type": "application/json"
+      },
+      body: JSON.stringify({ direction: direction })
    })
-      .then((response) => {})
-      .then(() => {
-        fetch
-      });
-  };
-};
-9
+    .then(response => response.json())
+    .then(data => {
+      console.log("Success:", data);
+    })
+    .catch(error => {
+      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);
+});
--- a/src/Python/flask/web/static/style.css
+++ b/src/Python/flask/web/static/style.css
@@ -1,8 +1,8 @@
 body {
-    font-family: 'Poppins', sans-serif;
-    text-align: -webkit-center;
-    margin: 0;
-    padding: 0;
+  font-family: "Poppins", sans-serif;
+  text-align: -webkit-center;
+  margin: 0;
+  padding: 0;
 }

 /* This is my code for my navbar */
@@ -23,97 +23,148 @@ body {
  right: 0%;
 }

+.footer{
+  display: flex;
+  justify-content: space-between;
+  max-width: 80%;
+  background-color: #fff;
+  border: 1px solid #f0f0f0;
+  border-radius: 50px;
+  align-items: center;
+  margin: 1.5rem auto 0 auto;
+  padding: 0 30px;
+  top: 0%;
+  bottom: auto;
+  left: 0%;
+  right: 0%;
+}
+
 .imgNav {
  height: 50px;
  border-radius: 20px;
 }

 .connectButton {
-    border-radius: 10px;
-    height: 100%;
-    width: 100px;
-    box-shadow: none;
-    border: none;
-    font-size: 1rem;
-    height: 40px;
-    background-color: #b3ffb3;
-  }  
+  border-radius: 10px;
+  height: 100%;
+  width: 100px;
+  box-shadow: none;
+  border: none;
+  font-size: 1rem;
+  height: 40px;
+  background-color: #b3ffb3;
+}

 /* end navbar */

 .container {
-    display: flex;
-    justify-content: space-around;
-    align-items: center;
-    margin-top: 50px;
-    width: 80%;
-    background-color: white;
-    border-radius: 20px;
-    box-shadow: 0px 8px 16px rgba(0, 0, 0, 0.2);
-    padding: 40px;
+  display: flex;
+  justify-content: space-around;
+  align-items: center;
+  margin-top: 50px;
+  width: 80%;
+  background-color: white;
+  border-radius: 20px;
+  box-shadow: 0px 8px 16px rgba(0, 0, 0, 0.2);
+  padding: 40px;
 }
 .button-section {
-    position: relative;
-    width: 150px;
-    height: 150px;
+  position: relative;
+  width: 150px;
+  height: 150px;
 }

 .btn {
-    position: absolute;
-    background-color: #007BFF;
-    color: white;
-    border: none;
-    border-radius: 50%;
-    width: 60px;
-    height: 60px;
-    font-size: 1.2em;
-    text-align: center;
-    line-height: 60px;
-    cursor: pointer;
-    transition: transform 0.2s ease, background-color 0.2s ease;
+  position: absolute;
+  background-color: #007bff;
+  color: white;
+  border: none;
+  border-radius: 50%;
+  width: 60px;
+  height: 60px;
+  font-size: 1.2em;
+  text-align: center;
+  line-height: 60px;
+  cursor: pointer;
+  transition: transform 0.2s ease, background-color 0.2s ease;
 }

-/* Middenknop */
+.text{
+  width: 50%;
+}
+
+.image{
+  height: 100%;
+}
+
+.sectionHeight{
+  height: 200px;
+}
+
+/* Direction buttons */
 .btn:nth-child(1) {
-    top: 50%;
-    left: 50%;
-    transform: translate(-125%, -50%);
+  /* Left */
+  top: 50%;
+  left: 50%;
+  transform: translate(-160%, -50%);
 }

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

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

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

-/* Knop links */
 .btn:nth-child(5) {
-    top: 50%;
-    left: 0;
-    transform: translateY(-50%);
+  /* Stop Button */
+  top: 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); */
+  background-color: #0056b3;
 }

 .btn:active {
-    background-color: #004494;
+  background-color: #004494;
+}
+
+.stop-button:hover {
+  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;
 }
-  
--- a/src/Python/flask/web/static/styleIndex.css
+++ b/src/Python/flask/web/static/styleIndex.css
@@ -0,0 +1,73 @@
+body {
+    font-family: Arial, sans-serif;
+    margin: 0;
+    padding: 0;
+    background-color: #f4f4f4;
+}
+
+header {
+    background-color: #333;
+    color: #fff;
+    padding: 1rem 0;
+    text-align: center;
+}
+
+header h1 {
+    margin: 0;
+}
+
+nav ul {
+    list-style: none;
+    padding: 0;
+}
+
+nav ul li {
+    display: inline;
+    margin: 0 1rem;
+}
+
+nav ul li a {
+    color: #fff;
+    text-decoration: none;
+}
+
+section {
+    padding: 2rem;
+    margin: 1rem 0;
+    background-color: #fff;
+    border-radius: 8px;
+    box-shadow: 0 0 10px rgba(0, 0, 0, 0.1);
+}
+
+section h2 {
+    margin-top: 0;
+}
+
+form {
+    display: flex;
+    flex-direction: column;
+}
+
+form label {
+    margin: 0.5rem 0 0.2rem;
+}
+
+form input, form textarea {
+    padding: 0.5rem;
+    margin-bottom: 1rem;
+    border: 1px solid #ccc;
+    border-radius: 4px;
+}
+
+form button {
+    padding: 0.7rem;
+    border: none;
+    border-radius: 4px;
+    background-color: #333;
+    color: #fff;
+    cursor: pointer;
+}
+
+form button:hover {
+    background-color: #555;
+}
--- a/src/Python/flask/web/templates/base.html
+++ b/src/Python/flask/web/templates/base.html
@@ -8,8 +8,9 @@
    {% block head %}{% endblock %}
 </head>
 <body>
-    {% include 'navbar.html' %}   
+    {% include 'navbar.html' %}  
    {% block content %}
    {% endblock %}
+
 </body>
 </html>
--- a/src/Python/flask/web/templates/control.html
+++ b/src/Python/flask/web/templates/control.html
@@ -0,0 +1,48 @@
+{% 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" />
+      </div>
+      <div class="button-section">
+        <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>
+    <div class="container">
+      <h1>Sensor Data</h1>
+      <div class="data">
+        <table id="sensor-data"> <!-- Do not change -->
+          <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>
+</html>
+{% endblock %}
--- a/src/Python/flask/web/templates/footer.html
+++ b/src/Python/flask/web/templates/footer.html
@@ -0,0 +1,21 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>Document</title>
+    <link rel="stylesheet" href="{{ url_for('static', filename='style.css') }}">
+</head>
+<body>
+    <footer class="footer">
+        <img src="{{url_for('static', filename='images/logo_kobuki.png')}}" alt="logo" class="imgNav" />
+        <h3>© 2024 Kobuki Robot Project. All rights reserved.</h3>
+        <div class="buttonContainer">
+            <a href="{{ url_for('control') }}" target="_blank">
+              <button class="click connectButton">Controller</button>
+            </a>
+          </div>
+        </footer>
+  
+</body>
+</html>
--- a/src/Python/flask/web/templates/index.html
+++ b/src/Python/flask/web/templates/index.html
@@ -1,30 +1,58 @@
-{%extends 'base.html'%} {%block head%} {%endblock%} {%block content%}
+{% 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>
+    <title>Kobuki Robot Project</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" />
-      </div>
-      <div class="button-section">
-        <form id = "form" action="/" 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>
-        </form>
-      </div>
-    </div>
-    <div class="container">
-      <h1>Sensor Data</h1>
-    </div>
-    <script href="../static/script.js"></script>
+    <section class="container sectionHeight">
+      <p class="text">
+        The Kobuki Robot Project is an innovative initiative aimed at developing
+        a versatile and intelligent robot platform. Our goal is to create a
+        robot that can navigate autonomously, interact with its environment, and
+        perform various tasks.
+      </p>
+      <img src="{{url_for('static', filename='images/logo.png')}}" alt="logo" class="image" />
+    </section>
+
+    <section class="container sectionHeight" id="about">
+      <h2>About the Project</h2>
+      <p>
+        This project is a collaborative effort involving engineers, researchers,
+        and enthusiasts. The Kobuki robot is equipped with various sensors,
+        including bumpers, cliff sensors, and gyroscopes, to help it navigate
+        and interact with its surroundings.
+      </p>
+      <p>Key features of the Kobuki Robot:</p>
+      <ul>
+        <li>Autonomous navigation</li>
+        <li>Obstacle detection and avoidance</li>
+        <li>Real-time data processing</li>
+        <li>Remote control and monitoring</li>
+      </ul>
+    </section>
+
+    <section class="container" id="contact">
+      <h2>Contact Us</h2>
+      <form id="contact-form" action="/contact" method="post">
+        <label for="name">Name:</label>
+        <input type="text" id="name" name="name" required />
+        <label for="email">Email:</label>
+        <input type="email" id="email" name="email" required />
+        <label for="message">Message:</label>
+        <textarea id="message" name="message" required></textarea>
+        <button type="submit">Send</button>
+      </form>
+    </section>
+
+    {% include 'footer.html' %}
+
+    <script src="static/script.js"></script>
  </body>
 </html>
-
-{%endblock%}
+{% endblock %}
--- a/src/Python/flask/web/templates/navbar.html
+++ b/src/Python/flask/web/templates/navbar.html
@@ -11,13 +11,9 @@
        <img src="{{url_for('static', filename='images/logo_kobuki.png')}}" alt="logo" class="imgNav" />
        <h3>Kobuki</h3>
        <div class="buttonContainer">
-          <a
-            href="https://gitlab.fdmci.hva.nl/propedeuse-hbo-ict/onderwijs/2023-2024/out-a-se-ti/blok-3/vuupoofeehoo27"
-            target="_blank"
-          >
-            <button class="click connectButton">Placeholder</button>
+          <a href="{{ url_for('control') }}" target="_blank">
+            <button class="click connectButton">Controller</button>
          </a>
-          <!-- <a href="./signup.html">sign in</a> -->
        </div>
      </nav>
  
--- a/src/Python/wsgi.py
+++ b/src/Python/wsgi.py
@@ -0,0 +1,7 @@
+import sys
+import logging
+
+logging.basicConfig(stream=sys.stderr)
+sys.path.insert(0, "/home/ishak/rooziinuubii79/src/Python/flask/web")
+
+from app import app as application
--- a/teamdocumentatie/Ishak/feedback.md
+++ b/teamdocumentatie/Ishak/feedback.md
@@ -0,0 +1,11 @@
+# Feedback expert review 
+
+probeer Definition of done zelf te formuleren.
+beter user stories maken
+
+# Feedback peer review
+
+- eventuele coaching op het gebied van technisch en taken
+- meer duidelijkheid wat wij gaan gebruiken, welke technieken en tools. Hiermee kan je mensen koppelen aan taken zodat iedereen iets heeft gedaan.
+- meer duidelijkheid van elkaar kwaliteiten en leerdoelen. Hiermee kan je goed inschatten wie wat kan doen en wie wat kan leren.
+  
--- a/teamdocumentatie/Ishak/hoofd-deelvraag.md
+++ b/teamdocumentatie/Ishak/hoofd-deelvraag.md
@@ -0,0 +1,42 @@
+# Hoofd en deelvragen
+
+**Wat is de aanleiding?**
+De aanleiding is de de behoefte aan veilige communicatie tussen apparaten. Dit is belangrijk omdat onbeveiligde dataoverdracht kan leiden tot datalekken.
+
+**wat is het probleem/behoefte en waaruit blijkt dat?**
+Het probleem is dat data die tussen apparaten wordt verstuurd kwetsbaar kan zijn. Dit blijkt nadat wij te horen hebben gekregen dat er niet goed was omgegaan met communicatie tussen apparaten.
+
+**Wie heeft het probleem/behoefte?**
+ons groepje, maar ook bijvoorbeeld grote bedrijven waar het heel belangrijk is dat data veilig wordt verstuurd zonder dat het in de verkeerde handen valt.
+
+**Wanneer is het probleem/behoefte ontstaan?**
+Het probleem is ontstaan nadat wij te horen hebben gekregen dat er niet goed was omgegaan met communicatie tussen apparaten.
+
+**Waarom is het een probleem?**
+Het is een probleem omdat onbeveiligde communicatie kan leiden tot datalekken waaronder privacy. Hiermee kunnen bedrijven in de problemen komen.
+
+**Waar doet het probleem/behoefte zich voor (afbakening)?**
+Het probleem komt voor in verschillende sectoren waar data tussen apparaten wordt verstuurd. Dit kan zijn in de zorg, industrie, op kantoor, maar ook met IoT projecten wat je thuis kan hebben.
+
+## Hoofdvraag
+
+Welke communicatieprotocol geeft de mogelijkheid om veilig en betrouwbaar te communiceren tussen IoT apparaten?
+
+## Deelvragen
+
+1. Wat houdt veilige en betrouwbare communicatie tussen apparaten in?
+2. Welke protocollen zijn er om veilig en betrouwbaar te communiceren tussen apparaten?
+3. Wat zijn de voor- en nadelen van de verschillende protocollen?
+
+## Bronnen
+
+- Singh, S., & Jyoti. (2024, June 7). Secure Communications Protocols for IoT networks: a survey. https://journal.ijprse.com/index.php/ijprse/article/view/1082
+- Nguyen, K. T., Laurent, M., Oualha, N., CEA, & Institut Mines-Telecom. (2015). Survey on secure communication protocols for the Internet of Things. In Ad Hoc Networks (Vol. 32, pp. 17–31) [Journal-article]. http://dx.doi.org/10.1016/j.adhoc.2015.01.006
+- Miorandi, D., Sicari, S., De Pellegrini, F., & Imrich Chlamtac. (2012). Internet of things: Vision, applications and research challenges. In Ad Hoc Networks (Vol. 10, pp. 1497–1516) [Journal-article]. Elsevier B.V. http://dx.doi.org/10.1016/j.adhoc.2012.02.016
+- Christiano, P. (2023, November 5). Top 9 IoT communication protocols & their features in 2024: An In-Depth guide - ExpertBeacon. Expertbeacon. https://expertbeacon.com/iot-communication-protocol/
+- Yugha, R., & Chithra, S. (2020). A survey on technologies and security protocols: Reference for future generation IoT. Journal of Network and Computer Applications, 169, 102763. https://doi.org/10.1016/j.jnca.2020.102763
+- De Mendizábal, I. (2022, June 16). IoT Communication Protocols—IoT Data Protocols. Technical Articles. https://www.allaboutcircuits.com/technical-articles/internet-of-things-communication-protocols-iot-data-protocols/
+- IoT-technologieën en -protocollen | Microsoft Azure. (n.d.). https://azure.microsoft.com/nl-nl/solutions/iot/iot-technology-protocols
+- Het IoT verbinden: wat is MQTT en waarin verschilt het van CoAP? (n.d.). https://www.onlogic.com/nl/blog/het-iot-verbinden-wat-is-mqtt-en-waarin-verschilt-het-van-coap/
+- Nader, K. (2023, October 30). Wat zijn de voordelen van het gebruik van WebSocket voor IoT-communicatie? AppMaster - Ultimate All-in No-code Platform. https://appmaster.io/nl/blog/websocket-voor-iot-communicatie
+- Sidna, J., Amine, B., Abdallah, N., & Alami, H. E. (2020). Analysis and evaluation of communication Protocols for IoT Applications. Karbala International Journal of Modern Science. https://doi.org/10.1145/3419604.3419754
--- a/teamdocumentatie/Ishak/hoofd-deelvraag.pdf
+++ b/teamdocumentatie/Ishak/hoofd-deelvraag.pdf
--- a/teamdocumentatie/Ishak/motivatiebrief.md
+++ b/teamdocumentatie/Ishak/motivatiebrief.md
--- a/teamdocumentatie/Ishak/motivatiebrief.pdf
+++ b/teamdocumentatie/Ishak/motivatiebrief.pdf
--- a/teamdocumentatie/Ishak/smartleerdoel.md
+++ b/teamdocumentatie/Ishak/smartleerdoel.md
--- a/teamdocumentatie/Ishak/smartleerdoel.pdf
+++ b/teamdocumentatie/Ishak/smartleerdoel.pdf
--- a/teamdocumentatie/Ishak/steekwoorden.md
+++ b/teamdocumentatie/Ishak/steekwoorden.md
@@ -0,0 +1,11 @@
+# kobuki 
+# last sprint i have been busy with the website
+# my job was to make an controller on the website for the kobuki
+# so that we can control the kobuki with the website
+# i did this using a protocol called MQTT
+# mqtt is a protocol that is used to send messages between devices
+# this is different from the normal protocol that i used last year
+# it was a bit difficult to get the kobuki to work with the website
+# next sprint i will be working on a sensor
+# i will do some research on the different sensors that we can use
+#
Author	SHA1	Message	Date
ishak jmilou.ishak	606506e40c	update review feedback with additional documentation and planning notes	2024-12-03 13:37:44 +01:00
ishak jmilou.ishak	6efd95fb32	feedback sprint 4	2024-12-03 13:34:43 +01:00
ishak jmilou.ishak	5eff7fccba	fix	2024-12-03 12:45:18 +01:00
ishak jmilou.ishak	a03894e52e	changed MQTT connection port from 1884 to 80	2024-12-03 12:18:02 +01:00
Sam Hos	dd2a1b56c4	changed port	2024-12-02 12:58:14 +00:00
ishak jmilou.ishak	1563528b67	changed file location	2024-12-02 13:32:45 +01:00
ishak jmilou.ishak	2e5af52ba8	changed mqtt port to 8080	2024-12-02 12:45:26 +01:00
ishak jmilou.ishak	eb04d35d40	changed path	2024-12-02 10:13:42 +01:00
ishak jmilou.ishak	80fcb1ccc3	daily stand up 02/12/2024	2024-12-02 09:13:34 +01:00
ishak jmilou.ishak	62cdf98098	testing phpmyadmin	2024-11-30 15:18:01 +01:00
ishak jmilou.ishak	db6fa156c9	Update WSGI path to point to the correct application directory	2024-11-28 13:21:24 +01:00
ishak jmilou.ishak	048790ec8b	Add WSGI entry point for the application	2024-11-28 13:16:03 +01:00
ishak jmilou.ishak	aca6644c02	Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79	2024-11-26 14:55:47 +01:00
ishak jmilou.ishak	492f506aa2	daily stand up-/ hoofdvraag en deelvragen	2024-11-26 14:55:45 +01:00
Sam Hos	c76ba93e82	code req	2024-11-26 13:30:38 +01:00
Sam Hos	0bfba0bffe	Added comments	2024-11-24 16:42:34 +01:00
ishak jmilou.ishak	8a5b349040	Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79	2024-11-20 17:14:55 +01:00
ishak jmilou.ishak	a41ea1b70c	styling website	2024-11-20 17:14:54 +01:00
Sam Hos	eb804c888c	updated credentials to secure mqtt	2024-11-20 16:29:22 +01:00
Sam Hos	a028a6f88f	change mqtt credentials	2024-11-20 16:07:39 +01:00
Sam Hos	47b29a1c55	added both json and idividual topic sending in cpp	2024-11-20 15:49:40 +01:00
Sam Hos	528de4f3f4	code conventions	2024-11-20 15:49:40 +01:00
ishak jmilou.ishak	c16ba3cf9d	busy with website redesign	2024-11-20 15:38:56 +01:00
ishak jmilou.ishak	82c4381143	daily stand up 19/11/2024	2024-11-20 11:45:54 +01:00
ishak jmilou.ishak	25b1fa8c35	changed locations of different files	2024-11-18 13:07:02 +01:00
ishak jmilou.ishak	cc9aefa424	made admonition work	2024-11-18 09:18:49 +01:00
ishak jmilou.ishak	3d95479840	fixed drop down	2024-11-18 09:15:56 +01:00
ishak jmilou.ishak	b2a24779f5	Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79	2024-11-18 09:13:36 +01:00
ishak jmilou.ishak	97efd7d6e1	started with daily 18-11	2024-11-18 09:13:35 +01:00
Mees Roelofsz	ef52dbefe4	Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79	2024-11-13 16:06:57 +01:00
Mees Roelofsz	f24b88bd68	fixed markdown	2024-11-13 16:06:53 +01:00
ishak jmilou.ishak	f9767965a1	wrote comments	2024-11-13 15:01:15 +01:00
ishak jmilou.ishak	a6b1b3bd1e	removed space	2024-11-13 14:20:14 +01:00
ishak jmilou.ishak	c9efba62d4	testing vpn	2024-11-13 13:41:40 +01:00
Sam Hos	661fdb9d26	Added placeholder webite for main website	2024-11-12 14:30:45 +01:00
Sam Hos	0e30854b51	fix html and added password to enter page	2024-11-12 14:13:43 +01:00
ishak jmilou.ishak	194920bdad	refert to older version to check if this is the problem	2024-11-06 15:08:47 +01:00
ishak jmilou.ishak	a67f5238b6	Enhance MQTT message handling and add data fetching in Flask app	2024-11-06 14:44:12 +01:00
ishak jmilou.ishak	d534940370	Refactor safety checks and improve message handling in CKobuki class	2024-11-06 14:06:15 +01:00
Sam Hos	89b608b759	comments and cleanup	2024-11-06 14:01:39 +01:00
Sam Hos	6dba1d0262	added sensordata to website	2024-11-06 13:59:40 +01:00
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	c4a694e601	moved venv to the .gitignore	2024-10-24 14:07:11 +02:00
Sam Hos	d78389992e	added a comment	2024-10-22 15:33:19 +02:00
Sam Hos	7fa04a5c35	made it so we can read indiviual buttons	2024-10-22 15:10:08 +02:00
Sam Hos	1175444abf	edited cmakelist	2024-10-21 13:09:46 +02:00
Sam Hos	79f21f8755	testing	2024-10-21 12:34:03 +02:00
Sam Hos	9935375a5a	comment	2024-10-21 10:41:57 +02:00
Sam Hos	d41e6432b3	fixed safety of robot and that it always drives when its told to drive	2024-10-21 10:41:48 +02:00
Sam Hos	b5f5491222	attempt to make function so robot doenst throw itself from a cliff	2024-10-20 17:35:55 +02:00
Sam Hos	856d60eea2	Junk removal	2024-10-18 16:22:47 +02:00
Sam Hos	6a0024ebb8	rotation sort of works now	2024-10-16 16:43:24 +02:00
Sam Hos	0011096977	INfrastructure update	2024-10-14 14:34:45 +02:00
Sam Hos	5ead72c47e	uitleg welke sensoren gebruiken en waarom	2024-10-14 13:57:48 +02:00
ishak jmilou.ishak	216b28d27c	added template user and learning story	2024-10-14 12:10:03 +02:00
Sam Hos	b5e619ac0a	attempt to make robot rotate	2024-10-09 14:24:23 +02:00
Sam Hos	c38491ce20	added to parser so we can read raw sensordata from cliffsensor (thanks anwar)	2024-10-08 15:05:41 +02:00
Sam Hos	c9d128ecd1	todo commnets from ferry at expert review	2024-10-08 14:27:38 +02:00
Mees Roelofsz	927126a797	Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79	2024-10-08 13:53:27 +02:00
Mees Roelofsz	6235af77b9	changed word	2024-10-08 13:53:25 +02:00
Sam Hos	9a4cd473a6	added and fixed logger	2024-10-08 13:29:24 +02:00
Mees Roelofsz	acd4b9589c	To Be Determined	2024-10-08 13:13:27 +02:00
Mees Roelofsz	c129ae4980	added more tabs	2024-10-08 13:09:45 +02:00
Mees Roelofsz	cdbb538238	decision written out	2024-10-08 13:05:34 +02:00
Mees Roelofsz	26cc0e2041	finished brainstorm	2024-10-08 12:59:34 +02:00
Sam Hos	2bee0ffc25	fix nonsense errors	2024-10-08 12:53:22 +02:00
Sam Hos	cede3689f4	cleanup and logger creation	2024-10-08 12:39:31 +02:00