/*
Copyright (c) <2015>, <University of Pennsylvania:GRASP Lab>                                                             
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THe new code is now running in ROS

The main files are src/controller/src/controller.cpp - this is the controller and included most pertiant code
		   src/imu		 	     - houses imu reading and publishing code
		   src/xbee			     - houses most communication code
		   src/vision			     - houes most reading and some data prep, some claculations are done in controller.cpp for this


Basic Instructions
	- Must 'source each terminal'
	- must have a terminal open and run 'roscore'
	- each 'node' is run using 'rosrun' and then the node/file name. Ex) rosrun controller controller 
	- to recompile go to toplevel and type 'catkin_make'
////

NEW
    //Compilation Instructions
In order to run the 'main' function in a certain file, it must be uncommented, with all other 'main' functions in the other files in /src commented out. The 'main's in the other files are used for testing the functions internal to that file.

For example, to run the main controller we use g++.
ex) g++ controller.cpp vicon.cpp motor.cpp imu_inv.cpp logger.cpp utility.cpp -I /home/odroid/upenn_quad/include -lpthread -lncurses -lboost_system

This should be run when in the /src folder. Each of the files above (controller.cpp, vicon.cpp, etc) have functions used in the control loop. The -I /home/od... tells the compiler where to find the header files. We also link some libraries at the end, such as -lpthread, for the threads implementation, and -lncurses for our terminal output.

If we would like to run the test functions in somwhere, like vicon.cpp, which house the functions to recieve vicon or joystick data, we would comment out the 'main' in controller, navigate to the vicon.cpp file, uncomment its 'main, and find the compilation instructions at the top of the file.


    //Program Layout
controller.cpp: main control loop. Uses functions from imu_inv.cpp and vicon.cpp to recieve data. It performs calculations on this data to eventually ouput motor signals via a method defined in Motor.cpp. Instantiated logger object to log data.

imu.cpp: imu class which handles opening port, calibrating imu, and reading data.

psi.cpp: class to make psi continuous

logger.cpp: implementation of a simple logging class to write CSV data to a .txt file

motor.cpp: class to abstract motor commands. Handles the writing to motors via i2c.

xbee1.cpp: handles the reading of vicon/joystick data via xbee.

vicon.cpp: handles functions for vicon data. will be moved to utility.h soon

sonar.cpp: class for reading a sonar sensor

utility.h: a class of static helper functions used by a few files above.

../include/data_structs.h: custom data structures used for abstraction.

the directory send_joystick_data houses the functions necessary use the joystick for sending instructions to the quadrotor

the directory 3dPrint contains .stl files in the "import2makerbot" directory and .makerbot files in the "makerbot_ready" directory.
1).stl files can be exported to the makerbot desktop software to customize the positioning and characteristics of the print.
2) .makerbot files are the product of the process just described and are ready to be exported onto the makerbot.

If one would like to change the percent infill, number of object printed, etc just follow step one and export the resulting .makerbot file to the makerbot.

   //Misc
	setting up i2c on linux
-install i2c-tools on the linux machine with "sudo apt-get install i2c-tools"
-naviagate to the folder "/etc" and open with file modules as su with "sudo vim modules"
-once opened, paste "i2c-gpio-custom bus0=10,209,210,10,10" in the body
-reboot system.
-to detect devices on the i2c bus (such as out motors), use the command: sudo i2cdetect -y 10.