Branch for adding motor controls in, right now we're really only adding Servo functionality, but other motors (primarily servos as of 11/19/2020) can be added as needed

The goal of this branch is to create an API for servos so that:

1. Each Servo can be individually referenced.
2. Allow for simple function calls that provide a natural interface to servo motors that wraps the Maestro interface.
3. Allow for feedback from a particular servo.
4. Allows for various parameters to passed as per servo characteristics.
5. Provides error checking with error feedback mechanisms.

External dependencies:

Since the Arduino IDE is by the far the easiest way to compile the repository's programs, we'll have to work around a few of its quirks, which mainly just involves moving some files around once you've cloned this repo

The two directories that have to be moved are the PololuMaestro library, and our own SB_Servo library. The Maestro can easily be installed with the Arduino IDE, but our personal library will have to be moved by hand

On Linux, the shell script createLinks.sh in the top level directory should move the libraries as needed with no manual intervention required Call ./createLinks.sh -c to clean everything out that createLinks.sh has done

Manually: On the Linux, the following should accomplish everything listed below.

1. Install the Arduino IDE, you should have a directory at /home/$USER/Arduino
2. Move into the directory where you cloned the repo to, a pwd should show your path as: /home/$USER/Blah/Blah/Blah/arduino-sailbot-20
3. Use the commands in the shell script listed above to create the proper links. Honestly just use the shell script. You need to use links instead of pure copying as each update to repo will mean changes, and more copying

On Windows, find the two directories, PololuMaestro and SB_Servo in arduino-sailbot-20\dependencies\libs\, and copy them into C:\Users\yourName\Documents\Arduino\Libraries\

Testing:

Since traditional testing in C++ using the Catch framework is a little awkward, the current approach is to simply run various Arduino programs and ensure the correct outputs are presented on the Serial monitor. The current scripts directories for testing are located in arduino-sailbot-20/main/Motors/testing

testBounds -- tests going over and under the correct limits and that the correct limits & error codes result

testErrorCodes -- ensure all the correct error codes occur

testRotateBy -- tests the rotateBy() method

testRotateTo -- /ditto/

testTwoServos -- just ensures nothing funky happens when we use more than one servo

Error codes

Error codes are used by the class to signify something has gone wrong. The SB_Servo class contains a member integer called errorCode whose bits are flipped to indicate a specific error has occured. The table below outlines the bits and what they mean

The first 4 bits in the error code is reserved for configuration errors, while the second 4 bits is for movement errors (requesting movement out of bounds)

Error	Hex Value
Bad us configuration	0x01
Bad Range configuration	0x02
Bad Angle configuration	0x04
Bad channel Number configuration	0x08
Requested rotation under alotted range	0x10
Requested rotation over alotted range	0x20