Dev

CMakeLists.txt

@@ -0,0 +1,28 @@
+set(PROBOT_SRCS
+    src/core/runtime.cpp
+    src/core/scheduler.cpp
+    src/core/wdt.cpp
+    src/io/ui_input.cpp
+    src/platform/esp32s3/drivers/builtin_led_ws2812.cpp
+    src/probot/devices/motors/Boardoza_BA6208.cpp
+    src/probot/devices/motors/boardoza_ba6208_driver.cpp
+    src/probot/devices/motors/boardoza_vnh_motor_driver.cpp
+    src/probot/logging/logger.cpp
+    src/probot/logging/telemetry_profiles.cpp
+    src/probot/logging/wifi_transport_esp32.cpp
+    src/probot/robot/system.cpp
+    src/probot/sensors/imu/mpu6050.cpp
+)
+
+idf_component_register(
+    SRCS ${PROBOT_SRCS}
+    INCLUDE_DIRS "src"
+    REQUIRES arduino
+)
+
+target_compile_definitions(${COMPONENT_TARGET}
+    PUBLIC
+        ARDUINO=10820
+        ESP32
+        ESP32S3
+)

Makefile

@@ -5,6 +5,10 @@ FQBN        ?= esp32:esp32:esp32s3
 PORT        ?= /dev/ttyACM0
 BAUD        ?= 115200
 ARDUINO_CLI ?= arduino-cli
+PYTHON      ?= python3
+
+VERSION_FILE        := $(CURDIR)/VERSION
+VERSION_SYNC_SCRIPT := $(CURDIR)/tools/sync_version.py
 
 # Examples
 EXAMPLES_DIR   := $(CURDIR)/examples
@@ -15,6 +19,9 @@ BUILD_DIR_BASE := $(CURDIR)/.build
 
 TEST_STUB_DIR := $(CURDIR)/tests/stubs
 TEST_SOURCES := $(filter %.cpp,$(wildcard $(CURDIR)/tests/*.cpp))
+TEST_EXTRA_SOURCES := \
+	$(CURDIR)/src/probot/logging/logger.cpp \
+	$(CURDIR)/src/probot/logging/telemetry_profiles.cpp
 
 # Common flags
 EXTRA_FLAGS_COMMON := -DESP32S3 -DARDUINO_USB_MODE=1 -DARDUINO_USB_CDC_ON_BOOT=1
@@ -54,6 +61,7 @@ build-all:
 
 _build_single:
 	@echo "==> Building $(EXAMPLE)"
+	$(PYTHON) $(VERSION_SYNC_SCRIPT)
 	$(ARDUINO_CLI) compile --fqbn $(FQBN) --warnings all \
 	  --library $(CURDIR) \
 	  --build-path $(BUILD_DIR_BASE)/$(EXAMPLE) \
@@ -78,8 +86,11 @@ boards:
 libs:
 	arduino-cli lib install "Adafruit NeoPixel" 
 
+version-sync:
+	$(PYTHON) $(VERSION_SYNC_SCRIPT)
+
 tests/control_tests: $(TEST_SOURCES)
-	g++ -std=c++17 -Wall -Wextra -pedantic -I src -I $(TEST_STUB_DIR) -DPROBOT_CLM_NOLOG=1 -DPROBOT_SCHED_NOLOG=1 -o $@ $(TEST_SOURCES)
+	g++ -std=c++17 -Wall -Wextra -pedantic -I src -I $(TEST_STUB_DIR) -DPROBOT_CLM_NOLOG=1 -DPROBOT_SCHED_NOLOG=1 -DPROBOT_LOGGER_NO_SCHED_ATTACH=1 -o $@ $(TEST_SOURCES) $(TEST_EXTRA_SOURCES)
 
 test: build tests/control_tests
 	./tests/control_tests

README.md

@@ -40,6 +40,16 @@ Her örnek doğrudan çalışır durumda ve yorumlarla açıklanmıştır.
 
 ---
 
+## Platform Desteği
+
+- **Arduino IDE / arduino-cli:** `library.properties` ve `Makefile` üzerinden doğrudan desteklenir. `make build EXAMPLE=TankDriveDemo` komutu, `arduino-cli` ile örnekleri derler.
+- **PlatformIO (Arduino framework):** Kütüphaneyi `lib_deps = /path/to/probot-lib` ya da Git URL'siyle ekleyin. `library.json` sürüm bilgisi `VERSION` dosyasından otomatik güncellenir.
+- **ESP-IDF + Arduino bileşeni:** Depoyu IDF projenizin `components/` klasörüne yerleştirip `idf.py build` çalıştırabilirsiniz. `idf_component.yml` otomatik olarak Arduino bileşenine bağımlıdır; `app_main` içinde `probot::runtime_setup()` çağırarak Arduino dışındaki uygulamalarda da aynı robot yaşam döngüsünü başlatabilirsiniz.
+
+Tüm platformlarda sürüm numarası `VERSION` dosyasından yönetilir; `make version-sync` çağrısı metadata dosyalarını günceller.
+
+---
+
 ## Ne içeriyor?
 
 Kütüphane şunları sağlar:
@@ -138,6 +148,16 @@ Every example runs out of the box and is documented with inline comments.
 
 ---
 
+## Platform Support
+
+- **Arduino IDE / arduino-cli:** build examples with `make build EXAMPLE=TankDriveDemo`; metadata comes from `library.properties`.
+- **PlatformIO (Arduino framework):** add `lib_deps = /path/to/probot-lib` or the Git URL; `library.json` stays in sync with `VERSION`.
+- **ESP-IDF with the Arduino component:** drop the repository under your project's `components/` directory (or use `idf_component.yml` via the component manager) and call `idf.py build`. Invoke `probot::runtime_setup()` from `app_main()` to reuse the Arduino lifecycle on pure ESP-IDF projects.
+
+`make version-sync` keeps all manifests aligned with the single `VERSION` file.
+
+---
+
 ## What's inside?
 
 The library provides:

VERSION

@@ -0,0 +1 @@
+0.1.4

examples/AutonomousDemo/AutonomousDemo.ino

@@ -0,0 +1,137 @@
+#include <probot.h>
+#include <probot/io/joystick_api.hpp>
+#include <probot/control/closed_loop_motor.hpp>
+#include <probot/control/pid.hpp>
+#include <probot/chassis/basic_tank_drive.hpp>
+#include <probot/devices/motors/boardoza_vnh_motor_driver.hpp>
+
+// Otonom tank demo için iki adet VNH sürücüsü.
+static constexpr int L_INA = 33;
+static constexpr int L_INB = 34;
+static constexpr int L_PWM = 35;
+static constexpr int L_ENA = -1;
+static constexpr int L_ENB = -1;
+
+static constexpr int R_INA = 36;
+static constexpr int R_INB = 37;
+static constexpr int R_PWM = 38;
+static constexpr int R_ENA = -1;
+static constexpr int R_ENB = -1;
+
+static probot::motor::BoardozaVNHMotorDriver leftDriver(L_INA, L_INB, L_PWM, L_ENA, L_ENB);
+static probot::motor::BoardozaVNHMotorDriver rightDriver(R_INA, R_INB, R_PWM, R_ENA, R_ENB);
+static probot::sensors::NullEncoder          leftEncoder;
+static probot::sensors::NullEncoder          rightEncoder;
+
+static const probot::control::PidConfig      kPid{.kp = 0.32f, .ki = 0.015f, .kd = 0.0f, .kf = 0.0f,
+                                                  .out_min = -1.0f, .out_max = 1.0f};
+static probot::control::PID                  pidLeft(kPid);
+static probot::control::PID                  pidRight(kPid);
+static probot::control::ClosedLoopMotor      motorLeft(&leftEncoder, &pidLeft, &leftDriver, 1.0f, 1.0f);
+static probot::control::ClosedLoopMotor      motorRight(&rightEncoder, &pidRight, &rightDriver, 1.0f, 1.0f);
+static probot::drive::BasicTankDrive         chassis(&motorLeft, &motorRight);
+
+PROBOT_SET_DRIVER_STATION_PASSWORD("ProBot1234");
+
+enum class AutoStep {
+  kDriveForward,
+  kPause,
+  kTurn,
+  kDriveToGoal,
+  kFinished
+};
+
+static AutoStep g_step = AutoStep::kDriveForward;
+static uint32_t g_stepStart = 0;
+
+void robotInit() {
+  Serial.begin(115200);
+  delay(100);
+
+  leftDriver.begin();
+  rightDriver.begin();
+  leftDriver.setBrakeMode(true);
+  rightDriver.setBrakeMode(true);
+
+  motorLeft.setTimeoutMs(0);
+  motorRight.setTimeoutMs(0);
+
+  chassis.setWheelCircumference(32.0f);
+  chassis.setTrackWidth(29.0f);
+
+  Serial.println("[AutonomousDemo] robotInit: Otonom örneği hazır");
+}
+
+void robotEnd() {
+  chassis.setVelocity(0.0f, 0.0f);
+  Serial.println("[AutonomousDemo] robotEnd: Motorlar durdu");
+}
+
+void teleopInit() {
+  Serial.println("[AutonomousDemo] teleopInit: Bu örnekte teleop, tank sürüşü sağlar");
+}
+
+void teleopLoop() {
+  auto js = probot::io::joystick_api::makeDefault();
+  float left = js.getLeftY() * 100.0f;
+  float right = js.getRightY() * 100.0f;
+  chassis.setVelocity(left, right);
+  chassis.update(millis(), 20);
+  delay(20);
+}
+
+void autonomousInit() {
+  Serial.println("[AutonomousDemo] autonomousInit: İleri -> Bekle -> 90° dön -> Hedefe git");
+  g_step = AutoStep::kDriveForward;
+  g_stepStart = millis();
+  chassis.driveDistance(80.0f); // 80 cm ileri
+}
+
+void autonomousLoop() {
+  uint32_t now = millis();
+
+  switch (g_step) {
+    case AutoStep::kDriveForward:
+      if (now - g_stepStart > 2500) {
+        g_step = AutoStep::kPause;
+        g_stepStart = now;
+        chassis.setVelocity(0.0f, 0.0f);
+        Serial.println("[AutonomousDemo] Duraklama");
+      }
+      break;
+
+    case AutoStep::kPause:
+      if (now - g_stepStart > 800) {
+        g_step = AutoStep::kTurn;
+        g_stepStart = now;
+        chassis.turnDegrees(90.0f);
+        Serial.println("[AutonomousDemo] 90 derece dönüş başlıyor");
+      }
+      break;
+
+    case AutoStep::kTurn:
+      if (now - g_stepStart > 2200) {
+        g_step = AutoStep::kDriveToGoal;
+        g_stepStart = now;
+        chassis.driveDistance(40.0f);
+        Serial.println("[AutonomousDemo] Hedefe son itiş");
+      }
+      break;
+
+    case AutoStep::kDriveToGoal:
+      if (now - g_stepStart > 2000) {
+        g_step = AutoStep::kFinished;
+        chassis.setVelocity(0.0f, 0.0f);
+        Serial.println("[AutonomousDemo] Otonom tamamlandı");
+      }
+      break;
+
+    case AutoStep::kFinished:
+    default:
+      chassis.setVelocity(0.0f, 0.0f);
+      break;
+  }
+
+  chassis.update(now, 20);
+  delay(20);
+}