README.md

TT_MiniSumo_Arruela (v1.0)

Mini Sumô da Tamandutech - ARRUELA!

                  _____ ____________________ ____ ______________.____       _____
                 /  _  \\______   \______   \    |   \_   _____/|    |     /  _  \
                /  /_\  \|       _/|       _/    |   /|    __)_ |    |    /  /_\  \
               /    |    \    |   \|    |   \    |  / |        \|    |___/    |    \
               \____|__  /____|_  /|____|_  /______/ /_______  /|_______ \____|__  /
                       \/       \/        \/                 \/         \/       \/






                                   ....::-==+++++++==--::....
                                 .-+***********+******+++++***+-.
                            .-+*******+++***+***+*++++++++++++++++++-.
                        .:+************+***+*+++++++++++++++++++++++**+=:.
                     .:=*#************************+++*******++++++++++++**=:.
                   .=*#***************************************+*+++++*+++****-.
                ..+#*************************************+*******+****+*******#=..
               .*#***************************************+**********+************+.
             .+##********************************************+*******+*************=.
            -###**********************+=-::.:++****+-...:--=++++*********************:
          .+##*******************++=:.       -+**+++.       .:-=+*********************=.
         :###**###************++-.           .+++++-            .:=+********************.
        :%#****#*#*********++=.                                    .-++*****************#.
       -###***************+-..                                       .:+*****************#:
      -######***##******+=.                                            .-+****************#:
     :########*********+-.                                               .=*****************.
    .##########*******+.                                                  .=*****************.
   .*############****=.                                                     -+**************#=
   -%###########****+.                                                      .-+**************#:
  .############****+.                                                        .=+**************+
  -%############***-                                                          .+**************#:
  *##############*+.                                                           :**************#=
 .%#############**-                                                            .+***************.
 :%#############**.                                                             -**************#.
 =%#############*+                                                              :**************#-
 =%########*####*=                                                              .**************#-
 +%#############*=                                                              .***************-
 =%#############*+                                                              :**************#-
 -%##############*.                                                             -**************#:
 :%##############*:                                                             =**************#.
 .################=                                                            .****************.
  +%##############*:                                                           =***************=
  :%###############+.                                                         :***************#:
   *%###############=.                                                       .+***************+
   :%###############*-                                                      .+***************#.
    =################*=                                                    .+****************=
    .*%################=.                                                 :+****************+.
     .##################+:.                                             .-******************.
      :##################*=:.                                         .:+******************.
       .###################*+..                                     .:+*******************.
        .####################*+:                                  .=*********************.
         .+%####################*+-.                           .=+*********************=.
          .-#######################*+=-:.                ..:-=+***********************-.
            .*#########################***+=---::::::--=++++************************=.
              -#####################################*******************************:
                -##############################**********************************:
                 .-################################***************************+:.
                   .:+###############################***********************=:.
                      .-+#############################*******************=-.
                         .-+*#########################***************+=:.
                             .-+######################************=:.
                               ....:=*#################*****+-:...
                                      ....::::------::::....

Pastas e Arquivos

Autonomo (AUTO)
|--include
   |- main.hpp
|--lib
   |--engine
      |- engine.cpp
      |- engine.hpp
   |--internal
      |- internal.cpp
      |- internal.hpp
   |--receiver
      |- receiver.cpp
      |- receiver.hpp
   |--sensor
      |- sensor.cpp
      |- sensor.hpp
   |--serial
      |- serial.cpp
      |- serial.hpp
   |--utilitie
      |- utilitie.cpp
      |- utilitie.hpp
|--src
   |- main.cpp

Controlado (RC)
|--include
   |- main.hpp
|--lib
   |--controller
      |- controller.cpp
      |- controller.hpp
   |--engine
      |- engine.cpp
      |- engine.hpp
   |--internal
      |- internal.cpp
      |- internal.hpp
   |--utilitie
      |- utilitie.cpp
      |- utilitie.hpp
|--src
   |- main.cpp

Sobre a Estrutura do Codigo

Esse código é uma experiência de criar uma nova organização que tem como principio facilitar a manutenção.

Configuração de Ambiente

Para o Arruela v1.0 usamos apenas o PlatformIO com o VS CODE, migramos o Controlado (RC) do Arduino IDE para o PlatformIO na verção v1.0

Visual Studio Code

1. Baixe o VS Code
2. Documentação do VS Code

PlatformIO

1. Site do PlatformIO
2. Baixar o PlatformIO IDE for VSCode

ESP32 SDK

1. Multiprocessamento no ESP32
2. ESP32 API Reference

Observação

1. Usar o tt::serial::end() causa um BUG que faz com que o robô não ande (provávelmente erro com relação à memória ou task)
2. Quando direction1 != direction2, as direções de ambos os robôs invertem, sla o pq...