Fix all!

.gitignore

@@ -1,5 +1,7 @@
 # Backups/Generated Artifacts
+_build
 *.FCStd1
+version.h
 
 # Binaries
 *.stl

motor_controller/Makefile

@@ -0,0 +1,104 @@
+# 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:nano
+
+# 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
+
+# Monitor the serial (debug) output.
+# Requires minicom
+monitor: upload
+	minicom -c on -D $(SERIAL_DEV) -b 115200
+
+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/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
+```

motor_controller/motor_controller.ino

@@ -0,0 +1,8 @@
+void setup() {
+  Serial.begin(115200);
+}
+
+void loop() {
+  Serial.println(millis());
+  delay(1000);
+}

motor_controller/requirements.txt

@@ -0,0 +1 @@
+--git-url https://github.com/micro-ROS/micro_ros_arduino.git