Merge pull request #28 from BrianAdams/30.0.2

30.0.2

.travis.yml

@@ -14,7 +14,7 @@ script:
 env:
   global:
   - ARDUINO_IDE_VERSION='1.0.5'
-  - VERSION_NUMBER="`cat package.json | grep version | grep -o '[0-9]\.[0-9]\.[0-9]\+'`"
+  - VERSION_NUMBER="`cat package.json | grep version | grep -o '.[0-9]\.[0-9]\.[0-9]\+'`"
   - BUILD_NUMBER=$TRAVIS_BUILD_NUMBER
   - secure: "P4i5RD2+chpGAPtkn1JYChOc+TVEHdHVVWA40uVAaHqRGm0I/kAvA2i4xXun0VAFFJJjQgC7BSdzQs9kP6IVu4x7VVXyOt3OYMql8ehsH6LU3Q476Rb+HIOzX30qYx+7F+cHUPFp/BTiyEJ+IOjU6sDTWLmSDpjUvVD2Tzg+PLI="
   - REAL_GIT_BRANCH="`git for-each-ref --format='%(objectname) %(refname:short)' refs/heads
@@ -24,7 +24,7 @@ after_success:
 - echo real_get_branch $REAL_GIT_BRANCH
 - rm -rf OpenROV/build-*
 - 'fpm -f -m [email protected] -s dir -t deb -a armhf -n openrov-arduino-firmware -v
-  $VERSION_NUMBER-$REAL_GIT_BRANCH.$BUILD_NUMBER.`git rev-parse --short HEAD` --description ''OpenROV Arduino Firmware'' .=/opt/openrov/arduino '
+  $VERSION_NUMBER~$BUILD_NUMBER.`git rev-parse --short HEAD` --description ''OpenROV Arduino Firmware'' .=/opt/openrov/arduino '
 - mkdir build
 - DEBFILE="`ls *.deb`"
 - cp *.deb build/openrov-arduino-firmware_latest-${REAL_GIT_BRANCH}_armhf.deb
@@ -45,8 +45,6 @@ deploy:
     repo: OpenROV/openrov-software-arduino
     all_branches: true
     condition: "($REAL_GIT_BRANCH = master )||($REAL_GIT_BRANCH = pre-release )||($REAL_GIT_BRANCH = stable)"
-after_deploy:
-- curl -g http://build.openrov.com:8080/job/OpenROV-generic-upload-deb-to-repo/buildWithParameters -d token=$JENKINS_TOKEN_NAME -d urlToDebPackage=http://openrov-software-nightlies.s3-website-us-west-2.amazonaws.com/arduino-firmware%2F$DEBFILE -d branch=$REAL_GIT_BRANCH
 
 notifications:
   webhooks:

OpenROV/AConfig.h

@@ -33,9 +33,15 @@
 //After Market:
 #define HAS_POLOLU_MINIMUV (0)
 #define HAS_MS5803_14BA (1)
-#define MS5803_14BA_I2C_ADDRESS 0x76
+#define HAS_MS5803_30BA (0)
+#define MS5803___BA_I2C_ADDRESS 0x76
 #define HAS_MPU9150 (1)
+#define HAS_BNO055 (1)
 #define MPU9150_EEPROM_START 2
+#define HAS_ALT_SERVO (1)
+#define ALTS_MIDPOINT 1500
+#define ALTS_MINPOINT 1000
+#define ALTS_MAXPOINT 2000
 
 #if !(HAS_OROV_CONTROLLERBOARD_25) && !(HAS_STD_CAPE)
 #  error "You must select either standard cape or controllerboard25 in the AConfig.h file as they have predefined pin values required by other libraries."

OpenROV/AltServo.cpp

@@ -0,0 +1,45 @@
+#include "AConfig.h"
+#if(HAS_ALT_SERVO)
+#include "Device.h"
+#include "Pin.h"
+#include "AltServo.h"
+#include "Settings.h"
+#include <Arduino.h>
+#include "openrov_servo.h"
+Servo _altservo;
+int alts_val = ALTS_MIDPOINT;
+int new_alts = ALTS_MIDPOINT;
+int altsrate = 1;
+
+int smoothAdjustedServo(int target, int current){
+  double x = target - current;
+  int sign = (x>0) - (x<0);
+  int adjustedVal = current + sign * (min(abs(target - current), altsrate));
+  return (adjustedVal);
+}
+
+void AltServo::device_setup(){
+    _altservo.attach(ALTSERVO_PIN);
+    _altservo.writeMicroseconds(ALTS_MIDPOINT);
+    Settings::capability_bitarray |= (1 << ALT_SERVO_CAPABLE);
+
+}
+
+void AltServo::device_loop(Command command){
+    if (command.cmp("asrt")) {
+      int ms = map(command.args[1],-100,100,ALTS_MINPOINT,ALTS_MAXPOINT);
+      if ((ms >= ALTS_MINPOINT) && (ms <= ALTS_MAXPOINT)){
+        alts_val = ms;
+        Serial.print("asr.t:");Serial.print(alts_val);Serial.println(";");
+      }
+    }
+    if (alts_val != new_alts){
+      new_alts = smoothAdjustedServo(alts_val,new_alts);
+      _altservo.writeMicroseconds(new_alts);
+      Serial.print("asr.v:");Serial.print(new_alts);Serial.println(";");
+    }
+
+
+}
+
+#endif

OpenROV/AltServo.h

@@ -0,0 +1,34 @@
+
+#ifndef __ALTSERVO_H_
+#define __ALTSERVO_H_
+#include "AConfig.h"
+#if(HAS_ALT_SERVO)
+#include <Arduino.h>
+#include "Device.h"
+#include "Pin.h"
+
+#ifndef ALTS_MIDPOINT
+#define ALTS_MIDPOINT 1500
+#endif
+#ifndef ALTS_MINPOINT
+#define ALTS_MINPOINT 1000
+#endif
+#ifndef ALTS_MAXPOINT
+#define ALTS_MAXPOINT 2000
+#endif
+#if(HAS_STD_CAPE)
+  #include "Cape.h"
+#endif
+
+#if(HAS_OROV_CONTROLLERBOARD_25)
+  #include "controllerboard25.h"
+#endif
+
+class AltServo : public Device {
+  public:
+    AltServo():Device(){};
+    void device_setup();
+    void device_loop(Command cmd);
+};
+#endif
+#endif