fixed indentation after linebreak, made some refactoring

src/Dezibot.cpp

@@ -10,15 +10,20 @@
  */
 
 
+#define SDA_PIN 1
+#define SCL_PIN 2
+
 #include "Dezibot.h"
+#include <Wire.h>
 
 Dezibot::Dezibot():multiColorLight(){};
 
 void Dezibot::begin(void) {
-    //infraredLight.begin();
-    //lightDetection.begin();    
-    //motion.begin();
-    //multiColorLight.begin();
+    Wire.begin(SDA_PIN,SCL_PIN);
+    infraredLight.begin();
+    lightDetection.begin();    
+    motion.begin();
+    multiColorLight.begin();
     display.begin();
 };
 

src/display/CharTable.h

@@ -1,3 +1,22 @@
+/**
+ * @file CharTable.h
+ * @author Hans Haupt (hans.haupt@dezibot.de)
+ * @brief LookUpTable for 8x8 Pixel Characters for an SSD1306 Display
+ * @version 0.1
+ * @date 2024-05-24
+ * 
+ * @copyright Copyright (c) 2024
+ * 
+ */
+
+
+/**
+ * @brief First index specifies the index, where index equals the ascii encoding
+ * unprintable characters are encode as all zero
+ * the first byte in an entry is the cmd_byte for SSD1306 and therefore not printed
+ * Encoding is colum wise, so first byte is the first column of the char and so on
+ * 
+ */
 const char font8x8_colwise[128][9] = {{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+0()
 { 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1()       
 { 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+2()       
@@ -125,4 +144,4 @@ const char font8x8_colwise[128][9] = {{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
 { 0x40,0x00,0x00,0x00,0x77,0x77,0x00,0x00,0x00}, // U+7c(|)     
 { 0x40,0x41,0x41,0x77,0x3e,0x08,0x08,0x00,0x00}, // U+7d(})     
 { 0x40,0x02,0x03,0x01,0x03,0x02,0x03,0x01,0x00}, // U+7e(~)     
-{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}}; // U+7f(°)  
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}}; // U+7f(°)  

src/display/Display.cpp

@@ -1,48 +1,29 @@
+/**
+ * @file Display.cpp
+ * @author Hans Haupt (hans.haupt@dezibot.de)
+ * @brief Adds the ability to print to the display of the robot.
+ * @version 0.1
+ * @date 2024-06-05
+ * 
+ * @copyright Copyright (c) 2024
+ */
+
 #include "Display.h"
 #include "CharTable.h"
 #include "Wire.h"
 
-void Display::sendDisplayCMD(uint8_t cmd){
-    Wire.beginTransmission(DisplayAdress);
-    Wire.write(cmd_byte);
-    Wire.write(cmd);
-    Wire.endTransmission();
 
-};
 void Display::begin(void){
-    //TODO: change pin to #defines, first check if Wire.begin was already called
-    Wire.begin(1,2);
     //set Mux Ratio
-    
     sendDisplayCMD(muxRatio);
     sendDisplayCMD(0x3f);
-
     sendDisplayCMD(setOffset);
     sendDisplayCMD(0x00);
-
     sendDisplayCMD(setStartLine);
-
-
-    /*x-flip*/
-    //sendDisplayCMD(setSegmentMap);
-    //sendDisplayCMD(setSegmentReMap);
-    
-    /*mapping of the rows*/
-    //sendDisplayCMD(setComHardwareConfig);
-    //sendDisplayCMD(0x10);
-
-    /*y-flip*/
-    //sendDisplayCMD( setComDirectionNormal);
-    //sendDisplayCMD(setComDirectionFlipped);
-
-    //sendDisplayCMD(setContrast);
-    //sendDisplayCMD(0x7f);
-
     sendDisplayCMD(stopCompleteOn);
     /*which pixels are bright: normal = 1s are bright, inverese= 0s are bright*/
     sendDisplayCMD( setNormalMode);
-    //sendDisplayCMD( setInverseMode);
-
+ 
     sendDisplayCMD( setOscFreq);
     sendDisplayCMD(0x80);
 
@@ -52,6 +33,14 @@ void Display::begin(void){
     this->clear();
     return;
 };
+
+void Display::sendDisplayCMD(uint8_t cmd){
+    Wire.beginTransmission(DisplayAdress);
+    Wire.write(cmd_byte);
+    Wire.write(cmd);
+    Wire.endTransmission();
+};
+
 void Display::clear(void){
     sendDisplayCMD(addressingMode);
     sendDisplayCMD(0x00); //horizontal
@@ -74,11 +63,6 @@ void Display::clear(void){
     return;
 };
 
-/**
- * @brief updates amount of chars on current rows and also the current row
- * 
- * @param charAmount how many chars were added 
- */
 void Display::updateLine(uint charAmount)
 {
     if(charAmount+this->charsOnCurrLine>16)
@@ -90,44 +74,35 @@ void Display::updateLine(uint charAmount)
     {
         this->charsOnCurrLine = charAmount+this->charsOnCurrLine;
     }
-}
-
+};
 
 void Display::print(char *value){
     char *nextchar;
 	/* write data to the buffer */
     while(value && *value != '\0') //check if pointer is still valid and string is not terminated 
         {
-	        //check if input is a predefined cmd
+	        //check if next character is a linebreak
             if(*value=='\n')
             {
-                //value++;
-                //if(*nextchar=='n')
+                //fill the current line with blanks
+                while(this->charsOnCurrLine<16)
                 {
-                    if(this->charsOnCurrLine==16)
-                    {
-                        this->currLine=currLine+1;
-                        this->charsOnCurrLine=0;
-                    }
-                    while(this->charsOnCurrLine<17)
-                    {
-                        Wire.beginTransmission(DisplayAdress);
-                        for(int i = 0;i<9;i++){
-                            Wire.write(font8x8_colwise[0][i]);
-                        }
-                        Wire.endTransmission();
-                        updateLine(1);
-                        if(charsOnCurrLine==16)
-                        {
-                            break;
-                        }
+                    updateLine(1);
+                    Wire.beginTransmission(DisplayAdress);
+                    for(int i = 0;i<9;i++){
+                        Wire.write(font8x8_colwise[0][i]);
                     }
+                    Wire.endTransmission();
                 }
+                //make the linebreak
+                this->currLine=currLine+1;
+                this->charsOnCurrLine=0;
             }
             else
             {
                 updateLine(1);
                 Wire.beginTransmission(DisplayAdress);
+                //print the character
                 for(int i = 0;i<9;i++){
                             Wire.write(font8x8_colwise[*value][i]);
                 }
@@ -135,8 +110,11 @@ void Display::print(char *value){
             }
             value++;     
         }
-	return;
+};
 
+void Display::println(char *value){
+    this ->print(value);
+    this->print("\n");
 };
 
 void Display::flipOrientation(void){
@@ -148,11 +126,13 @@ void Display::flipOrientation(void){
         sendDisplayCMD(setSegmentReMap);
     }
     this->orientationFlipped = !this->orientationFlipped;
-}
-void Display::println(char *value){
-    this ->print(value);
-    this->print("\n");
 };
-void Display::print(int value){
-    
-};
+
+void Display::invertColor(void){
+    if(this->colorInverted){
+        sendDisplayCMD(setNormalMode);
+    } else {
+        sendDisplayCMD(setInverseMode);
+    }
+    this->colorInverted = !this->colorInverted;
+};

src/display/Display.h

@@ -19,10 +19,16 @@ class Display{
     protected:
         //how many chars are on current line
         uint8_t charsOnCurrLine = 0;
+        
         //on which line are we currently printing
         uint8_t currLine = 0;
+        
         //flag that marks if the y-orientation is currently flipped
         bool orientationFlipped = false;
+
+        //flag thats marks if the color is currently inverted
+        bool colorInverted = false;
+        
         /**
          * @brief sends the passed cmd to the display, cmd_byte is added as prefix by the function
          * 
@@ -65,11 +71,18 @@ class Display{
          * @param value the string that should be printed
         */
         void println(char *value);
-        void print(int value);
+
         /**
          * @brief flips the horizontal orientation of all content on the display
         */
         void flipOrientation(void);
+
+        /**
+         * @brief inverts the pixelcolors, so pixels on will be set to off and currently off pixels will be turned off.
+         * affects already printed content as well as future prints.
+         * 
+         */
+        void invertColor(void);
 };