From f666ff9ec4cd2339c98e30a045a36242ad9e52cc Mon Sep 17 00:00:00 2001
From: Rene Ebeling <hj703144@igmr.rwth-aachen.de>
Date: Wed, 19 Feb 2025 00:39:01 +0100
Subject: [PATCH] wrote a little
---
Arduino/libraries/ArduinoJson/CHANGELOG.md | 466 +-
Arduino/libraries/ArduinoJson/README.md | 316 +-
.../JsonGeneratorExample.ino | 130 +-
.../JsonParserExample/JsonParserExample.ino | 130 +-
.../ArduinoJson/extras/ci/particle.sh | 0
.../extras/scripts/build-single-header.sh | 0
.../extras/scripts/extract_changes.awk | 0
.../extras/scripts/get-release-page.sh | 0
.../scripts/publish-particle-library.sh | 0
.../ArduinoJson/extras/scripts/publish.sh | 0
.../extras/scripts/wandbox/publish.sh | 0
Arduino/libraries/L293D/CHANGELOG.md | 34 +-
Arduino/libraries/L293D/LICENSE | 42 +-
Arduino/libraries/L293D/README.md | 202 +-
.../L293D/examples/simple/simple.ino | 36 +-
Arduino/libraries/L293D/library.json | 28 +-
Arduino/libraries/L293D/library.properties | 16 +-
.../VL53L3CX_Sat_HelloWorld.ino | 290 +-
.../VL53L3CX_Sat_HelloWorld_Interrupt.ino | 324 +-
Praxiprojekt_Bericht/Bibliothek.bib | 201 +
Praxiprojekt_Bericht/main.acn | 0
Praxiprojekt_Bericht/main.aux | 21 +-
Praxiprojekt_Bericht/main.bbl | 29 +
Praxiprojekt_Bericht/main.blg | 59 +
Praxiprojekt_Bericht/main.glo | 0
Praxiprojekt_Bericht/main.ist | 29 +
Praxiprojekt_Bericht/main.log | 464 +-
Praxiprojekt_Bericht/main.nlo | 0
Praxiprojekt_Bericht/main.pdf | Bin 94096 -> 118973 bytes
Praxiprojekt_Bericht/main.synctex.gz | Bin 0 -> 17910 bytes
Praxiprojekt_Bericht/main.tex | 67 +-
Praxiprojekt_Bericht/main.toc | 5 +
Safeback/MeshLab2023.12-linux.AppImage | Bin
.../Universal_Robots_ROS2_Gazebo_Simulation | 1 -
...ur_urdf_xacro.cpython-310-pytest-6.2.5.pyc | Bin 2583 -> 0 bytes
...iew_ur_launch.cpython-310-pytest-6.2.5.pyc | Bin 983 -> 0 bytes
.../__pycache__/__init__.cpython-310.pyc | Bin 167 -> 0 bytes
.../__pycache__/__init__.cpython-310.pyc | Bin 181 -> 0 bytes
.../pcd_publisher_node.cpython-310.pyc | Bin 3034 -> 0 bytes
.../ROS2-Point-Cloud-Demo/resource/teapot.ply | 6884 ++++++++---------
40 files changed, 5260 insertions(+), 4514 deletions(-)
mode change 100755 => 100644 Arduino/libraries/ArduinoJson/extras/ci/particle.sh
mode change 100755 => 100644 Arduino/libraries/ArduinoJson/extras/scripts/build-single-header.sh
mode change 100755 => 100644 Arduino/libraries/ArduinoJson/extras/scripts/extract_changes.awk
mode change 100755 => 100644 Arduino/libraries/ArduinoJson/extras/scripts/get-release-page.sh
mode change 100755 => 100644 Arduino/libraries/ArduinoJson/extras/scripts/publish-particle-library.sh
mode change 100755 => 100644 Arduino/libraries/ArduinoJson/extras/scripts/publish.sh
mode change 100755 => 100644 Arduino/libraries/ArduinoJson/extras/scripts/wandbox/publish.sh
create mode 100644 Praxiprojekt_Bericht/Bibliothek.bib
create mode 100644 Praxiprojekt_Bericht/main.acn
create mode 100644 Praxiprojekt_Bericht/main.bbl
create mode 100644 Praxiprojekt_Bericht/main.blg
create mode 100644 Praxiprojekt_Bericht/main.glo
create mode 100644 Praxiprojekt_Bericht/main.ist
create mode 100644 Praxiprojekt_Bericht/main.nlo
create mode 100644 Praxiprojekt_Bericht/main.synctex.gz
create mode 100644 Praxiprojekt_Bericht/main.toc
mode change 100755 => 100644 Safeback/MeshLab2023.12-linux.AppImage
delete mode 160000 workspaces/COLCON_WS/src/Universal_Robots_ROS2_Gazebo_Simulation
delete mode 100644 workspaces/COLCON_WS/src/ur_description/test/__pycache__/test_ur_urdf_xacro.cpython-310-pytest-6.2.5.pyc
delete mode 100644 workspaces/COLCON_WS/src/ur_description/test/__pycache__/test_view_ur_launch.cpython-310-pytest-6.2.5.pyc
delete mode 100644 workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/__pycache__/__init__.cpython-310.pyc
delete mode 100644 workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/pcd_publisher/__pycache__/__init__.cpython-310.pyc
delete mode 100644 workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/pcd_publisher/__pycache__/pcd_publisher_node.cpython-310.pyc
diff --git a/Arduino/libraries/ArduinoJson/CHANGELOG.md b/Arduino/libraries/ArduinoJson/CHANGELOG.md
index c0a8b4b..8a33c16 100644
--- a/Arduino/libraries/ArduinoJson/CHANGELOG.md
+++ b/Arduino/libraries/ArduinoJson/CHANGELOG.md
@@ -1,233 +1,233 @@
-ArduinoJson: change log
-=======================
-
-v7.3.0 (2024-12-29)
-------
-
-* Fix support for NUL characters in `deserializeJson()`
-* Make `ElementProxy` and `MemberProxy` non-copyable
-* Change string copy policy: only string literal are stored by pointer
-* `JsonString` is now stored by copy, unless specified otherwise
-* Replace undocumented `JsonString::Ownership` with `bool`
-* Rename undocumented `JsonString::isLinked()` to `isStatic()`
-* Move public facing SFINAEs to template declarations
-
-> ### BREAKING CHANGES
->
-> In previous versions, `MemberProxy` (the class returned by `operator[]`) could lead to dangling pointers when used with a temporary string.
-> To prevent this issue, `MemberProxy` and `ElementProxy` are now non-copyable.
->
-> Your code is likely to be affected if you use `auto` to store the result of `operator[]`. For example, the following line won't compile anymore:
->
-> ```cpp
-> auto value = doc["key"];
-> ```
->
-> To fix the issue, you must append either `.as<T>()` or `.to<T>()`, depending on the situation.
->
-> For example, if you are extracting values from a JSON document, you should update like this:
->
-> ```diff
-> - auto config = doc["config"];
-> + auto config = doc["config"].as<JsonObject>();
-> const char* name = config["name"];
-> ```
->
-> However, if you are building a JSON document, you should update like this:
->
-> ```diff
-> - auto config = doc["config"];
-> + auto config = doc["config"].to<JsonObject>();
-> config["name"] = "ArduinoJson";
-> ```
-
-v7.2.1 (2024-11-15)
-------
-
-* Forbid `deserializeJson(JsonArray|JsonObject, ...)` (issue #2135)
-* Fix VLA support in `JsonDocument::set()`
-* Fix `operator[](variant)` ignoring NUL characters
-
-v7.2.0 (2024-09-18)
-------
-
-* Store object members with two slots: one for the key and one for the value
-* Store 64-bit numbers (`double` and `long long`) in an additional slot
-* Reduce the slot size (see table below)
-* Improve message when user forgets third arg of `serializeJson()` et al.
-* Set `ARDUINOJSON_USE_DOUBLE` to `0` by default on 8-bit architectures
-* Deprecate `containsKey()` in favor of `doc["key"].is<T>()`
-* Add support for escape sequence `\'` (issue #2124)
-
-| Architecture | before | after |
-|--------------|----------|----------|
-| 8-bit | 8 bytes | 6 bytes |
-| 32-bit | 16 bytes | 8 bytes |
-| 64-bit | 24 bytes | 16 bytes |
-
-> ### BREAKING CHANGES
->
-> After being on the death row for years, the `containsKey()` method has finally been deprecated.
-> You should replace `doc.containsKey("key")` with `doc["key"].is<T>()`, which not only checks that the key exists but also that the value is of the expected type.
->
-> ```cpp
-> // Before
-> if (doc.containsKey("value")) {
-> int value = doc["value"];
-> // ...
-> }
->
-> // After
-> if (doc["value"].is<int>()) {
-> int value = doc["value"];
-> // ...
-> }
-> ```
-
-v7.1.0 (2024-06-27)
-------
-
-* Add `ARDUINOJSON_STRING_LENGTH_SIZE` to the namespace name
-* Add support for MsgPack binary (PR #2078 by @Sanae6)
-* Add support for MsgPack extension
-* Make string support even more generic (PR #2084 by @d-a-v)
-* Optimize `deserializeMsgPack()`
-* Allow using a `JsonVariant` as a key or index (issue #2080)
- Note: works only for reading, not for writing
-* Support `ElementProxy` and `MemberProxy` in `JsonDocument`'s constructor
-* Don't add partial objects when allocation fails (issue #2081)
-* Read MsgPack's 64-bit integers even if `ARDUINOJSON_USE_LONG_LONG` is `0`
- (they are set to `null` if they don't fit in a `long`)
-
-v7.0.4 (2024-03-12)
-------
-
-* Make `JSON_STRING_SIZE(N)` return `N+1` to fix third-party code (issue #2054)
-
-v7.0.3 (2024-02-05)
-------
-
-* Improve error messages when using `char` or `char*` (issue #2043)
-* Reduce stack consumption (issue #2046)
-* Fix compatibility with GCC 4.8 (issue #2045)
-
-v7.0.2 (2024-01-19)
-------
-
-* Fix assertion `poolIndex < count_` after `JsonDocument::clear()` (issue #2034)
-
-v7.0.1 (2024-01-10)
-------
-
-* Fix "no matching function" with `JsonObjectConst::operator[]` (issue #2019)
-* Remove unused files in the PlatformIO package
-* Fix `volatile bool` serialized as `1` or `0` instead of `true` or `false` (issue #2029)
-
-v7.0.0 (2024-01-03)
-------
-
-* Remove `BasicJsonDocument`
-* Remove `StaticJsonDocument`
-* Add abstract `Allocator` class
-* Merge `DynamicJsonDocument` with `JsonDocument`
-* Remove `JSON_ARRAY_SIZE()`, `JSON_OBJECT_SIZE()`, and `JSON_STRING_SIZE()`
-* Remove `ARDUINOJSON_ENABLE_STRING_DEDUPLICATION` (string deduplication cannot be disabled anymore)
-* Remove `JsonDocument::capacity()`
-* Store the strings in the heap
-* Reference-count shared strings
-* Always store `serialized("string")` by copy (#1915)
-* Remove the zero-copy mode of `deserializeJson()` and `deserializeMsgPack()`
-* Fix double lookup in `to<JsonVariant>()`
-* Fix double call to `size()` in `serializeMsgPack()`
-* Include `ARDUINOJSON_SLOT_OFFSET_SIZE` in the namespace name
-* Remove `JsonVariant::shallowCopy()`
-* `JsonDocument`'s capacity grows as needed, no need to pass it to the constructor anymore
-* `JsonDocument`'s allocator is not monotonic anymore, removed values get recycled
-* Show a link to the documentation when user passes an unsupported input type
-* Remove `JsonDocument::memoryUsage()`
-* Remove `JsonDocument::garbageCollect()`
-* Add `deserializeJson(JsonVariant, ...)` and `deserializeMsgPack(JsonVariant, ...)` (#1226)
-* Call `shrinkToFit()` in `deserializeJson()` and `deserializeMsgPack()`
-* `serializeJson()` and `serializeMsgPack()` replace the content of `std::string` and `String` instead of appending to it
-* Replace `add()` with `add<T>()` (`add(T)` is still supported)
-* Remove `createNestedArray()` and `createNestedObject()` (use `to<JsonArray>()` and `to<JsonObject>()` instead)
-
-> ### BREAKING CHANGES
->
-> As every major release, ArduinoJson 7 introduces several breaking changes.
-> I added some stubs so that most existing programs should compile, but I highty recommend you upgrade your code.
->
-> #### `JsonDocument`
->
-> In ArduinoJson 6, you could allocate the memory pool on the stack (with `StaticJsonDocument`) or in the heap (with `DynamicJsonDocument`).
-> In ArduinoJson 7, the memory pool is always allocated in the heap, so `StaticJsonDocument` and `DynamicJsonDocument` have been merged into `JsonDocument`.
->
-> In ArduinoJson 6, `JsonDocument` had a fixed capacity; in ArduinoJson 7, it has an elastic capacity that grows as needed.
-> Therefore, you don't need to specify the capacity anymore, so the macros `JSON_ARRAY_SIZE()`, `JSON_OBJECT_SIZE()`, and `JSON_STRING_SIZE()` have been removed.
->
-> ```c++
-> // ArduinoJson 6
-> StaticJsonDocument<256> doc;
-> // or
-> DynamicJsonDocument doc(256);
->
-> // ArduinoJson 7
-> JsonDocument doc;
-> ```
->
-> In ArduinoJson 7, `JsonDocument` reuses released memory, so `garbageCollect()` has been removed.
-> `shrinkToFit()` is still available and releases the over-allocated memory.
->
-> Due to a change in the implementation, it's not possible to store a pointer to a variant from another `JsonDocument`, so `shallowCopy()` has been removed.
->
-> In ArduinoJson 6, the meaning of `memoryUsage()` was clear: it returned the number of bytes used in the memory pool.
-> In ArduinoJson 7, the meaning of `memoryUsage()` would be ambiguous, so it has been removed.
->
-> #### Custom allocators
->
-> In ArduinoJson 6, you could specify a custom allocator class as a template parameter of `BasicJsonDocument`.
-> In ArduinoJson 7, you must inherit from `ArduinoJson::Allocator` and pass a pointer to an instance of your class to the constructor of `JsonDocument`.
->
-> ```c++
-> // ArduinoJson 6
-> class MyAllocator {
-> // ...
-> };
-> BasicJsonDocument<MyAllocator> doc(256);
->
-> // ArduinoJson 7
-> class MyAllocator : public ArduinoJson::Allocator {
-> // ...
-> };
-> MyAllocator myAllocator;
-> JsonDocument doc(&myAllocator);
-> ```
->
-> #### `createNestedArray()` and `createNestedObject()`
->
-> In ArduinoJson 6, you could create a nested array or object with `createNestedArray()` and `createNestedObject()`.
-> In ArduinoJson 7, you must use `add<T>()` or `to<T>()` instead.
->
-> For example, to create `[[],{}]`, you would write:
->
-> ```c++
-> // ArduinoJson 6
-> arr.createNestedArray();
-> arr.createNestedObject();
->
-> // ArduinoJson 7
-> arr.add<JsonArray>();
-> arr.add<JsonObject>();
-> ```
->
-> And to create `{"array":[],"object":{}}`, you would write:
->
-> ```c++
-> // ArduinoJson 6
-> obj.createNestedArray("array");
-> obj.createNestedObject("object");
->
-> // ArduinoJson 7
-> obj["array"].to<JsonArray>();
-> obj["object"].to<JsonObject>();
-> ```
+ArduinoJson: change log
+=======================
+
+v7.3.0 (2024-12-29)
+------
+
+* Fix support for NUL characters in `deserializeJson()`
+* Make `ElementProxy` and `MemberProxy` non-copyable
+* Change string copy policy: only string literal are stored by pointer
+* `JsonString` is now stored by copy, unless specified otherwise
+* Replace undocumented `JsonString::Ownership` with `bool`
+* Rename undocumented `JsonString::isLinked()` to `isStatic()`
+* Move public facing SFINAEs to template declarations
+
+> ### BREAKING CHANGES
+>
+> In previous versions, `MemberProxy` (the class returned by `operator[]`) could lead to dangling pointers when used with a temporary string.
+> To prevent this issue, `MemberProxy` and `ElementProxy` are now non-copyable.
+>
+> Your code is likely to be affected if you use `auto` to store the result of `operator[]`. For example, the following line won't compile anymore:
+>
+> ```cpp
+> auto value = doc["key"];
+> ```
+>
+> To fix the issue, you must append either `.as<T>()` or `.to<T>()`, depending on the situation.
+>
+> For example, if you are extracting values from a JSON document, you should update like this:
+>
+> ```diff
+> - auto config = doc["config"];
+> + auto config = doc["config"].as<JsonObject>();
+> const char* name = config["name"];
+> ```
+>
+> However, if you are building a JSON document, you should update like this:
+>
+> ```diff
+> - auto config = doc["config"];
+> + auto config = doc["config"].to<JsonObject>();
+> config["name"] = "ArduinoJson";
+> ```
+
+v7.2.1 (2024-11-15)
+------
+
+* Forbid `deserializeJson(JsonArray|JsonObject, ...)` (issue #2135)
+* Fix VLA support in `JsonDocument::set()`
+* Fix `operator[](variant)` ignoring NUL characters
+
+v7.2.0 (2024-09-18)
+------
+
+* Store object members with two slots: one for the key and one for the value
+* Store 64-bit numbers (`double` and `long long`) in an additional slot
+* Reduce the slot size (see table below)
+* Improve message when user forgets third arg of `serializeJson()` et al.
+* Set `ARDUINOJSON_USE_DOUBLE` to `0` by default on 8-bit architectures
+* Deprecate `containsKey()` in favor of `doc["key"].is<T>()`
+* Add support for escape sequence `\'` (issue #2124)
+
+| Architecture | before | after |
+|--------------|----------|----------|
+| 8-bit | 8 bytes | 6 bytes |
+| 32-bit | 16 bytes | 8 bytes |
+| 64-bit | 24 bytes | 16 bytes |
+
+> ### BREAKING CHANGES
+>
+> After being on the death row for years, the `containsKey()` method has finally been deprecated.
+> You should replace `doc.containsKey("key")` with `doc["key"].is<T>()`, which not only checks that the key exists but also that the value is of the expected type.
+>
+> ```cpp
+> // Before
+> if (doc.containsKey("value")) {
+> int value = doc["value"];
+> // ...
+> }
+>
+> // After
+> if (doc["value"].is<int>()) {
+> int value = doc["value"];
+> // ...
+> }
+> ```
+
+v7.1.0 (2024-06-27)
+------
+
+* Add `ARDUINOJSON_STRING_LENGTH_SIZE` to the namespace name
+* Add support for MsgPack binary (PR #2078 by @Sanae6)
+* Add support for MsgPack extension
+* Make string support even more generic (PR #2084 by @d-a-v)
+* Optimize `deserializeMsgPack()`
+* Allow using a `JsonVariant` as a key or index (issue #2080)
+ Note: works only for reading, not for writing
+* Support `ElementProxy` and `MemberProxy` in `JsonDocument`'s constructor
+* Don't add partial objects when allocation fails (issue #2081)
+* Read MsgPack's 64-bit integers even if `ARDUINOJSON_USE_LONG_LONG` is `0`
+ (they are set to `null` if they don't fit in a `long`)
+
+v7.0.4 (2024-03-12)
+------
+
+* Make `JSON_STRING_SIZE(N)` return `N+1` to fix third-party code (issue #2054)
+
+v7.0.3 (2024-02-05)
+------
+
+* Improve error messages when using `char` or `char*` (issue #2043)
+* Reduce stack consumption (issue #2046)
+* Fix compatibility with GCC 4.8 (issue #2045)
+
+v7.0.2 (2024-01-19)
+------
+
+* Fix assertion `poolIndex < count_` after `JsonDocument::clear()` (issue #2034)
+
+v7.0.1 (2024-01-10)
+------
+
+* Fix "no matching function" with `JsonObjectConst::operator[]` (issue #2019)
+* Remove unused files in the PlatformIO package
+* Fix `volatile bool` serialized as `1` or `0` instead of `true` or `false` (issue #2029)
+
+v7.0.0 (2024-01-03)
+------
+
+* Remove `BasicJsonDocument`
+* Remove `StaticJsonDocument`
+* Add abstract `Allocator` class
+* Merge `DynamicJsonDocument` with `JsonDocument`
+* Remove `JSON_ARRAY_SIZE()`, `JSON_OBJECT_SIZE()`, and `JSON_STRING_SIZE()`
+* Remove `ARDUINOJSON_ENABLE_STRING_DEDUPLICATION` (string deduplication cannot be disabled anymore)
+* Remove `JsonDocument::capacity()`
+* Store the strings in the heap
+* Reference-count shared strings
+* Always store `serialized("string")` by copy (#1915)
+* Remove the zero-copy mode of `deserializeJson()` and `deserializeMsgPack()`
+* Fix double lookup in `to<JsonVariant>()`
+* Fix double call to `size()` in `serializeMsgPack()`
+* Include `ARDUINOJSON_SLOT_OFFSET_SIZE` in the namespace name
+* Remove `JsonVariant::shallowCopy()`
+* `JsonDocument`'s capacity grows as needed, no need to pass it to the constructor anymore
+* `JsonDocument`'s allocator is not monotonic anymore, removed values get recycled
+* Show a link to the documentation when user passes an unsupported input type
+* Remove `JsonDocument::memoryUsage()`
+* Remove `JsonDocument::garbageCollect()`
+* Add `deserializeJson(JsonVariant, ...)` and `deserializeMsgPack(JsonVariant, ...)` (#1226)
+* Call `shrinkToFit()` in `deserializeJson()` and `deserializeMsgPack()`
+* `serializeJson()` and `serializeMsgPack()` replace the content of `std::string` and `String` instead of appending to it
+* Replace `add()` with `add<T>()` (`add(T)` is still supported)
+* Remove `createNestedArray()` and `createNestedObject()` (use `to<JsonArray>()` and `to<JsonObject>()` instead)
+
+> ### BREAKING CHANGES
+>
+> As every major release, ArduinoJson 7 introduces several breaking changes.
+> I added some stubs so that most existing programs should compile, but I highty recommend you upgrade your code.
+>
+> #### `JsonDocument`
+>
+> In ArduinoJson 6, you could allocate the memory pool on the stack (with `StaticJsonDocument`) or in the heap (with `DynamicJsonDocument`).
+> In ArduinoJson 7, the memory pool is always allocated in the heap, so `StaticJsonDocument` and `DynamicJsonDocument` have been merged into `JsonDocument`.
+>
+> In ArduinoJson 6, `JsonDocument` had a fixed capacity; in ArduinoJson 7, it has an elastic capacity that grows as needed.
+> Therefore, you don't need to specify the capacity anymore, so the macros `JSON_ARRAY_SIZE()`, `JSON_OBJECT_SIZE()`, and `JSON_STRING_SIZE()` have been removed.
+>
+> ```c++
+> // ArduinoJson 6
+> StaticJsonDocument<256> doc;
+> // or
+> DynamicJsonDocument doc(256);
+>
+> // ArduinoJson 7
+> JsonDocument doc;
+> ```
+>
+> In ArduinoJson 7, `JsonDocument` reuses released memory, so `garbageCollect()` has been removed.
+> `shrinkToFit()` is still available and releases the over-allocated memory.
+>
+> Due to a change in the implementation, it's not possible to store a pointer to a variant from another `JsonDocument`, so `shallowCopy()` has been removed.
+>
+> In ArduinoJson 6, the meaning of `memoryUsage()` was clear: it returned the number of bytes used in the memory pool.
+> In ArduinoJson 7, the meaning of `memoryUsage()` would be ambiguous, so it has been removed.
+>
+> #### Custom allocators
+>
+> In ArduinoJson 6, you could specify a custom allocator class as a template parameter of `BasicJsonDocument`.
+> In ArduinoJson 7, you must inherit from `ArduinoJson::Allocator` and pass a pointer to an instance of your class to the constructor of `JsonDocument`.
+>
+> ```c++
+> // ArduinoJson 6
+> class MyAllocator {
+> // ...
+> };
+> BasicJsonDocument<MyAllocator> doc(256);
+>
+> // ArduinoJson 7
+> class MyAllocator : public ArduinoJson::Allocator {
+> // ...
+> };
+> MyAllocator myAllocator;
+> JsonDocument doc(&myAllocator);
+> ```
+>
+> #### `createNestedArray()` and `createNestedObject()`
+>
+> In ArduinoJson 6, you could create a nested array or object with `createNestedArray()` and `createNestedObject()`.
+> In ArduinoJson 7, you must use `add<T>()` or `to<T>()` instead.
+>
+> For example, to create `[[],{}]`, you would write:
+>
+> ```c++
+> // ArduinoJson 6
+> arr.createNestedArray();
+> arr.createNestedObject();
+>
+> // ArduinoJson 7
+> arr.add<JsonArray>();
+> arr.add<JsonObject>();
+> ```
+>
+> And to create `{"array":[],"object":{}}`, you would write:
+>
+> ```c++
+> // ArduinoJson 6
+> obj.createNestedArray("array");
+> obj.createNestedObject("object");
+>
+> // ArduinoJson 7
+> obj["array"].to<JsonArray>();
+> obj["object"].to<JsonObject>();
+> ```
diff --git a/Arduino/libraries/ArduinoJson/README.md b/Arduino/libraries/ArduinoJson/README.md
index 4632534..ae2e79d 100644
--- a/Arduino/libraries/ArduinoJson/README.md
+++ b/Arduino/libraries/ArduinoJson/README.md
@@ -1,158 +1,158 @@
-<p align="center">
- <a href="https://arduinojson.org/"><img alt="ArduinoJson" src="https://arduinojson.org/images/logo.svg" width="200" /></a>
-</p>
-
----
-
-[](https://github.com/bblanchon/ArduinoJson/actions?query=workflow%3A%22Continuous+Integration%22+branch%3A7.x)
-[](https://ci.appveyor.com/project/bblanchon/arduinojson/branch/7.x)
-[](https://bugs.chromium.org/p/oss-fuzz/issues/list?sort=-opened&can=1&q=proj:arduinojson)
-[](https://coveralls.io/github/bblanchon/ArduinoJson?branch=7.x)
-[](https://github.com/bblanchon/ArduinoJson/stargazers)
-[](https://github.com/sponsors/bblanchon)
-
-ArduinoJson is a C++ JSON library for Arduino and IoT (Internet Of Things).
-
-## Features
-
-* [JSON deserialization](https://arduinojson.org/v7/api/json/deserializejson/)
- * [Optionally decodes UTF-16 escape sequences to UTF-8](https://arduinojson.org/v7/api/config/decode_unicode/)
- * [Optionally supports comments in the input](https://arduinojson.org/v7/api/config/enable_comments/)
- * [Optionally filters the input to keep only desired values](https://arduinojson.org/v7/api/json/deserializejson/#filtering)
- * Supports single quotes as a string delimiter
- * Compatible with [NDJSON](http://ndjson.org/) and [JSON Lines](https://jsonlines.org/)
-* [JSON serialization](https://arduinojson.org/v7/api/json/serializejson/)
- * [Can write to a buffer or a stream](https://arduinojson.org/v7/api/json/serializejson/)
- * [Optionally indents the document (prettified JSON)](https://arduinojson.org/v7/api/json/serializejsonpretty/)
-* [MessagePack serialization](https://arduinojson.org/v7/api/msgpack/serializemsgpack/)
-* [MessagePack deserialization](https://arduinojson.org/v7/api/msgpack/deserializemsgpack/)
-* Efficient
- * [Twice smaller than the "official" Arduino_JSON library](https://arduinojson.org/2019/11/19/arduinojson-vs-arduino_json/)
- * [Almost 10% faster than the "official" Arduino_JSON library](https://arduinojson.org/2019/11/19/arduinojson-vs-arduino_json/)
- * [Consumes roughly 10% less RAM than the "official" Arduino_JSON library](https://arduinojson.org/2019/11/19/arduinojson-vs-arduino_json/)
- * [Deduplicates strings](https://arduinojson.org/news/2020/08/01/version-6-16-0/)
-* Versatile
- * Supports [custom allocators (to use external RAM chip, for example)](https://arduinojson.org/v7/how-to/use-external-ram-on-esp32/)
- * Supports [`String`](https://arduinojson.org/v7/api/config/enable_arduino_string/), [`std::string`](https://arduinojson.org/v7/api/config/enable_std_string/), and [`std::string_view`](https://arduinojson.org/v7/api/config/enable_string_view/)
- * Supports [`Stream`](https://arduinojson.org/v7/api/config/enable_arduino_stream/) and [`std::istream`/`std::ostream`](https://arduinojson.org/v7/api/config/enable_std_stream/)
- * Supports [Flash strings](https://arduinojson.org/v7/api/config/enable_progmem/)
- * Supports [custom readers](https://arduinojson.org/v7/api/json/deserializejson/#custom-reader) and [custom writers](https://arduinojson.org/v7/api/json/serializejson/#custom-writer)
- * Supports [custom converters](https://arduinojson.org/news/2021/05/04/version-6-18-0/)
-* Portable
- * Usable on any C++ project (not limited to Arduino)
- * Compatible with C++11, C++14 and C++17
- * Support for C++98/C++03 available on [ArduinoJson 6.20.x](https://github.com/bblanchon/ArduinoJson/tree/6.20.x)
- * Zero warnings with `-Wall -Wextra -pedantic` and `/W4`
- * [Header-only library](https://en.wikipedia.org/wiki/Header-only)
- * Works with virtually any board
- * Arduino boards: [Uno](https://amzn.to/38aL2ik), [Due](https://amzn.to/36YkWi2), [Micro](https://amzn.to/35WkdwG), [Nano](https://amzn.to/2QTvwRX), [Mega](https://amzn.to/36XWhuf), [Yun](https://amzn.to/30odURc), [Leonardo](https://amzn.to/36XWjlR)...
- * Espressif chips: [ESP8266](https://amzn.to/36YluV8), [ESP32](https://amzn.to/2G4pRCB)
- * Lolin (WeMos) boards: [D1 mini](https://amzn.to/2QUpz7q), [D1 Mini Pro](https://amzn.to/36UsGSs)...
- * Teensy boards: [4.0](https://amzn.to/30ljXGq), [3.2](https://amzn.to/2FT0EuC), [2.0](https://amzn.to/2QXUMXj)
- * Particle boards: [Argon](https://amzn.to/2FQHa9X), [Boron](https://amzn.to/36WgLUd), [Electron](https://amzn.to/30vEc4k), [Photon](https://amzn.to/387F9Cd)...
- * Texas Instruments boards: [MSP430](https://amzn.to/30nJWgg)...
- * Soft cores: [Nios II](https://en.wikipedia.org/wiki/Nios_II)...
- * Tested on all major development environments
- * [Arduino IDE](https://www.arduino.cc/en/Main/Software)
- * [Atmel Studio](http://www.atmel.com/microsite/atmel-studio/)
- * [Atollic TrueSTUDIO](https://atollic.com/truestudio/)
- * [Energia](http://energia.nu/)
- * [IAR Embedded Workbench](https://www.iar.com/iar-embedded-workbench/)
- * [Keil uVision](http://www.keil.com/)
- * [MPLAB X IDE](http://www.microchip.com/mplab/mplab-x-ide)
- * [Particle](https://www.particle.io/)
- * [PlatformIO](http://platformio.org/)
- * [Sloeber plugin for Eclipse](https://eclipse.baeyens.it/)
- * [Visual Micro](http://www.visualmicro.com/)
- * [Visual Studio](https://www.visualstudio.com/)
- * [Even works with online compilers like wandbox.org](https://wandbox.org/permlink/RlZSKy17DjJ6HcdN)
- * [CMake friendly](https://arduinojson.org/v7/how-to/use-arduinojson-with-cmake/)
-* Well designed
- * [Elegant API](http://arduinojson.org/v7/example/)
- * [Thread-safe](https://en.wikipedia.org/wiki/Thread_safety)
- * Self-contained (no external dependency)
- * `const` friendly
- * [`for` friendly](https://arduinojson.org/v7/api/jsonobject/begin_end/)
- * [TMP friendly](https://en.wikipedia.org/wiki/Template_metaprogramming)
- * Handles [integer overflows](https://arduinojson.org/v7/api/jsonvariant/as/#integer-overflows)
-* Well tested
- * [Unit test coverage close to 100%](https://coveralls.io/github/bblanchon/ArduinoJson?branch=7.x)
- * Continuously tested on
- * [Visual Studio 2017, 2019, 2022](https://ci.appveyor.com/project/bblanchon/arduinojson/branch/7.x)
- * [GCC 4.8, 5, 6, 7, 8, 9, 10, 11, 12](https://github.com/bblanchon/ArduinoJson/actions?query=workflow%3A%22Continuous+Integration%22)
- * [Clang 3.9, 4.0, 5.0, 6.0, 7, 8, 9, 10, 11, 12, 13, 14, 15](https://github.com/bblanchon/ArduinoJson/actions?query=workflow%3A%22Continuous+Integration%22)
- * [Continuously fuzzed with Google OSS Fuzz](https://bugs.chromium.org/p/oss-fuzz/issues/list?sort=-opened&can=1&q=proj:arduinojson)
- * Passes all default checks of [clang-tidy](https://releases.llvm.org/10.0.0/tools/clang/tools/extra/docs/clang-tidy/)
-* Well documented
- * [Tutorials](https://arduinojson.org/v7/doc/deserialization/)
- * [Examples](https://arduinojson.org/v7/example/)
- * [How-tos](https://arduinojson.org/v7/example/)
- * [FAQ](https://arduinojson.org/v7/faq/)
- * [Troubleshooter](https://arduinojson.org/v7/troubleshooter/)
- * [Book](https://arduinojson.org/book/)
- * [Changelog](CHANGELOG.md)
-* Vibrant user community
- * Most popular of all Arduino libraries on [GitHub](https://github.com/search?o=desc&q=arduino+library&s=stars&type=Repositories)
- * [Used in hundreds of projects](https://www.hackster.io/search?i=projects&q=arduinojson)
- * [Responsive support](https://github.com/bblanchon/ArduinoJson/issues?q=is%3Aissue+is%3Aclosed)
-
-## Quickstart
-
-### Deserialization
-
-Here is a program that parses a JSON document with ArduinoJson.
-
-```c++
-const char* json = "{\"sensor\":\"gps\",\"time\":1351824120,\"data\":[48.756080,2.302038]}";
-
-JsonDocument doc;
-deserializeJson(doc, json);
-
-const char* sensor = doc["sensor"];
-long time = doc["time"];
-double latitude = doc["data"][0];
-double longitude = doc["data"][1];
-```
-
-See the [tutorial on arduinojson.org](https://arduinojson.org/v7/doc/deserialization/)
-
-### Serialization
-
-Here is a program that generates a JSON document with ArduinoJson:
-
-```c++
-JsonDocument doc;
-
-doc["sensor"] = "gps";
-doc["time"] = 1351824120;
-doc["data"][0] = 48.756080;
-doc["data"][1] = 2.302038;
-
-serializeJson(doc, Serial);
-// This prints:
-// {"sensor":"gps","time":1351824120,"data":[48.756080,2.302038]}
-```
-
-See the [tutorial on arduinojson.org](https://arduinojson.org/v7/doc/serialization/)
-
-## Sponsors
-
-ArduinoJson is thankful to its sponsors. Please give them a visit; they deserve it!
-
-<p>
- <a href="https://www.programmingelectronics.com/" rel="sponsored">
- <img src="https://arduinojson.org/images/2021/10/programmingeleactronicsacademy.png" alt="Programming Electronics Academy" width="200">
- </a>
-</p>
-<p>
- <a href="https://github.com/1technophile" rel="sponsored">
- <img alt="1technophile" src="https://avatars.githubusercontent.com/u/12672732?s=40&v=4">
- </a>
- <a href="https://github.com/LArkema" rel="sponsored">
- <img alt="LArkema" src="https://avatars.githubusercontent.com/u/38381313?s=40&v=4">
- </a>
-</p>
-
-If you run a commercial project that embeds ArduinoJson, think about [sponsoring the library's development](https://github.com/sponsors/bblanchon): it ensures the code that your products rely on stays actively maintained. It can also give your project some exposure to the makers' community.
-
-If you are an individual user and want to support the development (or give a sign of appreciation), consider purchasing the book [Mastering ArduinoJson](https://arduinojson.org/book/) ❤, or simply [cast a star](https://github.com/bblanchon/ArduinoJson/stargazers) ⭐.
+<p align="center">
+ <a href="https://arduinojson.org/"><img alt="ArduinoJson" src="https://arduinojson.org/images/logo.svg" width="200" /></a>
+</p>
+
+---
+
+[](https://github.com/bblanchon/ArduinoJson/actions?query=workflow%3A%22Continuous+Integration%22+branch%3A7.x)
+[](https://ci.appveyor.com/project/bblanchon/arduinojson/branch/7.x)
+[](https://bugs.chromium.org/p/oss-fuzz/issues/list?sort=-opened&can=1&q=proj:arduinojson)
+[](https://coveralls.io/github/bblanchon/ArduinoJson?branch=7.x)
+[](https://github.com/bblanchon/ArduinoJson/stargazers)
+[](https://github.com/sponsors/bblanchon)
+
+ArduinoJson is a C++ JSON library for Arduino and IoT (Internet Of Things).
+
+## Features
+
+* [JSON deserialization](https://arduinojson.org/v7/api/json/deserializejson/)
+ * [Optionally decodes UTF-16 escape sequences to UTF-8](https://arduinojson.org/v7/api/config/decode_unicode/)
+ * [Optionally supports comments in the input](https://arduinojson.org/v7/api/config/enable_comments/)
+ * [Optionally filters the input to keep only desired values](https://arduinojson.org/v7/api/json/deserializejson/#filtering)
+ * Supports single quotes as a string delimiter
+ * Compatible with [NDJSON](http://ndjson.org/) and [JSON Lines](https://jsonlines.org/)
+* [JSON serialization](https://arduinojson.org/v7/api/json/serializejson/)
+ * [Can write to a buffer or a stream](https://arduinojson.org/v7/api/json/serializejson/)
+ * [Optionally indents the document (prettified JSON)](https://arduinojson.org/v7/api/json/serializejsonpretty/)
+* [MessagePack serialization](https://arduinojson.org/v7/api/msgpack/serializemsgpack/)
+* [MessagePack deserialization](https://arduinojson.org/v7/api/msgpack/deserializemsgpack/)
+* Efficient
+ * [Twice smaller than the "official" Arduino_JSON library](https://arduinojson.org/2019/11/19/arduinojson-vs-arduino_json/)
+ * [Almost 10% faster than the "official" Arduino_JSON library](https://arduinojson.org/2019/11/19/arduinojson-vs-arduino_json/)
+ * [Consumes roughly 10% less RAM than the "official" Arduino_JSON library](https://arduinojson.org/2019/11/19/arduinojson-vs-arduino_json/)
+ * [Deduplicates strings](https://arduinojson.org/news/2020/08/01/version-6-16-0/)
+* Versatile
+ * Supports [custom allocators (to use external RAM chip, for example)](https://arduinojson.org/v7/how-to/use-external-ram-on-esp32/)
+ * Supports [`String`](https://arduinojson.org/v7/api/config/enable_arduino_string/), [`std::string`](https://arduinojson.org/v7/api/config/enable_std_string/), and [`std::string_view`](https://arduinojson.org/v7/api/config/enable_string_view/)
+ * Supports [`Stream`](https://arduinojson.org/v7/api/config/enable_arduino_stream/) and [`std::istream`/`std::ostream`](https://arduinojson.org/v7/api/config/enable_std_stream/)
+ * Supports [Flash strings](https://arduinojson.org/v7/api/config/enable_progmem/)
+ * Supports [custom readers](https://arduinojson.org/v7/api/json/deserializejson/#custom-reader) and [custom writers](https://arduinojson.org/v7/api/json/serializejson/#custom-writer)
+ * Supports [custom converters](https://arduinojson.org/news/2021/05/04/version-6-18-0/)
+* Portable
+ * Usable on any C++ project (not limited to Arduino)
+ * Compatible with C++11, C++14 and C++17
+ * Support for C++98/C++03 available on [ArduinoJson 6.20.x](https://github.com/bblanchon/ArduinoJson/tree/6.20.x)
+ * Zero warnings with `-Wall -Wextra -pedantic` and `/W4`
+ * [Header-only library](https://en.wikipedia.org/wiki/Header-only)
+ * Works with virtually any board
+ * Arduino boards: [Uno](https://amzn.to/38aL2ik), [Due](https://amzn.to/36YkWi2), [Micro](https://amzn.to/35WkdwG), [Nano](https://amzn.to/2QTvwRX), [Mega](https://amzn.to/36XWhuf), [Yun](https://amzn.to/30odURc), [Leonardo](https://amzn.to/36XWjlR)...
+ * Espressif chips: [ESP8266](https://amzn.to/36YluV8), [ESP32](https://amzn.to/2G4pRCB)
+ * Lolin (WeMos) boards: [D1 mini](https://amzn.to/2QUpz7q), [D1 Mini Pro](https://amzn.to/36UsGSs)...
+ * Teensy boards: [4.0](https://amzn.to/30ljXGq), [3.2](https://amzn.to/2FT0EuC), [2.0](https://amzn.to/2QXUMXj)
+ * Particle boards: [Argon](https://amzn.to/2FQHa9X), [Boron](https://amzn.to/36WgLUd), [Electron](https://amzn.to/30vEc4k), [Photon](https://amzn.to/387F9Cd)...
+ * Texas Instruments boards: [MSP430](https://amzn.to/30nJWgg)...
+ * Soft cores: [Nios II](https://en.wikipedia.org/wiki/Nios_II)...
+ * Tested on all major development environments
+ * [Arduino IDE](https://www.arduino.cc/en/Main/Software)
+ * [Atmel Studio](http://www.atmel.com/microsite/atmel-studio/)
+ * [Atollic TrueSTUDIO](https://atollic.com/truestudio/)
+ * [Energia](http://energia.nu/)
+ * [IAR Embedded Workbench](https://www.iar.com/iar-embedded-workbench/)
+ * [Keil uVision](http://www.keil.com/)
+ * [MPLAB X IDE](http://www.microchip.com/mplab/mplab-x-ide)
+ * [Particle](https://www.particle.io/)
+ * [PlatformIO](http://platformio.org/)
+ * [Sloeber plugin for Eclipse](https://eclipse.baeyens.it/)
+ * [Visual Micro](http://www.visualmicro.com/)
+ * [Visual Studio](https://www.visualstudio.com/)
+ * [Even works with online compilers like wandbox.org](https://wandbox.org/permlink/RlZSKy17DjJ6HcdN)
+ * [CMake friendly](https://arduinojson.org/v7/how-to/use-arduinojson-with-cmake/)
+* Well designed
+ * [Elegant API](http://arduinojson.org/v7/example/)
+ * [Thread-safe](https://en.wikipedia.org/wiki/Thread_safety)
+ * Self-contained (no external dependency)
+ * `const` friendly
+ * [`for` friendly](https://arduinojson.org/v7/api/jsonobject/begin_end/)
+ * [TMP friendly](https://en.wikipedia.org/wiki/Template_metaprogramming)
+ * Handles [integer overflows](https://arduinojson.org/v7/api/jsonvariant/as/#integer-overflows)
+* Well tested
+ * [Unit test coverage close to 100%](https://coveralls.io/github/bblanchon/ArduinoJson?branch=7.x)
+ * Continuously tested on
+ * [Visual Studio 2017, 2019, 2022](https://ci.appveyor.com/project/bblanchon/arduinojson/branch/7.x)
+ * [GCC 4.8, 5, 6, 7, 8, 9, 10, 11, 12](https://github.com/bblanchon/ArduinoJson/actions?query=workflow%3A%22Continuous+Integration%22)
+ * [Clang 3.9, 4.0, 5.0, 6.0, 7, 8, 9, 10, 11, 12, 13, 14, 15](https://github.com/bblanchon/ArduinoJson/actions?query=workflow%3A%22Continuous+Integration%22)
+ * [Continuously fuzzed with Google OSS Fuzz](https://bugs.chromium.org/p/oss-fuzz/issues/list?sort=-opened&can=1&q=proj:arduinojson)
+ * Passes all default checks of [clang-tidy](https://releases.llvm.org/10.0.0/tools/clang/tools/extra/docs/clang-tidy/)
+* Well documented
+ * [Tutorials](https://arduinojson.org/v7/doc/deserialization/)
+ * [Examples](https://arduinojson.org/v7/example/)
+ * [How-tos](https://arduinojson.org/v7/example/)
+ * [FAQ](https://arduinojson.org/v7/faq/)
+ * [Troubleshooter](https://arduinojson.org/v7/troubleshooter/)
+ * [Book](https://arduinojson.org/book/)
+ * [Changelog](CHANGELOG.md)
+* Vibrant user community
+ * Most popular of all Arduino libraries on [GitHub](https://github.com/search?o=desc&q=arduino+library&s=stars&type=Repositories)
+ * [Used in hundreds of projects](https://www.hackster.io/search?i=projects&q=arduinojson)
+ * [Responsive support](https://github.com/bblanchon/ArduinoJson/issues?q=is%3Aissue+is%3Aclosed)
+
+## Quickstart
+
+### Deserialization
+
+Here is a program that parses a JSON document with ArduinoJson.
+
+```c++
+const char* json = "{\"sensor\":\"gps\",\"time\":1351824120,\"data\":[48.756080,2.302038]}";
+
+JsonDocument doc;
+deserializeJson(doc, json);
+
+const char* sensor = doc["sensor"];
+long time = doc["time"];
+double latitude = doc["data"][0];
+double longitude = doc["data"][1];
+```
+
+See the [tutorial on arduinojson.org](https://arduinojson.org/v7/doc/deserialization/)
+
+### Serialization
+
+Here is a program that generates a JSON document with ArduinoJson:
+
+```c++
+JsonDocument doc;
+
+doc["sensor"] = "gps";
+doc["time"] = 1351824120;
+doc["data"][0] = 48.756080;
+doc["data"][1] = 2.302038;
+
+serializeJson(doc, Serial);
+// This prints:
+// {"sensor":"gps","time":1351824120,"data":[48.756080,2.302038]}
+```
+
+See the [tutorial on arduinojson.org](https://arduinojson.org/v7/doc/serialization/)
+
+## Sponsors
+
+ArduinoJson is thankful to its sponsors. Please give them a visit; they deserve it!
+
+<p>
+ <a href="https://www.programmingelectronics.com/" rel="sponsored">
+ <img src="https://arduinojson.org/images/2021/10/programmingeleactronicsacademy.png" alt="Programming Electronics Academy" width="200">
+ </a>
+</p>
+<p>
+ <a href="https://github.com/1technophile" rel="sponsored">
+ <img alt="1technophile" src="https://avatars.githubusercontent.com/u/12672732?s=40&v=4">
+ </a>
+ <a href="https://github.com/LArkema" rel="sponsored">
+ <img alt="LArkema" src="https://avatars.githubusercontent.com/u/38381313?s=40&v=4">
+ </a>
+</p>
+
+If you run a commercial project that embeds ArduinoJson, think about [sponsoring the library's development](https://github.com/sponsors/bblanchon): it ensures the code that your products rely on stays actively maintained. It can also give your project some exposure to the makers' community.
+
+If you are an individual user and want to support the development (or give a sign of appreciation), consider purchasing the book [Mastering ArduinoJson](https://arduinojson.org/book/) ❤, or simply [cast a star](https://github.com/bblanchon/ArduinoJson/stargazers) ⭐.
diff --git a/Arduino/libraries/ArduinoJson/examples/JsonGeneratorExample/JsonGeneratorExample.ino b/Arduino/libraries/ArduinoJson/examples/JsonGeneratorExample/JsonGeneratorExample.ino
index d67b885..d08d00f 100644
--- a/Arduino/libraries/ArduinoJson/examples/JsonGeneratorExample/JsonGeneratorExample.ino
+++ b/Arduino/libraries/ArduinoJson/examples/JsonGeneratorExample/JsonGeneratorExample.ino
@@ -1,65 +1,65 @@
-// ArduinoJson - https://arduinojson.org
-// Copyright © 2014-2024, Benoit BLANCHON
-// MIT License
-//
-// This example shows how to generate a JSON document with ArduinoJson.
-//
-// https://arduinojson.org/v7/example/generator/
-
-#include <ArduinoJson.h>
-
-void setup() {
- // Initialize Serial port
- Serial.begin(9600);
- while (!Serial)
- continue;
-
- // Allocate the JSON document
- JsonDocument doc;
-
- // Add values in the document
- doc["sensor"] = "gps";
- doc["time"] = 1351824120;
-
- // Add an array
- JsonArray data = doc["data"].to<JsonArray>();
- data.add(48.756080);
- data.add(2.302038);
-
- // Generate the minified JSON and send it to the Serial port
- serializeJson(doc, Serial);
- // The above line prints:
- // {"sensor":"gps","time":1351824120,"data":[48.756080,2.302038]}
-
- // Start a new line
- Serial.println();
-
- // Generate the prettified JSON and send it to the Serial port
- serializeJsonPretty(doc, Serial);
- // The above line prints:
- // {
- // "sensor": "gps",
- // "time": 1351824120,
- // "data": [
- // 48.756080,
- // 2.302038
- // ]
- // }
-}
-
-void loop() {
- // not used in this example
-}
-
-// See also
-// --------
-//
-// https://arduinojson.org/ contains the documentation for all the functions
-// used above. It also includes an FAQ that will help you solve any
-// serialization problem.
-//
-// The book "Mastering ArduinoJson" contains a tutorial on serialization.
-// It begins with a simple example, like the one above, and then adds more
-// features like serializing directly to a file or an HTTP request.
-// Learn more at https://arduinojson.org/book/
-// Use the coupon code TWENTY for a 20% discount ❤❤❤❤❤
+// ArduinoJson - https://arduinojson.org
+// Copyright © 2014-2024, Benoit BLANCHON
+// MIT License
+//
+// This example shows how to generate a JSON document with ArduinoJson.
+//
+// https://arduinojson.org/v7/example/generator/
+
+#include <ArduinoJson.h>
+
+void setup() {
+ // Initialize Serial port
+ Serial.begin(9600);
+ while (!Serial)
+ continue;
+
+ // Allocate the JSON document
+ JsonDocument doc;
+
+ // Add values in the document
+ doc["sensor"] = "gps";
+ doc["time"] = 1351824120;
+
+ // Add an array
+ JsonArray data = doc["data"].to<JsonArray>();
+ data.add(48.756080);
+ data.add(2.302038);
+
+ // Generate the minified JSON and send it to the Serial port
+ serializeJson(doc, Serial);
+ // The above line prints:
+ // {"sensor":"gps","time":1351824120,"data":[48.756080,2.302038]}
+
+ // Start a new line
+ Serial.println();
+
+ // Generate the prettified JSON and send it to the Serial port
+ serializeJsonPretty(doc, Serial);
+ // The above line prints:
+ // {
+ // "sensor": "gps",
+ // "time": 1351824120,
+ // "data": [
+ // 48.756080,
+ // 2.302038
+ // ]
+ // }
+}
+
+void loop() {
+ // not used in this example
+}
+
+// See also
+// --------
+//
+// https://arduinojson.org/ contains the documentation for all the functions
+// used above. It also includes an FAQ that will help you solve any
+// serialization problem.
+//
+// The book "Mastering ArduinoJson" contains a tutorial on serialization.
+// It begins with a simple example, like the one above, and then adds more
+// features like serializing directly to a file or an HTTP request.
+// Learn more at https://arduinojson.org/book/
+// Use the coupon code TWENTY for a 20% discount ❤❤❤❤❤
diff --git a/Arduino/libraries/ArduinoJson/examples/JsonParserExample/JsonParserExample.ino b/Arduino/libraries/ArduinoJson/examples/JsonParserExample/JsonParserExample.ino
index 7220dcf..4d77584 100644
--- a/Arduino/libraries/ArduinoJson/examples/JsonParserExample/JsonParserExample.ino
+++ b/Arduino/libraries/ArduinoJson/examples/JsonParserExample/JsonParserExample.ino
@@ -1,65 +1,65 @@
-// ArduinoJson - https://arduinojson.org
-// Copyright © 2014-2024, Benoit BLANCHON
-// MIT License
-//
-// This example shows how to deserialize a JSON document with ArduinoJson.
-//
-// https://arduinojson.org/v7/example/parser/
-
-#include <ArduinoJson.h>
-
-void setup() {
- // Initialize serial port
- Serial.begin(9600);
- while (!Serial)
- continue;
-
- // Allocate the JSON document
- JsonDocument doc;
-
- // JSON input string.
- const char* json =
- "{\"sensor\":\"gps\",\"time\":1351824120,\"data\":[48.756080,2.302038]}";
-
- // Deserialize the JSON document
- DeserializationError error = deserializeJson(doc, json);
-
- // Test if parsing succeeds
- if (error) {
- Serial.print(F("deserializeJson() failed: "));
- Serial.println(error.f_str());
- return;
- }
-
- // Fetch the values
- //
- // Most of the time, you can rely on the implicit casts.
- // In other case, you can do doc["time"].as<long>();
- const char* sensor = doc["sensor"];
- long time = doc["time"];
- double latitude = doc["data"][0];
- double longitude = doc["data"][1];
-
- // Print the values
- Serial.println(sensor);
- Serial.println(time);
- Serial.println(latitude, 6);
- Serial.println(longitude, 6);
-}
-
-void loop() {
- // not used in this example
-}
-
-// See also
-// --------
-//
-// https://arduinojson.org/ contains the documentation for all the functions
-// used above. It also includes an FAQ that will help you solve any
-// deserialization problem.
-//
-// The book "Mastering ArduinoJson" contains a tutorial on deserialization.
-// It begins with a simple example, like the one above, and then adds more
-// features like deserializing directly from a file or an HTTP request.
-// Learn more at https://arduinojson.org/book/
-// Use the coupon code TWENTY for a 20% discount ❤❤❤❤❤
+// ArduinoJson - https://arduinojson.org
+// Copyright © 2014-2024, Benoit BLANCHON
+// MIT License
+//
+// This example shows how to deserialize a JSON document with ArduinoJson.
+//
+// https://arduinojson.org/v7/example/parser/
+
+#include <ArduinoJson.h>
+
+void setup() {
+ // Initialize serial port
+ Serial.begin(9600);
+ while (!Serial)
+ continue;
+
+ // Allocate the JSON document
+ JsonDocument doc;
+
+ // JSON input string.
+ const char* json =
+ "{\"sensor\":\"gps\",\"time\":1351824120,\"data\":[48.756080,2.302038]}";
+
+ // Deserialize the JSON document
+ DeserializationError error = deserializeJson(doc, json);
+
+ // Test if parsing succeeds
+ if (error) {
+ Serial.print(F("deserializeJson() failed: "));
+ Serial.println(error.f_str());
+ return;
+ }
+
+ // Fetch the values
+ //
+ // Most of the time, you can rely on the implicit casts.
+ // In other case, you can do doc["time"].as<long>();
+ const char* sensor = doc["sensor"];
+ long time = doc["time"];
+ double latitude = doc["data"][0];
+ double longitude = doc["data"][1];
+
+ // Print the values
+ Serial.println(sensor);
+ Serial.println(time);
+ Serial.println(latitude, 6);
+ Serial.println(longitude, 6);
+}
+
+void loop() {
+ // not used in this example
+}
+
+// See also
+// --------
+//
+// https://arduinojson.org/ contains the documentation for all the functions
+// used above. It also includes an FAQ that will help you solve any
+// deserialization problem.
+//
+// The book "Mastering ArduinoJson" contains a tutorial on deserialization.
+// It begins with a simple example, like the one above, and then adds more
+// features like deserializing directly from a file or an HTTP request.
+// Learn more at https://arduinojson.org/book/
+// Use the coupon code TWENTY for a 20% discount ❤❤❤❤❤
diff --git a/Arduino/libraries/ArduinoJson/extras/ci/particle.sh b/Arduino/libraries/ArduinoJson/extras/ci/particle.sh
old mode 100755
new mode 100644
diff --git a/Arduino/libraries/ArduinoJson/extras/scripts/build-single-header.sh b/Arduino/libraries/ArduinoJson/extras/scripts/build-single-header.sh
old mode 100755
new mode 100644
diff --git a/Arduino/libraries/ArduinoJson/extras/scripts/extract_changes.awk b/Arduino/libraries/ArduinoJson/extras/scripts/extract_changes.awk
old mode 100755
new mode 100644
diff --git a/Arduino/libraries/ArduinoJson/extras/scripts/get-release-page.sh b/Arduino/libraries/ArduinoJson/extras/scripts/get-release-page.sh
old mode 100755
new mode 100644
diff --git a/Arduino/libraries/ArduinoJson/extras/scripts/publish-particle-library.sh b/Arduino/libraries/ArduinoJson/extras/scripts/publish-particle-library.sh
old mode 100755
new mode 100644
diff --git a/Arduino/libraries/ArduinoJson/extras/scripts/publish.sh b/Arduino/libraries/ArduinoJson/extras/scripts/publish.sh
old mode 100755
new mode 100644
diff --git a/Arduino/libraries/ArduinoJson/extras/scripts/wandbox/publish.sh b/Arduino/libraries/ArduinoJson/extras/scripts/wandbox/publish.sh
old mode 100755
new mode 100644
diff --git a/Arduino/libraries/L293D/CHANGELOG.md b/Arduino/libraries/L293D/CHANGELOG.md
index c486c09..3bdc35c 100644
--- a/Arduino/libraries/L293D/CHANGELOG.md
+++ b/Arduino/libraries/L293D/CHANGELOG.md
@@ -1,18 +1,18 @@
-# Changelog
-
-## [v1.0.3](https://github.com/bjoernboeckle/L293D/tree/v1.0.3)
-- Added "GetCurrentMotorSpeed" function to read current set speed
-- Added "SetStopPWMValue" function to use a custom PWM value for a stopped motor
-
-
-## [v1.0.2](https://github.com/bjoernboeckle/L293D/tree/v1.0.2)
-- Added example for ESP32
-- Fixes for ESP32
-
-
-## [v1.0.1](https://github.com/bjoernboeckle/L293D/tree/v1.0.1)
-- Fixed resolution for ESP32
-- Improved examples
-
-## [v1.0.0](https://github.com/bjoernboeckle/L293D/tree/v1.0.0)
+# Changelog
+
+## [v1.0.3](https://github.com/bjoernboeckle/L293D/tree/v1.0.3)
+- Added "GetCurrentMotorSpeed" function to read current set speed
+- Added "SetStopPWMValue" function to use a custom PWM value for a stopped motor
+
+
+## [v1.0.2](https://github.com/bjoernboeckle/L293D/tree/v1.0.2)
+- Added example for ESP32
+- Fixes for ESP32
+
+
+## [v1.0.1](https://github.com/bjoernboeckle/L293D/tree/v1.0.1)
+- Fixed resolution for ESP32
+- Improved examples
+
+## [v1.0.0](https://github.com/bjoernboeckle/L293D/tree/v1.0.0)
- Initial release
\ No newline at end of file
diff --git a/Arduino/libraries/L293D/LICENSE b/Arduino/libraries/L293D/LICENSE
index 0fe566b..29a5cd4 100644
--- a/Arduino/libraries/L293D/LICENSE
+++ b/Arduino/libraries/L293D/LICENSE
@@ -1,21 +1,21 @@
-MIT License
-
-Copyright (c) 2024 bjoernboeckle
-
-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.
+MIT License
+
+Copyright (c) 2024 bjoernboeckle
+
+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/Arduino/libraries/L293D/README.md b/Arduino/libraries/L293D/README.md
index b62eea9..5989294 100644
--- a/Arduino/libraries/L293D/README.md
+++ b/Arduino/libraries/L293D/README.md
@@ -1,102 +1,102 @@
-# L293D
-
-This repository contains a library to control a motor connected to an H-Bridge (i.e. L293D), that can be used with Arduino and ESP32.
-
-The ESP32 version can also configure the PWM frequency and resolution, also a channel is required.
-
-
-To stop the motor a speed of zero can be used, by default the library sets the pwm output to 100% and disables the motor signals.
-
-If required, this can be changed by using the "SetStopPWMValue" function and setting the stop pwm to 0.
-
-
-
-# Quick start
-
-## Simple example ESP32
-
-
-```c++
-#include <Arduino.h>
-#include <L293D.h>
-
-#define MOTOR_A 1 // motor pin a
-#define MOTOR_B 2 // motor pin b
-#define MOTOR_ENABLE 3 // Enable (also PWM pin)
-
-#define PWM_MOTOR_FREQUENCY 200
-#define PWM_MOTOR_RESOLUTION 8
-
-// Create motor object using given pins
-L293D motor(MOTOR_A, MOTOR_B, MOTOR_ENABLE);
-
-void setup() {
- // begin --> true false, enables disables PWM, use given frequency and resolution
- motor.begin(true, PWM_MOTOR_FREQUENCY, PWM_MOTOR_RESOLUTION);
- // Speed -100%...0..100%
- motor.SetMotorSpeed(100);
-}
-
-void loop() {
-}
-```
-
-
-## Simple example Arduino
-
-
-```c++
-#include <Arduino.h>
-#include <L293D.h>
-
-#define MOTOR_A 1 // motor pin a
-#define MOTOR_B 2 // motor pin b
-#define MOTOR_ENABLE 3 // Enable (also PWM pin)
-
-// Create motor object using given pins
-L293D motor(MOTOR_A, MOTOR_B, MOTOR_ENABLE);
-
-void setup() {
- // begin --> true false, enables disables PWM
- motor.begin(true);
- // Speed -100%...0..100%
- motor.SetMotorSpeed(100);
-}
-
-void loop() {
-}
-```
-
-# Usage
-
-Create a motor, either only one direction or two directions including enable(pwm).
-Using Pin1 and Pin2 to connect to the motor, and pin3 for pwm and using pwm channel 0 (not supported for Arduino).
-In case Pin is -1 (not set)
-
-```c++
-L293D motor(1, 2, 3, 0);
-```
-
-Initialize pins etc.
-Optional parameter to set PWM mode and also PWM frequency.
-
-```c++
-motor.begin(true, 1000);
-```
-
-
-
-## Methods
-
-```c++
-//ESP32
- L293D(int Motor1, int Motor2 = -1, int enablePin = -1, int pwmChannel = 0);
- bool begin(bool usePwm = false, int frequency = 1000, int resolution = 8);
-
-// Arduino
- L293D::L293D(int MotorA, int MotorB, int enablePin);
- bool begin(bool usePwm = false);
-
-bool Stop();
-bool SetMotorSpeed(double speedPercent);
+# L293D
+
+This repository contains a library to control a motor connected to an H-Bridge (i.e. L293D), that can be used with Arduino and ESP32.
+
+The ESP32 version can also configure the PWM frequency and resolution, also a channel is required.
+
+
+To stop the motor a speed of zero can be used, by default the library sets the pwm output to 100% and disables the motor signals.
+
+If required, this can be changed by using the "SetStopPWMValue" function and setting the stop pwm to 0.
+
+
+
+# Quick start
+
+## Simple example ESP32
+
+
+```c++
+#include <Arduino.h>
+#include <L293D.h>
+
+#define MOTOR_A 1 // motor pin a
+#define MOTOR_B 2 // motor pin b
+#define MOTOR_ENABLE 3 // Enable (also PWM pin)
+
+#define PWM_MOTOR_FREQUENCY 200
+#define PWM_MOTOR_RESOLUTION 8
+
+// Create motor object using given pins
+L293D motor(MOTOR_A, MOTOR_B, MOTOR_ENABLE);
+
+void setup() {
+ // begin --> true false, enables disables PWM, use given frequency and resolution
+ motor.begin(true, PWM_MOTOR_FREQUENCY, PWM_MOTOR_RESOLUTION);
+ // Speed -100%...0..100%
+ motor.SetMotorSpeed(100);
+}
+
+void loop() {
+}
+```
+
+
+## Simple example Arduino
+
+
+```c++
+#include <Arduino.h>
+#include <L293D.h>
+
+#define MOTOR_A 1 // motor pin a
+#define MOTOR_B 2 // motor pin b
+#define MOTOR_ENABLE 3 // Enable (also PWM pin)
+
+// Create motor object using given pins
+L293D motor(MOTOR_A, MOTOR_B, MOTOR_ENABLE);
+
+void setup() {
+ // begin --> true false, enables disables PWM
+ motor.begin(true);
+ // Speed -100%...0..100%
+ motor.SetMotorSpeed(100);
+}
+
+void loop() {
+}
+```
+
+# Usage
+
+Create a motor, either only one direction or two directions including enable(pwm).
+Using Pin1 and Pin2 to connect to the motor, and pin3 for pwm and using pwm channel 0 (not supported for Arduino).
+In case Pin is -1 (not set)
+
+```c++
+L293D motor(1, 2, 3, 0);
+```
+
+Initialize pins etc.
+Optional parameter to set PWM mode and also PWM frequency.
+
+```c++
+motor.begin(true, 1000);
+```
+
+
+
+## Methods
+
+```c++
+//ESP32
+ L293D(int Motor1, int Motor2 = -1, int enablePin = -1, int pwmChannel = 0);
+ bool begin(bool usePwm = false, int frequency = 1000, int resolution = 8);
+
+// Arduino
+ L293D::L293D(int MotorA, int MotorB, int enablePin);
+ bool begin(bool usePwm = false);
+
+bool Stop();
+bool SetMotorSpeed(double speedPercent);
```
\ No newline at end of file
diff --git a/Arduino/libraries/L293D/examples/simple/simple.ino b/Arduino/libraries/L293D/examples/simple/simple.ino
index 7b65e32..749e346 100644
--- a/Arduino/libraries/L293D/examples/simple/simple.ino
+++ b/Arduino/libraries/L293D/examples/simple/simple.ino
@@ -1,19 +1,19 @@
-#include <Arduino.h>
-#include <L293D.h>
-
-#define MOTOR_A 1 // motor pin a
-#define MOTOR_B 2 // motor pin b
-#define MOTOR_ENABLE 3 // Enable (also PWM pin)
-
-// Create motor object using given pins
-L293D motor(MOTOR_A, MOTOR_B, MOTOR_ENABLE);
-
-void setup() {
- // begin --> true false, enables disables PWM
- motor.begin(true);
- // Speed -100%...0..100%
- motor.SetMotorSpeed(100);
-}
-
-void loop() {
+#include <Arduino.h>
+#include <L293D.h>
+
+#define MOTOR_A 1 // motor pin a
+#define MOTOR_B 2 // motor pin b
+#define MOTOR_ENABLE 3 // Enable (also PWM pin)
+
+// Create motor object using given pins
+L293D motor(MOTOR_A, MOTOR_B, MOTOR_ENABLE);
+
+void setup() {
+ // begin --> true false, enables disables PWM
+ motor.begin(true);
+ // Speed -100%...0..100%
+ motor.SetMotorSpeed(100);
+}
+
+void loop() {
}
\ No newline at end of file
diff --git a/Arduino/libraries/L293D/library.json b/Arduino/libraries/L293D/library.json
index 9a77b3e..542a71b 100644
--- a/Arduino/libraries/L293D/library.json
+++ b/Arduino/libraries/L293D/library.json
@@ -1,15 +1,15 @@
-{
- "name": "L293D",
- "keywords": "L293D, esp32, arduino, motor, controller, AC motor",
- "description": "Control a motor with a L293D",
- "repository":
- {
- "type": "git",
- "url": "https://github.com/bjoernboeckle/L293D.git"
- },
- "license": "MIT",
- "version": "1.0.3",
- "frameworks": "*",
- "platforms": "*"
- }
+{
+ "name": "L293D",
+ "keywords": "L293D, esp32, arduino, motor, controller, AC motor",
+ "description": "Control a motor with a L293D",
+ "repository":
+ {
+ "type": "git",
+ "url": "https://github.com/bjoernboeckle/L293D.git"
+ },
+ "license": "MIT",
+ "version": "1.0.3",
+ "frameworks": "*",
+ "platforms": "*"
+ }
\ No newline at end of file
diff --git a/Arduino/libraries/L293D/library.properties b/Arduino/libraries/L293D/library.properties
index e3146fe..64410b8 100644
--- a/Arduino/libraries/L293D/library.properties
+++ b/Arduino/libraries/L293D/library.properties
@@ -1,9 +1,9 @@
-name=L293D
-version=1.0.3
-author=bjoernboeckle
-maintainer=bjoernboeckle
-sentence=Allows an Arduino board to use control a motor using a L293D.
-paragraph=Allows an Arduino board or ESP32 to use control a motor using a L293D.
-category=Device Control
-url=https://github.com/bjoernboeckle/L293D.git
+name=L293D
+version=1.0.3
+author=bjoernboeckle
+maintainer=bjoernboeckle
+sentence=Allows an Arduino board to use control a motor using a L293D.
+paragraph=Allows an Arduino board or ESP32 to use control a motor using a L293D.
+category=Device Control
+url=https://github.com/bjoernboeckle/L293D.git
architectures=*
\ No newline at end of file
diff --git a/Arduino/libraries/STM32duino_VL53L3CX/examples/VL53L3CX_Sat_HelloWorld/VL53L3CX_Sat_HelloWorld.ino b/Arduino/libraries/STM32duino_VL53L3CX/examples/VL53L3CX_Sat_HelloWorld/VL53L3CX_Sat_HelloWorld.ino
index 3676c61..393343b 100644
--- a/Arduino/libraries/STM32duino_VL53L3CX/examples/VL53L3CX_Sat_HelloWorld/VL53L3CX_Sat_HelloWorld.ino
+++ b/Arduino/libraries/STM32duino_VL53L3CX/examples/VL53L3CX_Sat_HelloWorld/VL53L3CX_Sat_HelloWorld.ino
@@ -1,145 +1,145 @@
-/**
- ******************************************************************************
- * @file VL53L3CX_Sat_HelloWorld.ino
- * @author SRA
- * @version V1.0.0
- * @date 30 July 2020
- * @brief Arduino test application for the STMicrolectronics VL53L3CX
- * proximity sensor satellite based on FlightSense.
- * This application makes use of C++ classes obtained from the C
- * components' drivers.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2020 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-/*
- * To use this sketch you need to connect the VL53L3CX satellite sensor directly to the Nucleo board with wires in this way:
- * pin 1 (Interrupt) of the VL53L3CX satellite connected to pin A2 of the Nucleo board
- * pin 2 (SCL_I) of the VL53L3CX satellite connected to pin D15 (SCL) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
- * pin 3 (XSDN_I) of the VL53L3CX satellite connected to pin A1 of the Nucleo board
- * pin 4 (SDA_I) of the VL53L3CX satellite connected to pin D14 (SDA) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
- * pin 5 (VDD) of the VL53L3CX satellite connected to 3V3 pin of the Nucleo board
- * pin 6 (GND) of the VL53L3CX satellite connected to GND of the Nucleo board
- * pins 7, 8, 9 and 10 are not connected.
- */
-/* Includes ------------------------------------------------------------------*/
-#include <Arduino.h>
-#include <Wire.h>
-#include <vl53lx_class.h>
-#include <string.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <stdint.h>
-#include <assert.h>
-#include <stdlib.h>
-
-#define DEV_I2C Wire
-#define SerialPort Serial
-
-#ifndef LED_BUILTIN
-#define LED_BUILTIN 13
-#endif
-#define LedPin LED_BUILTIN
-
-// Components.
-VL53LX sensor_vl53lx_sat(&DEV_I2C, A1);
-
-
-/* Setup ---------------------------------------------------------------------*/
-
-void setup()
-{
- // Led.
- pinMode(LedPin, OUTPUT);
-
- // Initialize serial for output.
- SerialPort.begin(115200);
- SerialPort.println("Starting...");
-
- // Initialize I2C bus.
- DEV_I2C.begin();
-
- // Configure VL53LX satellite component.
- sensor_vl53lx_sat.begin();
-
- // Switch off VL53LX satellite component.
- sensor_vl53lx_sat.VL53LX_Off();
-
- //Initialize VL53LX satellite component.
- sensor_vl53lx_sat.InitSensor(0x12);
-
- // Start Measurements
- sensor_vl53lx_sat.VL53LX_StartMeasurement();
-}
-
-void loop()
-{
- VL53LX_MultiRangingData_t MultiRangingData;
- VL53LX_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
- uint8_t NewDataReady = 0;
- int no_of_object_found = 0, j;
- char report[64];
- int status;
-
- do
- {
- status = sensor_vl53lx_sat.VL53LX_GetMeasurementDataReady(&NewDataReady);
- } while (!NewDataReady);
-
- //Led on
- digitalWrite(LedPin, HIGH);
-
- if((!status)&&(NewDataReady!=0))
- {
- status = sensor_vl53lx_sat.VL53LX_GetMultiRangingData(pMultiRangingData);
- no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
- snprintf(report, sizeof(report), "VL53LX Satellite: Count=%d, #Objs=%1d ", pMultiRangingData->StreamCount, no_of_object_found);
- SerialPort.print(report);
- for(j=0;j<no_of_object_found;j++)
- {
- if(j!=0)SerialPort.print("\r\n ");
- SerialPort.print("status=");
- SerialPort.print(pMultiRangingData->RangeData[j].RangeStatus);
- SerialPort.print(", D=");
- SerialPort.print(pMultiRangingData->RangeData[j].RangeMilliMeter);
- SerialPort.print("mm");
- SerialPort.print(", Signal=");
- SerialPort.print((float)pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0);
- SerialPort.print(" Mcps, Ambient=");
- SerialPort.print((float)pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
- SerialPort.print(" Mcps");
- }
- SerialPort.println("");
- if (status==0)
- {
- status = sensor_vl53lx_sat.VL53LX_ClearInterruptAndStartMeasurement();
- }
- }
-
- digitalWrite(LedPin, LOW);
-}
+/**
+ ******************************************************************************
+ * @file VL53L3CX_Sat_HelloWorld.ino
+ * @author SRA
+ * @version V1.0.0
+ * @date 30 July 2020
+ * @brief Arduino test application for the STMicrolectronics VL53L3CX
+ * proximity sensor satellite based on FlightSense.
+ * This application makes use of C++ classes obtained from the C
+ * components' drivers.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2020 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+/*
+ * To use this sketch you need to connect the VL53L3CX satellite sensor directly to the Nucleo board with wires in this way:
+ * pin 1 (Interrupt) of the VL53L3CX satellite connected to pin A2 of the Nucleo board
+ * pin 2 (SCL_I) of the VL53L3CX satellite connected to pin D15 (SCL) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
+ * pin 3 (XSDN_I) of the VL53L3CX satellite connected to pin A1 of the Nucleo board
+ * pin 4 (SDA_I) of the VL53L3CX satellite connected to pin D14 (SDA) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
+ * pin 5 (VDD) of the VL53L3CX satellite connected to 3V3 pin of the Nucleo board
+ * pin 6 (GND) of the VL53L3CX satellite connected to GND of the Nucleo board
+ * pins 7, 8, 9 and 10 are not connected.
+ */
+/* Includes ------------------------------------------------------------------*/
+#include <Arduino.h>
+#include <Wire.h>
+#include <vl53lx_class.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <assert.h>
+#include <stdlib.h>
+
+#define DEV_I2C Wire
+#define SerialPort Serial
+
+#ifndef LED_BUILTIN
+#define LED_BUILTIN 13
+#endif
+#define LedPin LED_BUILTIN
+
+// Components.
+VL53LX sensor_vl53lx_sat(&DEV_I2C, A1);
+
+
+/* Setup ---------------------------------------------------------------------*/
+
+void setup()
+{
+ // Led.
+ pinMode(LedPin, OUTPUT);
+
+ // Initialize serial for output.
+ SerialPort.begin(115200);
+ SerialPort.println("Starting...");
+
+ // Initialize I2C bus.
+ DEV_I2C.begin();
+
+ // Configure VL53LX satellite component.
+ sensor_vl53lx_sat.begin();
+
+ // Switch off VL53LX satellite component.
+ sensor_vl53lx_sat.VL53LX_Off();
+
+ //Initialize VL53LX satellite component.
+ sensor_vl53lx_sat.InitSensor(0x12);
+
+ // Start Measurements
+ sensor_vl53lx_sat.VL53LX_StartMeasurement();
+}
+
+void loop()
+{
+ VL53LX_MultiRangingData_t MultiRangingData;
+ VL53LX_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
+ uint8_t NewDataReady = 0;
+ int no_of_object_found = 0, j;
+ char report[64];
+ int status;
+
+ do
+ {
+ status = sensor_vl53lx_sat.VL53LX_GetMeasurementDataReady(&NewDataReady);
+ } while (!NewDataReady);
+
+ //Led on
+ digitalWrite(LedPin, HIGH);
+
+ if((!status)&&(NewDataReady!=0))
+ {
+ status = sensor_vl53lx_sat.VL53LX_GetMultiRangingData(pMultiRangingData);
+ no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
+ snprintf(report, sizeof(report), "VL53LX Satellite: Count=%d, #Objs=%1d ", pMultiRangingData->StreamCount, no_of_object_found);
+ SerialPort.print(report);
+ for(j=0;j<no_of_object_found;j++)
+ {
+ if(j!=0)SerialPort.print("\r\n ");
+ SerialPort.print("status=");
+ SerialPort.print(pMultiRangingData->RangeData[j].RangeStatus);
+ SerialPort.print(", D=");
+ SerialPort.print(pMultiRangingData->RangeData[j].RangeMilliMeter);
+ SerialPort.print("mm");
+ SerialPort.print(", Signal=");
+ SerialPort.print((float)pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0);
+ SerialPort.print(" Mcps, Ambient=");
+ SerialPort.print((float)pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
+ SerialPort.print(" Mcps");
+ }
+ SerialPort.println("");
+ if (status==0)
+ {
+ status = sensor_vl53lx_sat.VL53LX_ClearInterruptAndStartMeasurement();
+ }
+ }
+
+ digitalWrite(LedPin, LOW);
+}
diff --git a/Arduino/libraries/STM32duino_VL53L3CX/examples/VL53L3CX_Sat_HelloWorld_Interrupt/VL53L3CX_Sat_HelloWorld_Interrupt.ino b/Arduino/libraries/STM32duino_VL53L3CX/examples/VL53L3CX_Sat_HelloWorld_Interrupt/VL53L3CX_Sat_HelloWorld_Interrupt.ino
index 9c0237d..d4d9350 100644
--- a/Arduino/libraries/STM32duino_VL53L3CX/examples/VL53L3CX_Sat_HelloWorld_Interrupt/VL53L3CX_Sat_HelloWorld_Interrupt.ino
+++ b/Arduino/libraries/STM32duino_VL53L3CX/examples/VL53L3CX_Sat_HelloWorld_Interrupt/VL53L3CX_Sat_HelloWorld_Interrupt.ino
@@ -1,162 +1,162 @@
-/**
- ******************************************************************************
- * @file VL53L3CX_Sat_HelloWorld_Interrupt.ino
- * @author SRA
- * @version V1.0.0
- * @date 30 July 2020
- * @brief Arduino test application for the STMicrolectronics VL53L3CX
- * proximity sensor satellite based on FlightSense.
- * This application makes use of C++ classes obtained from the C
- * components' drivers.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2020 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
-//On some boards like the Arduino Uno the pin used by the sensor to raise interrupts (A2)
-//can't be mapped as an interrupt pin. For this this reason this sketch will not work
-//unless some additional cabling is done and the interrupt pin is changed.
-/*
- * To use this sketch you need to connect the VL53L3CX satellite sensor directly to the Nucleo board with wires in this way:
- * pin 1 (Interrupt) of the VL53L3CX satellite connected to pin A2 of the Nucleo board
- * pin 2 (SCL_I) of the VL53L3CX satellite connected to pin D15 (SCL) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
- * pin 3 (XSDN_I) of the VL53L3CX satellite connected to pin A1 of the Nucleo board
- * pin 4 (SDA_I) of the VL53L3CX satellite connected to pin D14 (SDA) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
- * pin 5 (VDD) of the VL53L3CX satellite connected to 3V3 pin of the Nucleo board
- * pin 6 (GND) of the VL53L3CX satellite connected to GND of the Nucleo board
- * pins 7, 8, 9 and 10 are not connected.
- */
-/* Includes ------------------------------------------------------------------*/
-#include <Arduino.h>
-#include <Wire.h>
-#include <vl53lx_class.h>
-#include <string.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <stdint.h>
-#include <assert.h>
-#include <stdlib.h>
-
-#define DEV_I2C Wire
-#define SerialPort Serial
-
-#ifndef LED_BUILTIN
-#define LED_BUILTIN 13
-#endif
-#define LedPin LED_BUILTIN
-
-#define interruptPin A2
-
-// Components.
-VL53LX sensor_vl53lx_sat(&DEV_I2C, A1);
-
-volatile int interruptCount=0;
-
-void measure()
-{
- interruptCount=1;
-}
-
-void setup()
-{
- VL53LX_Error status;
- // Led.
- pinMode(LedPin, OUTPUT);
- pinMode(interruptPin, INPUT_PULLUP);
- attachInterrupt(interruptPin, measure, FALLING);
-
- // Initialize serial for output.
- SerialPort.begin(115200);
- SerialPort.println("Starting...");
-
- // Initialize I2C bus.
- DEV_I2C.begin();
-
- // Configure VL53LX satellite component.
- sensor_vl53lx_sat.begin();
-
- // Switch off VL53LX satellite component.
- sensor_vl53lx_sat.VL53LX_Off();
-
- // Initialize VL53LX satellite component.
- status = sensor_vl53lx_sat.InitSensor(0x12);
- if(status)
- {
- SerialPort.println("Init sensor_vl53lx_sat failed...");
- }
-
- sensor_vl53lx_sat.VL53LX_StartMeasurement();
-}
-
-void loop()
-{
- VL53LX_MultiRangingData_t MultiRangingData;
- VL53LX_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
- uint8_t NewDataReady = 0;
- int no_of_object_found = 0, j;
- char report[64];
- if (interruptCount)
- {
- int status;
-
- interruptCount=0;
- // Led blinking.
- digitalWrite(LedPin, HIGH);
-
- status = sensor_vl53lx_sat.VL53LX_GetMeasurementDataReady(&NewDataReady);
- if((!status)&&(NewDataReady!=0))
- {
- status = sensor_vl53lx_sat.VL53LX_GetMultiRangingData(pMultiRangingData);
- no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
- snprintf(report, sizeof(report), "Count=%d, #Objs=%1d ", pMultiRangingData->StreamCount, no_of_object_found);
- SerialPort.print(report);
- for(j=0;j<no_of_object_found;j++)
- {
- if(j!=0)SerialPort.print("\r\n ");
- SerialPort.print("status=");
- SerialPort.print(pMultiRangingData->RangeData[j].RangeStatus);
- SerialPort.print(", D=");
- SerialPort.print(pMultiRangingData->RangeData[j].RangeMilliMeter);
- SerialPort.print("mm");
- SerialPort.print(", Signal=");
- SerialPort.print((float)pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0);
- SerialPort.print(" Mcps, Ambient=");
- SerialPort.print((float)pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
- SerialPort.print(" Mcps");
- }
- SerialPort.println("");
- if (status==0)
- {
- status = sensor_vl53lx_sat.VL53LX_ClearInterruptAndStartMeasurement();
- }
- }
-
- digitalWrite(LedPin, LOW);
- }
-}
+/**
+ ******************************************************************************
+ * @file VL53L3CX_Sat_HelloWorld_Interrupt.ino
+ * @author SRA
+ * @version V1.0.0
+ * @date 30 July 2020
+ * @brief Arduino test application for the STMicrolectronics VL53L3CX
+ * proximity sensor satellite based on FlightSense.
+ * This application makes use of C++ classes obtained from the C
+ * components' drivers.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2020 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+//On some boards like the Arduino Uno the pin used by the sensor to raise interrupts (A2)
+//can't be mapped as an interrupt pin. For this this reason this sketch will not work
+//unless some additional cabling is done and the interrupt pin is changed.
+/*
+ * To use this sketch you need to connect the VL53L3CX satellite sensor directly to the Nucleo board with wires in this way:
+ * pin 1 (Interrupt) of the VL53L3CX satellite connected to pin A2 of the Nucleo board
+ * pin 2 (SCL_I) of the VL53L3CX satellite connected to pin D15 (SCL) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
+ * pin 3 (XSDN_I) of the VL53L3CX satellite connected to pin A1 of the Nucleo board
+ * pin 4 (SDA_I) of the VL53L3CX satellite connected to pin D14 (SDA) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
+ * pin 5 (VDD) of the VL53L3CX satellite connected to 3V3 pin of the Nucleo board
+ * pin 6 (GND) of the VL53L3CX satellite connected to GND of the Nucleo board
+ * pins 7, 8, 9 and 10 are not connected.
+ */
+/* Includes ------------------------------------------------------------------*/
+#include <Arduino.h>
+#include <Wire.h>
+#include <vl53lx_class.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <assert.h>
+#include <stdlib.h>
+
+#define DEV_I2C Wire
+#define SerialPort Serial
+
+#ifndef LED_BUILTIN
+#define LED_BUILTIN 13
+#endif
+#define LedPin LED_BUILTIN
+
+#define interruptPin A2
+
+// Components.
+VL53LX sensor_vl53lx_sat(&DEV_I2C, A1);
+
+volatile int interruptCount=0;
+
+void measure()
+{
+ interruptCount=1;
+}
+
+void setup()
+{
+ VL53LX_Error status;
+ // Led.
+ pinMode(LedPin, OUTPUT);
+ pinMode(interruptPin, INPUT_PULLUP);
+ attachInterrupt(interruptPin, measure, FALLING);
+
+ // Initialize serial for output.
+ SerialPort.begin(115200);
+ SerialPort.println("Starting...");
+
+ // Initialize I2C bus.
+ DEV_I2C.begin();
+
+ // Configure VL53LX satellite component.
+ sensor_vl53lx_sat.begin();
+
+ // Switch off VL53LX satellite component.
+ sensor_vl53lx_sat.VL53LX_Off();
+
+ // Initialize VL53LX satellite component.
+ status = sensor_vl53lx_sat.InitSensor(0x12);
+ if(status)
+ {
+ SerialPort.println("Init sensor_vl53lx_sat failed...");
+ }
+
+ sensor_vl53lx_sat.VL53LX_StartMeasurement();
+}
+
+void loop()
+{
+ VL53LX_MultiRangingData_t MultiRangingData;
+ VL53LX_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
+ uint8_t NewDataReady = 0;
+ int no_of_object_found = 0, j;
+ char report[64];
+ if (interruptCount)
+ {
+ int status;
+
+ interruptCount=0;
+ // Led blinking.
+ digitalWrite(LedPin, HIGH);
+
+ status = sensor_vl53lx_sat.VL53LX_GetMeasurementDataReady(&NewDataReady);
+ if((!status)&&(NewDataReady!=0))
+ {
+ status = sensor_vl53lx_sat.VL53LX_GetMultiRangingData(pMultiRangingData);
+ no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
+ snprintf(report, sizeof(report), "Count=%d, #Objs=%1d ", pMultiRangingData->StreamCount, no_of_object_found);
+ SerialPort.print(report);
+ for(j=0;j<no_of_object_found;j++)
+ {
+ if(j!=0)SerialPort.print("\r\n ");
+ SerialPort.print("status=");
+ SerialPort.print(pMultiRangingData->RangeData[j].RangeStatus);
+ SerialPort.print(", D=");
+ SerialPort.print(pMultiRangingData->RangeData[j].RangeMilliMeter);
+ SerialPort.print("mm");
+ SerialPort.print(", Signal=");
+ SerialPort.print((float)pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0);
+ SerialPort.print(" Mcps, Ambient=");
+ SerialPort.print((float)pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
+ SerialPort.print(" Mcps");
+ }
+ SerialPort.println("");
+ if (status==0)
+ {
+ status = sensor_vl53lx_sat.VL53LX_ClearInterruptAndStartMeasurement();
+ }
+ }
+
+ digitalWrite(LedPin, LOW);
+ }
+}
diff --git a/Praxiprojekt_Bericht/Bibliothek.bib b/Praxiprojekt_Bericht/Bibliothek.bib
new file mode 100644
index 0000000..15f8f98
--- /dev/null
+++ b/Praxiprojekt_Bericht/Bibliothek.bib
@@ -0,0 +1,201 @@
+
+@software{noauthor_universalrobotsuniversal_robots_ros2_gazebo_simulation_2025,
+ title = {{UniversalRobots}/Universal\_Robots\_ROS2\_Gazebo\_Simulation},
+ rights = {{BSD}-3-Clause},
+ url = {https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation},
+ publisher = {Universal Robots A/S},
+ urldate = {2025-02-17},
+ date = {2025-02-13},
+ note = {original-date: 2021-12-15T12:18:45Z},
+}
+
+@article{haddadin_robot_2017,
+ title = {Robot Collisions: A Survey on Detection, Isolation, and Identification},
+ volume = {33},
+ issn = {1941-0468},
+ url = {https://ieeexplore.ieee.org/abstract/document/8059840},
+ doi = {10.1109/TRO.2017.2723903},
+ shorttitle = {Robot Collisions},
+ abstract = {Robot assistants and professional coworkers are becoming a commodity in domestic and industrial settings. In order to enable robots to share their workspace with humans and physically interact with them, fast and reliable handling of possible collisions on the entire robot structure is needed, along with control strategies for safe robot reaction. The primary motivation is the prevention or limitation of possible human injury due to physical contacts. In this survey paper, based on our early work on the subject, we review, extend, compare, and evaluate experimentally model-based algorithms for real-time collision detection, isolation, and identification that use only proprioceptive sensors. This covers the context-independent phases of the collision event pipeline for robots interacting with the environment, as in physical human–robot interaction or manipulation tasks. The problem is addressed for rigid robots first and then extended to the presence of joint/transmission flexibility. The basic physically motivated solution has already been applied to numerous robotic systems worldwide, ranging from manipulators and humanoids to flying robots, and even to commercial products.},
+ pages = {1292--1312},
+ number = {6},
+ journaltitle = {{IEEE} Transactions on Robotics},
+ author = {Haddadin, Sami and De Luca, Alessandro and Albu-Schäffer, Alin},
+ urldate = {2025-02-12},
+ date = {2017-12},
+ note = {Conference Name: {IEEE} Transactions on Robotics},
+ keywords = {Algorithm design and analysis, Collision avoidance, Collision detection, collision identification, collision isolation, Drones, flexible joint manipulators, human-friendly robotics, Human-robot interaction, physical human–robot interaction ({pHRI}), Real-time systems, Robot sensing systems, safe robotics, Service robots},
+ file = {Accepted Version:C\:\\Users\\Rene\\Zotero\\storage\\IEXJFAMF\\Haddadin et al. - 2017 - Robot Collisions A Survey on Detection, Isolation, and Identification.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\Rene\\Zotero\\storage\\LDB3Q92K\\8059840.html:text/html},
+}
+
+@book{hertzberg_mobile_2012,
+ location = {Berlin, Heidelberg},
+ title = {Mobile Roboter: Eine Einführung aus Sicht der Informatik},
+ rights = {https://www.springernature.com/gp/researchers/text-and-data-mining},
+ isbn = {978-3-642-01725-4 978-3-642-01726-1},
+ url = {https://link.springer.com/10.1007/978-3-642-01726-1},
+ series = {{eXamen}.press},
+ shorttitle = {Mobile Roboter},
+ publisher = {Springer Berlin Heidelberg},
+ author = {Hertzberg, Joachim and Lingemann, Kai and Nüchter, Andreas},
+ urldate = {2025-02-12},
+ date = {2012},
+ langid = {german},
+ doi = {10.1007/978-3-642-01726-1},
+ file = {PDF:C\:\\Users\\Rene\\Zotero\\storage\\RLTU9P46\\Hertzberg et al. - 2012 - Mobile Roboter Eine Einführung aus Sicht der Informatik.pdf:application/pdf},
+}
+
+@collection{hering_sensoren_2018,
+ location = {Wiesbaden},
+ title = {Sensoren in Wissenschaft und Technik},
+ rights = {http://www.springer.com/tdm},
+ isbn = {978-3-658-12561-5 978-3-658-12562-2},
+ url = {http://link.springer.com/10.1007/978-3-658-12562-2},
+ publisher = {Springer Fachmedien Wiesbaden},
+ editor = {Hering, Ekbert and Schönfelder, Gert},
+ urldate = {2025-02-12},
+ date = {2018},
+ langid = {german},
+ doi = {10.1007/978-3-658-12562-2},
+ file = {PDF:C\:\\Users\\Rene\\Zotero\\storage\\9TI57WXD\\Hering and Schönfelder - 2018 - Sensoren in Wissenschaft und Technik.pdf:application/pdf},
+}
+
+@article{saudabayev_sensors_2015,
+ title = {Sensors for Robotic Hands: A Survey of State of the Art},
+ volume = {3},
+ issn = {2169-3536},
+ url = {https://ieeexplore.ieee.org/document/7283549/?arnumber=7283549},
+ doi = {10.1109/ACCESS.2015.2482543},
+ shorttitle = {Sensors for Robotic Hands},
+ abstract = {Recent decades have seen significant progress in the field of artificial hands. Most of the surveys, which try to capture the latest developments in this field, focused on actuation and control systems of these devices. In this paper, our goal is to provide a comprehensive survey of the sensors for artificial hands. In order to present the evolution of the field, we cover five year periods starting at the turn of the millennium. At each period, we present the robot hands with a focus on their sensor systems dividing them into categories, such as prosthetics, research devices, and industrial end-effectors. We also cover the sensors developed for robot hand usage in each era. Finally, the period between 2010 and 2015 introduces the reader to the state of the art and also hints to the future directions in the sensor development for artificial hands.},
+ pages = {1765--1782},
+ journaltitle = {{IEEE} Access},
+ author = {Saudabayev, Artur and Varol, Huseyin Atakan},
+ urldate = {2025-02-12},
+ date = {2015},
+ note = {Conference Name: {IEEE} Access},
+ keywords = {Robot sensing systems, Artificial hands, Hands, industrial robotics, prosthetics, Prosthetics, review, robot end effectors, robot sensing, robotic hands, Robots, sensors, Sensors},
+ file = {Full Text PDF:C\:\\Users\\Rene\\Zotero\\storage\\HR7ZUF8W\\Saudabayev and Varol - 2015 - Sensors for Robotic Hands A Survey of State of the Art.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\Rene\\Zotero\\storage\\484D4R7H\\7283549.html:text/html},
+}
+
+@article{paya_state---art_2017,
+ title = {A State-of-the-Art Review on Mapping and Localization of Mobile Robots Using Omnidirectional Vision Sensors},
+ volume = {2017},
+ rights = {Copyright © 2017 L. Payá et al.},
+ issn = {1687-7268},
+ url = {https://onlinelibrary.wiley.com/doi/abs/10.1155/2017/3497650},
+ doi = {10.1155/2017/3497650},
+ abstract = {Nowadays, the field of mobile robotics is experiencing a quick evolution, and a variety of autonomous vehicles is available to solve different tasks. The advances in computer vision have led to a substantial increase in the use of cameras as the main sensors in mobile robots. They can be used as the only source of information or in combination with other sensors such as odometry or laser. Among vision systems, omnidirectional sensors stand out due to the richness of the information they provide the robot with, and an increasing number of works about them have been published over the last few years, leading to a wide variety of frameworks. In this review, some of the most important works are analysed. One of the key problems the scientific community is addressing currently is the improvement of the autonomy of mobile robots. To this end, building robust models of the environment and solving the localization and navigation problems are three important abilities that any mobile robot must have. Taking it into account, the review concentrates on these problems; how researchers have addressed them by means of omnidirectional vision; the main frameworks they have proposed; and how they have evolved in recent years.},
+ pages = {3497650},
+ number = {1},
+ journaltitle = {Journal of Sensors},
+ author = {Payá, L. and Gil, A. and Reinoso, O.},
+ urldate = {2025-02-12},
+ date = {2017},
+ langid = {english},
+ note = {\_eprint: https://onlinelibrary.wiley.com/doi/pdf/10.1155/2017/3497650},
+ file = {Full Text PDF:C\:\\Users\\Rene\\Zotero\\storage\\EZ473NGD\\Payá et al. - 2017 - A State-of-the-Art Review on Mapping and Localization of Mobile Robots Using Omnidirectional Vision.pdf:application/pdf;Snapshot:C\:\\Users\\Rene\\Zotero\\storage\\86LDAQ62\\3497650.html:text/html},
+}
+
+@online{noauthor_vl53l7cx_nodate,
+ title = {{VL}53L7CX - Time-of-Flight ({ToF}) 8x8 multizone ranging sensor with 90 degrees {FoV} - {STMicroelectronics}},
+ url = {https://www.st.com/en/imaging-and-photonics-solutions/vl53l7cx.html},
+ abstract = {{VL}53L7CX - Time-of-Flight ({ToF}) 8x8 multizone ranging sensor with 90 degrees {FoV}, {VL}53L7CXV0GC/1, {STMicroelectronics}},
+ urldate = {2025-02-12},
+ langid = {english},
+ file = {Snapshot:C\:\\Users\\Rene\\Zotero\\storage\\VEYLCCLA\\vl53l7cx.html:text/html},
+}
+
+@online{noauthor_pico-series_nodate,
+ title = {Pico-series Microcontrollers - Raspberry Pi Documentation},
+ url = {https://www.raspberrypi.com/documentation/microcontrollers/pico-series.html},
+ abstract = {The official documentation for Raspberry Pi computers and microcontrollers},
+ urldate = {2025-02-12},
+ langid = {english},
+ file = {Snapshot:C\:\\Users\\Rene\\Zotero\\storage\\KUCB8PVI\\pico-series.html:text/html},
+}
+
+@online{noauthor_chatgpt_nodate,
+ title = {{ChatGPT}},
+ url = {https://chatgpt.com},
+ abstract = {A conversational {AI} system that listens, learns, and challenges},
+ urldate = {2025-02-12},
+ file = {Snapshot:C\:\\Users\\Rene\\Zotero\\storage\\ZT8MG8Y4\\678e85c2-fd98-800d-908f-de95b27f0abf.html:text/html},
+}
+
+@software{iii_earlephilhowerarduino-pico_2025,
+ title = {earlephilhower/arduino-pico},
+ rights = {{LGPL}-2.1},
+ url = {https://github.com/earlephilhower/arduino-pico},
+ abstract = {Raspberry Pi Pico Arduino core, for all {RP}2040 and {RP}2350 boards},
+ author = {{III}, Earle F. Philhower},
+ urldate = {2025-02-12},
+ date = {2025-02-11},
+ note = {original-date: 2021-02-25T04:20:27Z},
+ keywords = {a2dp, arduino, arduino-pico, ble, bluetooth, freertos, pi, pico, pico2, picow, raspberry, raspberry-pi, risc-v, riscv, rp2040, rp2350, smp, wifi},
+}
+
+@online{noauthor_tutorials_nodate,
+ title = {Tutorials — {ROS} 2 Documentation: Humble documentation},
+ url = {https://docs.ros.org/en/humble/Tutorials.html},
+ urldate = {2025-02-12},
+ file = {Tutorials — ROS 2 Documentation\: Humble documentation:C\:\\Users\\Rene\\Zotero\\storage\\28S5GUZ5\\Tutorials.html:text/html},
+}
+
+@online{noauthor_examples_nodate,
+ title = {Examples - trimesh 4.6.2 documentation},
+ url = {https://trimesh.org/examples.html},
+ urldate = {2025-02-12},
+ file = {Examples - trimesh 4.6.2 documentation:C\:\\Users\\Rene\\Zotero\\storage\\82WA6KM7\\examples.html:text/html},
+}
+
+@software{grans_sebastiangransros2-point-cloud-demo_2024,
+ title = {{SebastianGrans}/{ROS}2-Point-Cloud-Demo},
+ rights = {{MIT}},
+ url = {https://github.com/SebastianGrans/ROS2-Point-Cloud-Demo},
+ abstract = {Demo package for {ROS}2 that publishes a point cloud and visualizes it using {RViz}2},
+ author = {Grans, Sebastian},
+ urldate = {2025-02-12},
+ date = {2024-12-08},
+ note = {original-date: 2020-06-30T16:55:21Z},
+}
+
+@article{wunderlich_rasante_2013,
+ title = {Rasante Entwicklung in der 3D‐Bildgebung: Weiterentwickelte Time‐of‐Flight‐Technologie verbessert miniaturisierte 3D‐Kameras und Sensoren},
+ volume = {8},
+ rights = {http://onlinelibrary.wiley.com/{termsAndConditions}\#vor},
+ issn = {1863-1460, 2191-1975},
+ url = {https://onlinelibrary.wiley.com/doi/10.1002/opph.201300018},
+ doi = {10.1002/opph.201300018},
+ shorttitle = {Rasante Entwicklung in der 3D‐Bildgebung},
+ abstract = {Abstract
+ Optoelektrische Sensoren, die eine dreidimensionale Bildinformation auswerten können, eröffnen nicht nur der Mensch‐Maschinen‐Interaktion durch Gestensteuerung völlig neue Anwendungsmöglichkeiten. Auch für die Industrie erweitert sich durch diese Technologie die Prozessüberwachung und Steuerung sprichwörtlich um eine neue Dimension.},
+ pages = {38--40},
+ number = {3},
+ journaltitle = {Optik \& Photonik},
+ shortjournal = {Optik \& Photonik},
+ author = {Wunderlich, Max},
+ urldate = {2025-02-18},
+ date = {2013-09},
+ langid = {german},
+ file = {Optik Photonik - 2013 - Wunderlich - Rasante Entwicklung in der 3D‐Bildgebung:C\:\\Users\\Rene\\Zotero\\storage\\H7CSUHLW\\Optik Photonik - 2013 - Wunderlich - Rasante Entwicklung in der 3D‐Bildgebung.pdf:application/pdf},
+}
+
+@article{li_common_2019,
+ title = {Common Sensors in Industrial Robots: A Review},
+ volume = {1267},
+ issn = {1742-6588, 1742-6596},
+ url = {https://iopscience.iop.org/article/10.1088/1742-6596/1267/1/012036},
+ doi = {10.1088/1742-6596/1267/1/012036},
+ shorttitle = {Common Sensors in Industrial Robots},
+ abstract = {The application of industrial robots has greatly promoted the development of industry in the past decades. Now with the proposal and prevalence of Industry 4.0, industrial robots are required to be more independent and intelligent to accomplish more complex and flexible tasks. The advancement of industrial robots relies on the development and progress of multiple technologies, among which sensors are the indispensable part. They can acquire abundant information to help industrial robots implement their functions. This paper reviews the recent literatures and gives a summary and introduction of the commonly used sensors in industrial robots. Additionally, the applications of these sensors in diverse functions of industrial robots are also presented. Finally, the developing direction and challenges of industrial robots in the future are discussed in the last part of this article.},
+ pages = {012036},
+ number = {1},
+ journaltitle = {Journal of Physics: Conference Series},
+ shortjournal = {J. Phys.: Conf. Ser.},
+ author = {Li, Peng and Liu, Xiangpeng},
+ urldate = {2025-02-18},
+ date = {2019-07-01},
+ langid = {english},
+ file = {PDF:C\:\\Users\\Rene\\Zotero\\storage\\UVXS2R7J\\Li und Liu - 2019 - Common Sensors in Industrial Robots A Review.pdf:application/pdf},
+}
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+\bibitem[1]{hering_sensoren_2018}
+\textsc{Hering}, Ekbert (Hrsg.) ; \textsc{Schönfelder}, Gert (Hrsg.):
+\newblock \emph{Sensoren in Wissenschaft und Technik}.
+\newblock \url{http://dx.doi.org/10.1007/978-3-658-12562-2}
+
+\bibitem[2]{noauthor_vl53l7cx_nodate}
+\emph{{VL}53L7CX - Time-of-Flight ({ToF}) 8x8 multizone ranging sensor with 90
+ degrees {FoV} - {STMicroelectronics}}.
+\newblock
+ \url{https://www.st.com/en/imaging-and-photonics-solutions/vl53l7cx.html}
+
+\bibitem[3]{li_common_2019}
+\textsc{Li}, Peng ; \textsc{Liu}, Xiangpeng:
+\newblock Common Sensors in Industrial Robots: A Review.
+\newblock 1267, Nr. 1, 012036.
+\newblock \url{http://dx.doi.org/10.1088/1742-6596/1267/1/012036}. --
+\newblock DOI 10.1088/1742--6596/1267/1/012036. --
+\newblock ISSN 1742--6588, 1742--6596
+
+\end{thebibliography}
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diff --git a/Praxiprojekt_Bericht/main.tex b/Praxiprojekt_Bericht/main.tex
index 1a64ccd..e56a527 100644
--- a/Praxiprojekt_Bericht/main.tex
+++ b/Praxiprojekt_Bericht/main.tex
@@ -2,13 +2,25 @@
\usepackage[margin=1in]{geometry}
\usepackage{fix-cm}
\usepackage{graphicx}
-\usepackage[intoc]{nomencl}
-\makenomenclature
+\usepackage[utf8]{inputenc}
+\usepackage[ngerman]{babel}
+\usepackage[acronym]{glossaries}
\newacronym{UR}{UR}{Universal Robots}
\newacronym{Cobot}{Cobot}{kollaborativer Roboter}
\newacronym{PC}{PC}{persönlicher Computer}
\newacronym{ToF}{ToF-Sensor}{Time-of-Flight-Sensor}
+\newacronym{ToFs}{ToF-Sensoren}{Time-of-Flight-Sensoren}
+\newacronym{Cobots}{Cobot's}{kollaborativen Robotern}
+
+\title{Praxisprojekt Bericht
+ {\large \\Mechatronische Entwicklung eines intrinsischen Time-of-Flight-Sensorsystems zur Kollisionsvermeidung in der Robotik}}
+\author{René Ebeling}
+\date{\today}
+\linespread{1.25} % Zeilenabstand nach Vorgabe
+\begin{document}
+\bibliographystyle{plaindin}
+\maketitle
\newpage
\begin{abstract}
% Zielsetzung und Kontext:
@@ -16,42 +28,43 @@
In diesem Bericht werde ich meine Vorgehensweise zur Entwicklung eines mechatronischen Systems
zur Kollisionsvermeidung beschreiben und seine Funktionsweise erläutern.
% Warum wurde das Thema gewählt?
- \\ \indent Aktuell werden Kollisionen von \acp{Cobot} häufig mithilfe von intrinsischen Sensoren detektiert, jedoch nicht vermieden.
+ \\ \indent Aktuell werden Kollisionen von \acrfull{Cobots} häufig mithilfe von intrinsischen Sensoren detektiert, jedoch nicht vermieden.
% Was ist das Ziel des Berichts?
\\ \indent Das Ziel des Sensorsystems ist es, ergänzend zur Kollisionsdetektion, die meisten Kollisionen zu vermeiden.
- Das Vermeiden von Kollisionen ermöglicht es dem \ac{Cobot}, nach einer vermiedenen Kollision eine neue Route zu planen und auszuführen,
+ Das Vermeiden von Kollisionen ermöglicht es dem \acrshort{Cobot}, nach einer vermiedenen Kollision eine neue Route zu planen und auszuführen,
um seine Aufgabe trotz der beinahe Kollision zu erfüllen.
% Welche Methoden oder Ansätze wurden verwendet, um die Ziele zu erreichen oder die Forschung durchzuführen?
- \\ \indent Das System verwendet \acp{ToF} von STMicroelectronics zur Abstandsmessung von potentiellen Kollisionsobjekten.
- Die Messwerte werden auf einem Linux-basierten persönlichen Computer (\acs{PC}) ausgewertet, visualisiert und zusammen mit anderen Sensorinputs interpretiert.
- Zur Testung des Systems habe ich den Sensorinput der Encodern des \ac{UR} in Gazebo Classic simuliert und die Messwerte der \acp{ToF} in einem Testaufbau generiert.
+ \\ \indent Das System verwendet \acrfull{ToFs} von STMicroelectronics zur Abstandsmessung von potentiellen Kollisionsobjekten.
+ Die Messwerte werden auf einem Linux-basierten persönlichen Computer (\acrshort{PC}) ausgewertet, visualisiert und zusammen mit anderen Sensorinputs interpretiert.
+ Zur Testung des Systems habe ich den Sensorinput der Encodern des \acrfull{UR} in Gazebo Classic simuliert und die Messwerte der \acrshort{ToFs} in einem Testaufbau generiert.
% Welche Schlussfolgerungen wurden basierend auf den Ergebnissen gezogen?
- \\ \indent \ac{ToF} eignen sich sehr gut zur Überwachung des Arbeitsraums eines Roboters,
+ \\ \indent \acrshort{ToFs} eignen sich sehr gut zur Überwachung des Arbeitsraums eines Roboters,
da sie präzise genug sind um Entfernungsdaten zu liefern und so die Kollisionsvermeidung durch das erkennen von Objekten im Arbeitsraum ermöglichen können.
% Welche Bedeutung haben sie für das Thema oder für die Praxis?
- \\ \indent Durch die Kollisionsvermeidung kan ein \ac{Cobot} autonomer arbeiten und so die Effizienz und Sicherheit in der Produktion erhöhen.
+ \\ \indent Durch die Kollisionsvermeidung kan ein \acrshort{Cobot} autonomer arbeiten und so die Effizienz und Sicherheit in der Produktion erhöhen.
\end{abstract}
\newpage
\tableofcontents
\newpage
-\section{Introduction}
-\subsection{Der Sensor}
-Es handelt sich um einen \ac{id} von STMicroelectronics.
-\subsection{Aufbau}
-\subsection{Die Hardware}
-\subsection{Die Software}
+
+\section{Motivation}
+ %Allgemeiner Überblick über das Thema
+ Ich habe im Rahmen meines Praxisprojekts ein System entwickelt, welches zum Ziel hatte eine extrinsische Sensorüberwachung des Arbeitsraums von einem \acrshort{UR} zu realisieren.
+ Mit dem Sensorinput kann man die Umgebung des Roboters überwachen und gegebenenfalls auf veränderte Umstände reagieren. Am meisten Anwendung hätte das System in Bereichen in denen es schwierig ist Routinen zu schaffen. Wie zum Beispiel bei der Kollaboration mit Menschen oder bei der Zusammenarbeit mit anderen Robotern.
+ Der Vorteil, den die extrinsische Sensorik mit sich bringt, ist das man nicht mehr auf die Detektion von Kollisionen beschränkt ist und auf unterschiedliche Arten präventiv eine Kollision verhindern kann.
+ \\
+ %Spezifizierung des Themas
+ \indent In der Robotik werden unterschiedliche Arten von Sensoren verwendet um \acrshort{Cobots} sicherer zu machen. Im Groben unterscheidet man zwischen intrinsischen und extrinsischen Sensoren. Die intrinsischen Sensoren betrachten nur, was innerhalb eines Roboters gemessen werden kann. Das wäre zum Beispiel die Position der Gelenke, die vom Drehgeber gemessen wird oder das Drehmoment, das vom Drehmoment-Wächter in den Gelenken gemessen wird. Mit Hilfe der gemessenen Drehmomente wird häufig bestimmt, ob es zu einer Kollision mit umliegenden Objekten gekommen sein könnte. Die Extrinsischen Sensoren betrachten die Umgebung des Roboters und liefern Informationen zu möglichen Kollisionsobjekten oder auch zu Objekten die mit dem Endeffektor des Roboters gegriffen werden sollen.
+ Beispiele für extrinsische Sensoren wären unterschiedliche Arten von Kameras, Laserscanner (\acrshort{ToFs}) oder Ultraschallsensoren.\cite{li_common_2019}
+ \\
+ %Kern der Arbeit
+ \indent In meinem
+ Ich habe für die Erkennung von potentiellen Kollisionsobjekten in Reichweite der seriellen Kinematik vom \acrshort{UR} \acrshort{ToF} von STMicroelectronics verwenden.\cite{noauthor_vl53l7cx_nodate}
+ Die \acrshort{ToF} senden einen Lichtimpuls aus und messen wie lange das Infrarot-Licht braucht um wieder vom Empfänger wahrgenommen zu werden.\cite{hering_sensoren_2018}
+\newpage
\section{Stand der Technik}
-\subsection{Intrinsich}
-\subsection{Extrinsisch}
-\begin{enumerate}
- \item $E=m*c2$
- \item you
- \item he
- \item she
- \item it
-\end{enumerate}
-First document. This is a \underline{\textbf{simple}} example with no
-extra parameters or packages. \\ included. I want to include parameters. The \underline{tutorial} is too slow for my attention span. Test
+ \subsection{Laserscanner}
+ \subsection{Software}
\newpage
-\printnomenclature
+\bibliography{Bibliothek}
\end{document}
diff --git a/Praxiprojekt_Bericht/main.toc b/Praxiprojekt_Bericht/main.toc
new file mode 100644
index 0000000..52786e4
--- /dev/null
+++ b/Praxiprojekt_Bericht/main.toc
@@ -0,0 +1,5 @@
+\babel@toc {ngerman}{}\relax
+\contentsline {section}{\numberline {1}Motivation}{4}{}%
+\contentsline {section}{\numberline {2}Stand der Technik}{5}{}%
+\contentsline {subsection}{\numberline {2.1}Laserscanner}{5}{}%
+\contentsline {subsection}{\numberline {2.2}Software}{5}{}%
diff --git a/Safeback/MeshLab2023.12-linux.AppImage b/Safeback/MeshLab2023.12-linux.AppImage
old mode 100755
new mode 100644
diff --git a/workspaces/COLCON_WS/src/Universal_Robots_ROS2_Gazebo_Simulation b/workspaces/COLCON_WS/src/Universal_Robots_ROS2_Gazebo_Simulation
deleted file mode 160000
index b916bfb..0000000
--- a/workspaces/COLCON_WS/src/Universal_Robots_ROS2_Gazebo_Simulation
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit b916bfb77020680a3b58903a832d007d7eee140b
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--
GitLab