Import all arduino boilerplate

.gitignore

@@ -1,4 +1,5 @@
 # Backups/Generated Artifacts
+_build
 *.FCStd1
 
 # Binaries

motor_controller/Makefile

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+# A makefile for building the motor controller code.
+# Uses arduino-cli, adapted from Steven Hale and others arduino make file practices
+#
+# 2021
+
+PROJ := motor_controller
+
+# What board to build for and its core
+CORE     ?= arduino:avr
+FQBN     ?= arduino:avr:mega
+
+# Tools, their links and versions
+ARDUINO_CLI_VERSION :=
+ARDUINO_CLI_URL := https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh
+ARDUINO_LINT_VERSION :=
+ARDUINO_LINT_URL := https://raw.githubusercontent.com/arduino/arduino-lint/main/etc/install.sh
+
+# The version and time we're compiling from
+GIT_VERSION := "$(shell git describe --abbrev=4 --dirty --always --tags)"
+COMPILED_DATE := "$(shell date)"
+
+# Treat all warnings as errors.
+BUILDPROP := compiler.warning_flags.all='-Wall -Wextra -Werror'
+
+# Locations
+ROOT := $(PWD)
+BINDIR := $(ROOT)/_build/bin
+BUILDDIR := $(ROOT)/_build
+
+# What port to build on
+ifndef SERIAL_DEV
+  ifneq (,$(wildcard /dev/ttyUSB0))
+    SERIAL_DEV = /dev/ttyUSB0
+  else ifneq (,$(wildcard /dev/ttyACM0))
+    SERIAL_DEV = /dev/ttyACM0
+  else
+    SERIAL_DEV = unknown
+  endif
+endif
+
+
+.PHONY: all help build upload version release requirements
+
+# Do everything
+all: tools requirements version build
+
+
+help:
+	@echo
+	@echo "Targets:"
+	@echo "   lint       	De-lint the software."
+	@echo "   build      	Build the software."
+	@echo "   upload     	Upload the software."
+	@echo "   requirements	Fetch all requirements."
+	@echo
+
+
+# Set VERBOSE=1 to not run in --silent
+
+ifndef VERBOSE
+.SILENT:
+endif
+
+# Only build the code
+build: version $(PROJ).ino
+	$(BINDIR)/arduino-cli core install $(CORE)
+	$(BINDIR)/arduino-cli compile -b $(FQBN) $(PROJ)
+
+# Only upload the software
+upload: version build $(PROJ).ino
+	$(BINDIR)/arduino-cli upload -b $(FQBN) $(PROJ) -p $(SERIAL_DEV)
+
+# Only update the version
+version:
+	echo "#define VERSION \"$(GIT_VERSION)\"" > version.h
+	echo "#define COMPILED_ON \"$(COMPILED_DATE)\"" >> version.h
+
+# Generate an artifact
+release: build $(PROJ).ino
+	$(BINDIR)/arduino-cli compile -b $(FQBN) $(PROJ) --output-dir $(BUILDDIR)
+
+# Only fetch the requirements
+requirements:
+	@if [ -e requirements.txt ]; \
+	then while read -r i ; do echo ; \
+		echo "---> Installing " '"'$$i'"' ; \
+		$(BINDIR)/arduino-cli lib install "$$i" ; \
+	done < requirements.txt ; \
+	else echo "---> MISSING requirements.txt file"; \
+	fi
+
+lint:
+	$(BINDIR)/arduino-lint --compliance strict
+
+# Fetches all the tools required
+tools:
+	mkdir -p $(BINDIR)
+	curl -fsSL $(ARDUINO_CLI_URL) | BINDIR=$(BINDIR) sh -s $(ARDUINO_CLI_VERSION)
+	curl -fsSL $(ARDUINO_LINT_URL) | BINDIR=$(BINDIR) sh -s $(ARDUINO_LINT_VERSION)

motor_controller/motor_controller.ino

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+/*
+  Blink
+
+  Turns an LED on for one second, then off for one second, repeatedly.
+
+  Most Arduinos have an on-board LED you can control. On the UNO, MEGA and ZERO
+  it is attached to digital pin 13, on MKR1000 on pin 6. LED_BUILTIN is set to
+  the correct LED pin independent of which board is used.
+  If you want to know what pin the on-board LED is connected to on your Arduino
+  model, check the Technical Specs of your board at:
+  https://www.arduino.cc/en/Main/Products
+
+  modified 8 May 2014
+  by Scott Fitzgerald
+  modified 2 Sep 2016
+  by Arturo Guadalupi
+  modified 8 Sep 2016
+  by Colby Newman
+
+  This example code is in the public domain.
+
+  https://www.arduino.cc/en/Tutorial/BuiltInExamples/Blink
+*/
+
+// the setup function runs once when you press reset or power the board
+void setup() {
+  // initialize digital pin LED_BUILTIN as an output.
+  pinMode(LED_BUILTIN, OUTPUT);
+}
+
+// the loop function runs over and over again forever
+void loop() {
+  digitalWrite(LED_BUILTIN, HIGH);   // turn the LED on (HIGH is the voltage level)
+  delay(1000);                       // wait for a second
+  digitalWrite(LED_BUILTIN, LOW);    // turn the LED off by making the voltage LOW
+  delay(1000);                       // wait for a second
+}

motor_controller/requirements.txt

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+micro_ros_arduino