commit 9b52e0a9dc0612f94721e03f1fd9ba146819635c
Author: Blboun3 <62328614+Blboun3@users.noreply.github.com>
Date:   Thu Nov 9 15:24:40 2023 +0100

    first commit, Denk proof backuping

diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..fdee005
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,45 @@
+{
+    "configurations": [
+        {
+            "name": "Mac",
+            "includePath": [
+                "/usr/include",
+                "/usr/local/include"
+            ],
+            "browse": {
+                "limitSymbolsToIncludedHeaders": true,
+                "databaseFilename": ""
+            },
+            "macFrameworkPath": [
+                "/System/Library/Frameworks",
+                "/Library/Frameworks"
+            ],
+            "intelliSenseMode": "macos-clang-x64"
+        },
+        {
+            "name": "Linux",
+            "includePath": [
+                "/usr/include",
+                "/usr/local/include"
+            ],
+            "browse": {
+                "limitSymbolsToIncludedHeaders": true,
+                "databaseFilename": ""
+            },
+            "intelliSenseMode": "linux-gcc-x64"
+        },
+        {
+            "name": "Win32",
+            "includePath": [
+                "C:/RB3rt/sdk/common/ev3api",
+                "C:/RB3rt/sdk/common/library/lib-ev3cxx"
+            ],
+            "browse": {
+                "limitSymbolsToIncludedHeaders": true,
+                "databaseFilename": ""
+            },
+            "intelliSenseMode": "windows-msvc-x64"
+        }
+    ],
+    "version": 4
+}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..2adebfd
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,49 @@
+{
+    "files.insertFinalNewline": true,
+    "files.associations": {
+        "array": "cpp",
+        "atomic": "cpp",
+        "*.tcc": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "deque": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "initializer_list": "cpp",
+        "iosfwd": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "cinttypes": "cpp",
+        "typeinfo": "cpp"
+    }
+}
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
new file mode 100644
index 0000000..c0ba2ff
--- /dev/null
+++ b/.vscode/tasks.json
@@ -0,0 +1,59 @@
+{
+    // Support task for EV3RT and EV3CXX
+    // Author: Jaroslav Páral (jarekparal)
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "build",
+            "type": "shell",
+            "command": "C:\\RB3rt\\Make.bat",
+            "args": [
+                "-b",
+                "${fileDirname}"
+            ],
+            "problemMatcher": [],
+            "group": {
+                "_id": "build",
+                "isDefault": false
+            }
+        },
+        {
+            "label": "upload",
+            "type": "shell",
+            "command": "C:\\RB3rt\\Make.bat",
+            "args": [
+                "-u"
+            ],
+            "problemMatcher": []
+        },
+        {
+            "label": "make",
+            "type": "shell",
+            "command": "C:\\RB3rt\\Make.bat",
+            "args": [
+                "-m",
+                "${fileDirname}"
+            ],
+            "problemMatcher": []
+        },
+        {
+            "label": "lorris",
+            "type": "shell",
+            "command": "c:\\Lorris\\Lorris.exe",
+            "args": [
+                ""
+            ],
+            "problemMatcher": []
+        },
+        {
+            "label": "help",
+            "type": "shell",
+            "command": "start",
+            "args": [
+                "",
+                "https://rb3rt.readthedocs.org"
+            ],
+            "problemMatcher": []
+        }
+    ]
+}
diff --git a/.vscode/tasks.json.old b/.vscode/tasks.json.old
new file mode 100644
index 0000000..33d566e
--- /dev/null
+++ b/.vscode/tasks.json.old
@@ -0,0 +1,42 @@
+{
+    // Support task for EV3RT and EV3CXX
+    // Author: Jaroslav Páral (jarekparal)
+    "version": "0.1.0",
+    "tasks": [
+        {
+            "taskName": "build",
+            "command": "C:\\RB3rt\\Make.bat",
+            "isShellCommand": true,
+            "args": ["-b", "${fileDirname}"],
+            "showOutput": "always"
+        },
+        {
+            "taskName": "upload",
+            "command": "C:\\RB3rt\\Make.bat",
+            "isShellCommand": true,
+            "args": ["-u"],
+            "showOutput": "always"
+        },
+        {
+            "taskName": "make",
+            "command": "C:\\RB3rt\\Make.bat",
+            "isShellCommand": true,
+            "args": ["-m", "${fileDirname}"],
+            "showOutput": "always"
+        },
+        {
+            "taskName": "lorris",
+            "command": "c:\\Lorris\\Lorris.exe",
+            "isShellCommand": true,
+            "args": [""],
+            "showOutput": "always"
+        },
+        {
+            "taskName": "help",
+            "command": "start",
+            "isShellCommand": true,
+            "args": ["", "https://rb3rt.readthedocs.org"],
+            "showOutput": "always"
+        }
+    ]
+}
\ No newline at end of file
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..fa67c53
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2017 Jaroslav Páral
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/Makefile.inc b/Makefile.inc
new file mode 100644
index 0000000..d9f5de8
--- /dev/null
+++ b/Makefile.inc
@@ -0,0 +1,12 @@
+APPL_COBJS += 
+
+APPL_CXXOBJS +=
+
+SRCLANG := c++
+
+ifdef CONFIG_EV3RT_APPLICATION
+
+# Include libraries
+include $(EV3RT_SDK_LIB_DIR)/lib-ev3cxx/Makefile
+
+endif
diff --git a/app b/app
new file mode 100644
index 0000000..6aae6a0
Binary files /dev/null and b/app differ
diff --git a/app.cfg b/app.cfg
new file mode 100644
index 0000000..a471044
--- /dev/null
+++ b/app.cfg
@@ -0,0 +1,19 @@
+INCLUDE("app_common.cfg");
+
+#include "app.h"
+
+DOMAIN(TDOM_APP) {
+CRE_TSK(MAIN_TASK, { TA_ACT, 0, main_task, TMIN_APP_TPRI + 1, STACK_SIZE, NULL });
+
+// periodic task PRD_TSK_1 that will start automatically
+//CRE_TSK(PRD_TSK_1, { TA_NULL, 0, periodic_task_1, PRIORITY_PRD_TSK_1, STACK_SIZE, NULL });
+//EV3_CRE_CYC(CYC_PRD_TSK_1, { TA_STA, PRD_TSK_1, task_activator, PERIOD_PRD_TSK_1, 0 });
+
+// periodic task PRD_TSK_2 that will not start automatically
+//CRE_TSK(PRD_TSK_2, { TA_NULL, 0, periodic_task_2, PRIORITY_PRD_TSK_2, STACK_SIZE, NULL });
+//EV3_CRE_CYC(CYC_PRD_TSK_2, { TA_NULL, PRD_TSK_2, task_activator, PERIOD_PRD_TSK_2, 0 });
+
+}
+
+ATT_MOD("app.o");
+
diff --git a/app.cpp b/app.cpp
new file mode 100644
index 0000000..e861c2c
--- /dev/null
+++ b/app.cpp
@@ -0,0 +1,277 @@
+#include "ev3cxx.h"
+#include "app.h"
+#include <ctime>
+#include <functional>
+#include <sstream>
+
+/*
+Change notes:
+
+0.4.0 - 'HELGA' (#50)
+Fixed 
+
+0.3.0 - 'INGRID' (#42)
+Some weird magic in calculations of motor speeds
+
+0.2.7 - 'ERIKA' (#36)
+Created function run_short for picking up all cubes on short sides
+
+0.2.5 - 'ERIKA' (#27)
+Added "boot-up melody"
+Added btnEnter.waitForClick() for program start
+Fixed display printouts
+HW change: gearbox on the left gear changed to 1:1
+
+0.2.0 - 'ERIKA' (#15)
+Tested functions for opening and closing doors, updated speeds
+Added idealMPWRS - base MPWRS to update back to, testing with different speeds for left and right wheels
+
+0.1.1 - 'ERIKA' (#2)
+Re-created structs for version, MPWRS, note
+Re-created function for opening and closing door and function for generating Version ID
+*/
+
+/* Structure to hole current version (major, minor, patch, codename, id, release_date)
+    MAJOR - Major version number
+    MINOR - Minor changes in code
+    PATCH - Mostly just for testing
+    ID - Increment every time with new version
+    CODENAME - (String) Version name
+    RELEASE_DATE - when was current version released
+*/
+struct version
+{
+    int id;
+    int major;
+    int minor;
+    int patch;
+    std::tm relDate;
+    const char *codename;
+};
+
+// Structure to hold motor powers (left and right)
+struct MPWRS
+{
+    int lMotorPWR;
+    int rMotorPWR;
+};
+
+// Structure to hold notes
+struct note
+{
+    uint16_t frequency;
+    int32_t duration;
+};
+
+// Function to create new program version
+version createVersion(int versionID, const char *codename, int major, int minor, int patch, int day, int month, int year, int hour, int minute)
+{
+    version retVersion;
+    retVersion.id = versionID;
+    retVersion.major = major;
+    retVersion.minor = minor;
+    retVersion.patch = patch;
+    retVersion.codename = codename;
+    retVersion.relDate.tm_sec = 0;
+    retVersion.relDate.tm_min = minute;
+    retVersion.relDate.tm_hour = hour;
+    retVersion.relDate.tm_mday = day;
+    retVersion.relDate.tm_mon = month;
+    retVersion.relDate.tm_year = year - 1900;
+    retVersion.relDate.tm_isdst = 0;
+    std::mktime(&retVersion.relDate);
+
+    return retVersion;
+}
+
+// Function to open door
+void open_door(ev3cxx::Motor hinge)
+{
+    hinge.onForDegrees(-25, 200);
+}
+
+// Function to close door
+void close_door(ev3cxx::Motor hinge)
+{
+    hinge.onForDegrees(25, 200);
+}
+
+/* 
+Function to pick up all cubes on shorter side
+return true if ran till the end and false if stopped by middle button
+*/
+bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSensor gyro)
+{
+    const int LEFT_THRESHOLD = -3;
+    const int RIGHT_THRESHOLD = 3;
+    const int CORRECTION_MULTIPLIER = 3;
+    const int CYCLE_LIMIT = 0;//75;
+
+    gyro.resetHard();
+    ev3cxx::BrickButton btnEnter(ev3cxx::BrickButtons::ENTER); // Middle button
+    MPWRS motor_powers;
+    // Reset both motor's powers
+    motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
+    motor_powers.rMotorPWR = idealMPWRS.rMotorPWR;
+
+    int lCounter = 0;
+    int rCounter = 0;
+
+    bool run = true;
+    int cycleCounter = 0;
+    int lastRProblem = 0;
+    int lastLProblem = 0;
+    while (run)
+    {
+
+        motors.on(motor_powers.lMotorPWR, motor_powers.rMotorPWR);
+        tslp_tsk(50);
+
+
+        // Reset both motor's powers
+        motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
+        motor_powers.rMotorPWR = idealMPWRS.rMotorPWR;
+
+        // Get power of both motors
+        int lPower = motors.leftMotor().currentPower();
+        int rPower = motors.rightMotor().currentPower();
+        int angle = gyro.angle();
+
+        ev3cxx::display.format(4, "Left motor: % \nRight motor: % \nCycles: % \nAngle: % ") % lPower % rPower % cycleCounter % angle;
+
+        // Emergency break using middle button (BTN_ENTER)
+        if (btnEnter.isPressed())
+        {
+            run = false;
+            return false;
+        }
+
+        // Check gyro angle and change driving speed to fix the angle
+        // To the left
+        if (angle > LEFT_THRESHOLD) {
+            //ev3_speaker_play_tone(NOTE_A5, 250);
+            int correction = angle - LEFT_THRESHOLD;
+            motor_powers.lMotorPWR += correction * CORRECTION_MULTIPLIER;
+            ev3_speaker_play_tone(correction*1000,50);
+            // Check if the motor is stuck
+            if(lPower == 0){
+                ev3_speaker_play_tone(NOTE_A5,250);
+                
+                // Set lastProblem na cycleCounter because there is a problem
+                lastLProblem = cycleCounter;
+
+                // Check if lastProblem was in previous cycle
+                if(cycleCounter - 1 == lastLProblem){
+                    lCounter += 1;
+                    // If 5 problems occured than try to fix the problem
+                    if(lCounter == 6){
+                        ev3_speaker_play_tone(NOTE_C4, 250);
+                        ev3cxx::setColor(RED);
+                    }
+                // Reset counter
+                } else {
+                    lCounter = 0;
+                }
+                
+            }
+            
+        // To the right
+        } else if (angle < RIGHT_THRESHOLD) {
+            //ev3_speaker_play_tone(NOTE_A4, 250);
+            int correction = angle - RIGHT_THRESHOLD;
+            motor_powers.rMotorPWR += correction * CORRECTION_MULTIPLIER;
+            ev3_speaker_play_tone(correction*1000,50);
+            // Check if the motor is stuck
+            if(rPower == 0){
+                ev3_speaker_play_tone(NOTE_A4,250);
+                
+                // Set lastProblem na cycleCounter because there is a problem
+                lastRProblem = cycleCounter;
+
+                // Check if lastProblem was in previous cycle
+                if(cycleCounter - 1 == lastRProblem){
+                    rCounter += 1;
+                    // If 5 problems occured than try to fix the problem
+                    if(rCounter == 6){
+                        ev3_speaker_play_tone(NOTE_C5, 250);
+                        ev3cxx::setColor(ORANGE);
+                    }
+                // Reset counter
+                } else {
+                    rCounter = 0;
+                }
+            }
+        }
+
+        cycleCounter++;
+
+        if(cycleCounter == CYCLE_LIMIT) {
+            run = false;
+        }
+    }
+    return true;
+}
+
+
+void main_task(intptr_t unused)
+{
+
+    // Create version info
+    // version createVersion(int versionID, const char *codename, int major, int minor, int patch, int day, int month, int year, int hour, int minute)
+    const version VERSION = createVersion(51, "HELGA", 0, 4, 0, 8, 11, 2023, 15, 40);
+
+    // Set-up screen
+    ev3cxx::display.resetScreen();
+    ev3cxx::display.setFont(EV3_FONT_MEDIUM);
+
+    // Print version information on screen
+    ev3cxx::display.format("    DOBREMYSL\nVERSION: % .% .%  #% \nNAME: % ") % VERSION.major % VERSION.minor % VERSION.patch % VERSION.id % VERSION.codename;
+
+    // Play starting melody
+    ev3_speaker_set_volume(100);
+    ev3_speaker_play_tone(NOTE_C5, 400);
+    tslp_tsk(500);
+    ev3_speaker_play_tone(NOTE_F5, 400);
+    tslp_tsk(500);
+    ev3_speaker_play_tone(NOTE_G5, 400);
+    tslp_tsk(500);
+    ev3_speaker_play_tone(NOTE_A5, 100);
+    tslp_tsk(200);
+    ev3_speaker_play_tone(NOTE_F5, 650);
+    tslp_tsk(950);
+    ev3_speaker_play_tone(NOTE_F4, 75);
+    tslp_tsk(110);
+    ev3_speaker_play_tone(NOTE_F4, 75);
+    tslp_tsk(110);
+    ev3_speaker_play_tone(NOTE_F4, 75);
+    tslp_tsk(200);
+
+    // Set up motor powers
+    MPWRS idealMPWRS;
+    idealMPWRS.lMotorPWR = 87;
+    idealMPWRS.rMotorPWR = 50;
+
+    MPWRS motor_powers;
+    motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
+    motor_powers.rMotorPWR = idealMPWRS.rMotorPWR;
+
+    // Set up motors
+    ev3cxx::Motor hinge(ev3cxx::MotorPort::A, ev3cxx::MotorType::LARGE);  // Hinge motor
+    ev3cxx::MotorTank motors(ev3cxx::MotorPort::B, ev3cxx::MotorPort::C); // Tank motors
+    ev3cxx::GyroSensor gyro(ev3cxx::SensorPort::S1); // gyro sensor
+
+    // Set up buttons
+    ev3cxx::BrickButton btnEnter(ev3cxx::BrickButtons::ENTER); // Middle button
+
+    // Start program
+    btnEnter.waitForClick();
+
+    //turn_left(motors);
+    bool side_1 = run_short_side(motors, motor_powers, gyro);
+    if(!side_1) {
+        return;
+    } else {
+        ev3_speaker_play_tone(NOTE_G5, 500);
+        return;
+    }
+}
diff --git a/app.h b/app.h
new file mode 100644
index 0000000..a226263
--- /dev/null
+++ b/app.h
@@ -0,0 +1,106 @@
+/*
+ * TOPPERS/EV3RT
+ * 
+ * Copyright (C) 2016 by Yixiao Li <liyixiao7@gmail.com>
+ * 
+ *  The above copyright holders grant permission gratis to use,
+ *  duplicate, modify, or redistribute (hereafter called use) this
+ *  software (including the one made by modifying this software),
+ *  provided that the following four conditions (1) through (4) are
+ *  satisfied.
+ * 
+ *  (1) When this software is used in the form of source code, the above
+ *      copyright notice, this use conditions, and the disclaimer shown
+ *      below must be retained in the source code without modification.
+ * 
+ *  (2) When this software is redistributed in the forms usable for the
+ *      development of other software, such as in library form, the above
+ *      copyright notice, this use conditions, and the disclaimer shown
+ *      below must be shown without modification in the document provided
+ *      with the redistributed software, such as the user manual.
+ * 
+ *  (3) When this software is redistributed in the forms unusable for the
+ *      development of other software, such as the case when the software
+ *      is embedded in a piece of equipment, either of the following two
+ *      conditions must be satisfied:
+ * 
+ *    (a) The above copyright notice, this use conditions, and the
+ *        disclaimer shown below must be shown without modification in
+ *        the document provided with the redistributed software, such as
+ *        the user manual.
+ * 
+ *    (b) How the software is to be redistributed must be reported to the
+ *        TOPPERS Project according to the procedure described
+ *        separately.
+ * 
+ *  (4) The above copyright holders and the TOPPERS Project are exempt
+ *      from responsibility for any type of damage directly or indirectly
+ *      caused from the use of this software and are indemnified by any
+ *      users or end users of this software from any and all causes of
+ *      action whatsoever.
+ * 
+ *  THIS SOFTWARE IS PROVIDED "AS IS." THE ABOVE COPYRIGHT HOLDERS AND
+ *  THE TOPPERS PROJECT DISCLAIM ANY EXPRESS OR IMPLIED WARRANTIES,
+ *  INCLUDING, BUT NOT LIMITED TO, ITS APPLICABILITY TO A PARTICULAR
+ *  PURPOSE. IN NO EVENT SHALL THE ABOVE COPYRIGHT HOLDERS AND THE
+ *  TOPPERS PROJECT BE LIABLE FOR ANY TYPE OF DAMAGE DIRECTLY OR
+ *  INDIRECTLY CAUSED FROM THE USE OF THIS SOFTWARE.
+ */
+
+/*
+ * Header file of sample program
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Common header files
+ */
+#include "ev3api.h"
+#include "target_test.h"
+
+/**
+ * Task priorities (smaller number has higher priority)
+ */
+#define PRIORITY_MAIN_TASK 	(TMIN_APP_TPRI + 1) 
+/* Main task priority */
+/* Must by higher then HIGH_PRIORITY */
+
+#define HIGH_PRIORITY		(TMIN_APP_TPRI + 2)		
+#define MID_PRIORITY		(TMIN_APP_TPRI + 3)	
+#define LOW_PRIORITY		(TMIN_APP_TPRI + 4)	
+
+#define PRIORITY_PRD_TSK_1 TMIN_APP_TPRI
+#define PRIORITY_PRD_TSK_2 TMIN_APP_TPRI
+
+/**
+ * Task periods in ms
+ */
+//#define PERIOD_PRD_TSK_1  (100)
+//#define PERIOD_PRD_TSK_2  (500)
+
+/**
+ * Default task stack size in bytes
+ */
+#ifndef STACK_SIZE
+#define	STACK_SIZE 4096
+#endif
+
+/**
+ * Prototypes for configuration
+ */
+#ifndef TOPPERS_MACRO_ONLY
+
+extern void	main_task(intptr_t);
+// extern void periodic_task_1(intptr_t);
+// extern void periodic_task_2(intptr_t);
+
+// extern void task_activator(intptr_t tskid);
+
+#endif /* TOPPERS_MACRO_ONLY */
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/keybindings.json b/keybindings.json
new file mode 100644
index 0000000..0e02062
--- /dev/null
+++ b/keybindings.json
@@ -0,0 +1,28 @@
+// Place your key bindings in this file to overwrite the defaults
+[
+    {
+        "key": "f5",
+        "command": "workbench.action.tasks.runTask",
+        "args": "build"
+    },
+    {
+        "key": "f6",
+        "command": "workbench.action.tasks.runTask",
+        "args": "upload"
+    },
+    {
+        "key": "f7",
+        "command": "workbench.action.tasks.runTask",
+        "args": "make"
+    },
+    {
+        "key": "f8",
+        "command": "workbench.action.tasks.runTask",
+        "args": "lorris"
+    },
+    {
+        "key": "f9",
+        "command": "workbench.action.tasks.runTask",
+        "args": "help"
+    }
+]
\ No newline at end of file