allow systemd services to be enabled by default, plus various little …

…renames and polishes

debian/postinst

@@ -5,6 +5,13 @@
 set -e	# exit on error
 . /usr/share/debconf/confmodule # Source debconf library.
 
+
+# enable services, but don't start yet
+systemctl daemon-reload
+systemctl enable robotcontrol
+systemctl enable rc_battery_monitor
+
+# in interactive mode, ask for configuration options
 if [ ! "$DEBIAN_FRONTEND" = "noninteractive" ] ; then
 
 	# Fetching configuration from debconf
@@ -30,34 +37,30 @@ if [ ! "$DEBIAN_FRONTEND" = "noninteractive" ] ; then
 		echo "setting nothing to run on boot"
 		rm -f /etc/robotcontrol/link_to_startup_program
 	else
-		echo "leaving current robotcontrol startup program alone"
+		echo "leaving current robot control startup program alone"
 	fi
 
-	# enable services
-	echo "systemctl daemon-reload"
-	systemctl daemon-reload
-	echo "Enabling robotcontrol Service"
-	systemctl enable robotcontrol
-	echo "Enabling rc_battery_monitor Service"
-	systemctl enable rc_battery_monitor
-	# try to start battery monitor, but ignore errors as this may not work
-	echo "Starting rc_battery_monitor Service"
+
+	# try to start services, but ignore errors as this may not work
 	set +e
 	systemctl start rc_battery_monitor
+	systemctl start robotcontrol
 
 	# leave error checking off when setting up device tree too
 	if [ "$ENABLE_DT" = "true" ]; then
 		echo "Configuring Device Tree"
 		configure_robotics_dt
 	fi
 
-	echo "Robotics Cape package installation complete."
-
+	echo "**********************************************"
+	echo "librobotcontrol package installation complete."
 	if [ "$ENABLE_DT" = "true" ]; then
-		echo "**********************************************"
 		echo "Please reboot now to load new device tree."
-		echo "**********************************************"
 	fi
+	echo "**********************************************"
+
+	# put error checking back on in case debhelper wants it
+	set -e
 
 fi
 

debian/rules

@@ -4,6 +4,5 @@
 
 override_dh_fixperms:
 	dh_fixperms \
-	--exclude var/lib/robotcontrol \
-	--exclude var/run/robotcontrol
+	--exclude var/lib/robotcontrol
 

examples/src/rc_balance.c

@@ -8,7 +8,7 @@
 #include <unistd.h> // for isatty()
 #include <stdlib.h> // for strtof()
 #include <math.h> // for M_PI
-#include <roboticscape.h>
+#include <robotcontrol.h>
 
 #include "rc_balance_defs.h"
 
@@ -474,7 +474,7 @@ void balance_controller()
 	* read sensors and compute the state when either ARMED or DISARMED
 	******************************************************************/
 	// angle theta is positive in the direction of forward tip around X axis
-	cstate.theta = mpu_data.dmp_TaitBryan[TB_PITCH_X] + CAPE_MOUNT_ANGLE;
+	cstate.theta = mpu_data.dmp_TaitBryan[TB_PITCH_X] + BOARD_MOUNT_ANGLE;
 
 	// collect encoder positions, right wheel is reversed
 	cstate.wheelAngleR = (rc_encoder_eqep_read(ENCODER_CHANNEL_R) * 2.0 * M_PI) \

examples/src/rc_balance_defs.h

@@ -11,34 +11,14 @@
 #define DT			0.01			// 1/sample_rate
 
 // Structural properties of eduMiP
-#define CAPE_MOUNT_ANGLE	0.49 // increase if mip tends to roll forward
+#define BOARD_MOUNT_ANGLE	0.49 // increase if mip tends to roll forward
 #define GEARBOX			35.577
 #define ENCODER_RES		60
 #define WHEEL_RADIUS_M		0.034
 #define TRACK_WIDTH_M		0.035
 #define V_NOMINAL		7.4
 
-/*
-// inner loop controller 200hz old
-#define D1_GAIN			0.8
-#define D1_ORDER		2
-#define D1_NUM			{-6.289, 11.910, -5.634 }
-#define D1_DEN			{ 1.000, -1.702,  0.702 }
-#define D1_NUM_LEN		3
-#define D1_DEN_LEN		3
-#define D1_SATURATION_TIMEOUT	0.5
-
-// outer loop controller original 200hz
-#define D2_GAIN			0.7
-#define	D2_ORDER		1
-#define D2_NUM			{ 0.3858, -0.3853 }
-#define D2_DEN			{ 1.0000, -0.9277 }
-#define D2_NUM_LEN		2
-#define D2_DEN_LEN		2
-#define THETA_REF_MAX		0.37
-*/
-
-// // inner loop controller 100hz new
+// inner loop controller 100hz
 #define D1_GAIN			1.05
 #define D1_ORDER		2
 #define D1_NUM			{-4.945, 8.862, -3.967}
@@ -48,7 +28,7 @@
 #define D1_SATURATION_TIMEOUT	0.4
 
 
-// outer loop controller new 100hz
+// outer loop controller 100hz
 #define D2_GAIN			0.9
 #define	D2_ORDER		2
 #define D2_NUM			{0.18856,  -0.37209,  0.18354}

examples/src/rc_bind_dsm.c

@@ -1,8 +1,7 @@
 /**
  * @example    rc_bind_dsm
  *
- * routine to put a DSM2/DSMX satellite receiver into pairing mode James
- * Strawson 2014
+ * routine to put a DSM2/DSMX satellite receiver into pairing mode
  *
  * DSM satellite receivers are put into bind mode by sending them a sequence of
  * pulses right after it receives power and starts up. This program puts the

examples/src/rc_blink.c

@@ -3,7 +3,7 @@
  * @example    rc_blink
  *
  * This is an example program to demonstrate use of LEDs and button handlers in
- * the robotics cape API. Once started, blink will flash the green and red LEDs.
+ * the Robot Control API. Once started, blink will flash the green and red LEDs.
  * Pressing the mode button will cycle through 3 blinking speeds, slow medium,
  * and fast. Momentarily pressing the pause button will stop and start the
  * blinking by toggling the global state between PAUSED and RUNNING. If the user

examples/src/rc_calibrate_accel.c

@@ -21,8 +21,8 @@
 // change this for your platform
 #define I2C_BUS 2
 
-int main(){
-
+int main()
+{
 	printf("\nThis program will generate a new accelerometer calibration file\n");
 	printf("Press any key to continue\n");
 	getchar();

examples/src/rc_calibrate_dsm.c

@@ -16,8 +16,8 @@
 
 int main()
 {
-	printf("Please connect a DSM satellite receiver to your Robotics Cape\n");
-	printf("and make sure your transmitter is on and paired to the receiver\n");
+	printf("Please connect a DSM satellite receiver and make sure\n");
+	printf("your transmitter is on and paired to the receiver.\n");
 	printf("\n");
 	printf("Press ENTER to continue or anything else to quit\n");
 	getchar();

examples/src/rc_calibrate_gyro.c

@@ -17,14 +17,14 @@
 #include <stdio.h>
 #include <rc/mpu.h>
 
-// bus for Robotics Cape and BeagleboneBlue is 2
+// bus for Robotics Cape and BeagleBone Blue is 2
 // change this for your platform
 #define I2C_BUS 2
 
-int main(){
-
+int main()
+{
 	printf("\nThis program will generate a new gyro calibration file\n");
-	printf("keep your beaglebone very still for this procedure.\n");
+	printf("keep your board very still for this procedure.\n");
 	printf("Press any key to continue\n");
 	getchar();
 	printf("Starting calibration routine\n");

examples/src/rc_calibrate_mag.c

@@ -20,11 +20,12 @@
 // change this for your platform
 #define I2C_BUS 2
 
-int main(){
+int main()
+{
 
 	printf("\n");
 	printf("This will sample the magnetometer for the next 15 seconds\n");
-	printf("Rotate the cape around in the air through as many orientations\n");
+	printf("Rotate the board around in the air through as many orientations\n");
 	printf("as possible to collect sufficient data for calibration\n");
 	printf("Press any key to continue\n");
 	getchar();

examples/src/rc_check_battery.c

@@ -10,7 +10,7 @@
 #include <rc/start_stop.h>
 #include <rc/time.h>
 
-#define VOLTAGE_DISCONNECT	1	// Threshold for detecting disconnected battery
+#define VOLTAGE_DISCONNECT	1 // Threshold for detecting disconnected battery
 
 int main()
 {

examples/src/rc_kill.c

@@ -2,8 +2,8 @@
  * @file rc_kill.c
  * @example    rc_kill
  *
- * Example program for shutting down any existing process that uses the robotics
- * cape library PID file functionality in <rc/start_stop.h> such as the
+ * Example program for shutting down any existing process that uses the robot
+ * control library PID file functionality in <rc/start_stop.h> such as the
  * rc_balance and rc_test_start_stop examples.
  */
 
@@ -19,7 +19,7 @@ int main()
 	// quiet on success but prints errors and warnings already.
 	switch(ret){
 	case 0:
-		printf("No existing roboticscape program is running.\n");
+		printf("No existing robot control program is running.\n");
 		break;
 	case 1:
 		printf("An existing program was running and shut down cleanly.\n");

examples/src/rc_test_adc.c

@@ -14,7 +14,8 @@
 #include <rc/time.h>
 
 
-int main(){
+int main()
+{
 	int i;
 
 	// initialize hardware first

examples/src/rc_test_bmp.c

@@ -15,7 +15,7 @@
 #include <rc/bmp.h>
 
 // choice of 1,2,4,8,16 oversampling. Here we use 16 and sample at 25hz which
-// is close to the update rate specified in robotics_cape.h for that oversample.
+// is close to the update rate specified in rc/bmp.h for that oversample.
 #define OVERSAMPLE  BMP_OVERSAMPLE_16
 
 // choice of OFF, 2, 4, 8, 16 filter constants. Here we turn off the filter and

examples/src/rc_test_buttons.c

@@ -2,7 +2,8 @@
  * @file rc_test_buttons.c
  * @example    rc_test_buttons
  *
- * This is a very basic test of button functionality. It simply prints to the screen when a button has been pressed or released.
+ * This is a very basic test of button functionality. It simply prints to the
+ * screen when a button has been pressed or released.
  **/
 
 #include <stdio.h>

examples/src/rc_test_drivers.c

@@ -2,7 +2,7 @@
  * @example    rc_test_drivers.c
  *
  * without actually calling library functions, this checks that all the drivers
- * necessary for libroboticscape to work.
+ * necessary for the robot control library to fully work.
  **/
 
 #include <stdio.h>

examples/src/rc_test_leds.c

@@ -2,7 +2,7 @@
  * @file rc_test_leds.c
  * @example    rc_test_leds
  *
- * tests all LEDs on Robotics Cape & BeagleBone Blue
+ * tests all LEDs
  *
  * @author     James Strawson
  * @date       1/29/2018

examples/src/rc_test_time.c

@@ -2,7 +2,7 @@
  * @file rc_test_time.c
  * @example    rc_test_time
  *
- * Prints the current version of the Robotics Cape Library.
+ * Prints the current version of the robot control library.
  *
  *
  *
@@ -16,7 +16,8 @@
 
 #define LOOPS 10000
 
-int main(){
+int main()
+{
 	int i;
 	uint64_t a,b,nanos;
 

examples/src/rc_version.c

@@ -2,7 +2,7 @@
  * @file rc_version.c
  * @example    rc_version
  *
- * Prints the current version of the Robotics Cape Library.
+ * Prints the current version of the Robot Control Library.
  *
  *
  *

library/src/dsm.c

@@ -780,7 +780,7 @@ int rc_dsm_bind_routine()
 
 	// wait for user to hit enter before continuing
 	printf("\nDisconnect your dsm satellite receiver if it is still connected\n");
-	printf("Plug it into the cape quickly and firmly to begin binding.\n");
+	printf("Plug it into the board quickly and firmly to begin binding.\n");
 
 	// wait for the receiver to be disconnected
 	value = 1;

library/src/io/adc.c

@@ -1,8 +1,7 @@
 /**
  * @file adc_bbb_iio.c
  *
- * Basic interface to the iio adc driver to reading ADCs on Robotics Cape and
- * BeagleBone Blue.
+ * Basic interface to the iio adc driver
  *
  * @author     James Strawson
  * @date       1/29/2018