Merge branch 'main' into SerialMuxProt

BlueAndi · Sep 9, 2023 · bf33f9c · bf33f9c
2 parents 70cfda1 + ddf6e86
commit bf33f9c
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Showing 6 changed files with 11 additions and 56 deletions.
diff --git a/README.md b/README.md
@@ -35,6 +35,9 @@ The simulation is based on the open source robot simulator *Webots*. The applica
 
 * Website: https://cyberbotics.com/#cyberbotics
 * Github: https://github.com/cyberbotics/webots
+* Compatible webots versions:
+  * v2023a
+  * v2023b
 
 ## Intallation
 
@@ -76,6 +79,7 @@ Platformio project tasks --> WebotsSim --> Build
 | Library | Description | License |
 | - | - | - |
 | [Zumo32U4 library](https://github.com/pololu/zumo-32u4-arduino-library) | Provides access to the Zumo32U4 hardware. | MIT |
+| [SerialMuxProt](https://github.com/gabryelreyes/SerialMuxProt) | Multiplexing Communication Protocol | MIT |
 
 # Issues, Ideas And Bugs
 If you have further ideas or you found some bugs, great! Create a [issue](https://github.com/BlueAndi/RadonUlzer/issues) or if you are able and willing to fix it by yourself, clone the repository and create a pull request.

diff --git a/lib/HALSim/Keyboard.h b/lib/HALSim/Keyboard.h
@@ -43,6 +43,7 @@
 /******************************************************************************
  * Includes
  *****************************************************************************/
+#include <stdint.h>
 #include <webots/Keyboard.hpp>
 #include <webots/Robot.hpp>
 

diff --git a/lib/Service/RelativeEncoders.h b/lib/Service/RelativeEncoders.h
@@ -71,8 +71,8 @@ class RelativeEncoders
      */
     RelativeEncoders(IEncoders& absEncoders) :
         m_absEncoders(absEncoders),
-        m_referencePointLeft(m_absEncoders.getCountsLeft()),
-        m_referencePointRight(m_absEncoders.getCountsRight()),
+        m_referencePointLeft(0),
+        m_referencePointRight(0),
         m_lastRelEncoderStepsLeft(0),
         m_lastRelEncoderStepsRight(0)
     {

diff --git a/platformio.ini b/platformio.ini
@@ -107,7 +107,6 @@ extra_scripts =
     pre:./scripts/add_os_specific_build_flags.py
     pre:./scripts/create_webots_library.py
     post:./scripts/copy_webots_shared_libs.py
-    post:./scripts/copy_track_file.py
 
 ; *****************************************************************************
 ; PC target environment for tests

diff --git a/scripts/copy_track_file.py b/scripts/copy_track_file.py
diff --git a/webots/protos/Zumo32U4.proto b/webots/protos/Zumo32U4.proto
@@ -168,6 +168,9 @@ PROTO Zumo32U4 [
             appearance DEF BODY_COLOR PBRAppearance {
               emissiveColor 0.2 0.2 0.2
             }
+            geometry DEF BODY_GEOMETRY Box {
+              size 0.06 0.065 0.02
+            }
           }
           Transform {
             translation 0.0325 0 0.0025
@@ -185,9 +188,7 @@ PROTO Zumo32U4 [
             children [
               Shape {
                 appearance USE BODY_COLOR
-                geometry Box {
-                  size 0.06 0.065 0.02
-                }
+                geometry USE BODY_GEOMETRY
               }
             ]
           }