From 5564f0db954aa36db8e70440bec3eccceec6689a Mon Sep 17 00:00:00 2001
From: KenwoodFox <kenwood364@gmail.com>
Date: Tue, 4 Jan 2022 20:14:58 +0000
Subject: [PATCH] Fix all!

---
 .gitignore                            |  1 +
 motor_controller/Makefile             |  9 +++++--
 motor_controller/README.md            | 13 ++++++++++
 motor_controller/motor_controller.ino | 35 +++------------------------
 motor_controller/requirements.txt     |  2 +-
 5 files changed, 25 insertions(+), 35 deletions(-)
 create mode 100644 motor_controller/README.md

diff --git a/.gitignore b/.gitignore
index 533e4b1..9603dbe 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,6 +1,7 @@
 # Backups/Generated Artifacts
 _build
 *.FCStd1
+version.h
 
 # Binaries
 *.stl
diff --git a/motor_controller/Makefile b/motor_controller/Makefile
index cc4ec07..6b63297 100644
--- a/motor_controller/Makefile
+++ b/motor_controller/Makefile
@@ -7,7 +7,7 @@ PROJ := motor_controller
 
 # What board to build for and its core
 CORE     ?= arduino:avr
-FQBN     ?= arduino:avr:mega
+FQBN     ?= arduino:avr:nano
 
 # Tools, their links and versions
 ARDUINO_CLI_VERSION :=
@@ -84,11 +84,16 @@ requirements:
 	@if [ -e requirements.txt ]; \
 	then while read -r i ; do echo ; \
 		echo "---> Installing " '"'$$i'"' ; \
-		$(BINDIR)/arduino-cli lib install "$$i" ; \
+		$(BINDIR)/arduino-cli lib install $$i ; \
 	done < requirements.txt ; \
 	else echo "---> MISSING requirements.txt file"; \
 	fi
 
+# Monitor the serial (debug) output.
+# Requires minicom
+monitor: upload
+	minicom -c on -D $(SERIAL_DEV) -b 115200
+
 lint:
 	$(BINDIR)/arduino-lint --compliance strict
 
diff --git a/motor_controller/README.md b/motor_controller/README.md
new file mode 100644
index 0000000..40328a9
--- /dev/null
+++ b/motor_controller/README.md
@@ -0,0 +1,13 @@
+# Motor Controller
+
+## Notes on custom libs
+
+micro ros is not in the lib repo i guess? so you gotta enable unsafe libs and install from git
+
+change `enable_unsafe_install: true` in your `arduino-cli.yaml`
+
+use this to init this file
+
+```
+./_build/bin/arduino-cli config init
+```
diff --git a/motor_controller/motor_controller.ino b/motor_controller/motor_controller.ino
index 9abb8f5..ae9c935 100644
--- a/motor_controller/motor_controller.ino
+++ b/motor_controller/motor_controller.ino
@@ -1,37 +1,8 @@
-/*
-  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);
+  Serial.begin(115200);
 }
 
-// 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
+  Serial.println(millis());
+  delay(1000);
 }
diff --git a/motor_controller/requirements.txt b/motor_controller/requirements.txt
index 5e09d0b..8d4de30 100644
--- a/motor_controller/requirements.txt
+++ b/motor_controller/requirements.txt
@@ -1 +1 @@
-micro_ros_arduino
+--git-url https://github.com/micro-ROS/micro_ros_arduino.git