Stripped code

MicrocontrollerCode/include/microRosFunctions.h

@@ -8,7 +8,6 @@
 #include <Arduino.h>
 #include "JoystickFunctions.h"
 #include "UltrasonicFunctions.h"
-#include "PIRFunctions.h"
 #include "FanFunctions.h"
 #include "IMUFunctions.h"
 
@@ -20,19 +19,17 @@
  * @param sensorTopicName The name of the topic
  * @param fingerprintTopicName
  */
-boolean microRosSetup(unsigned int timerValue, const char *nodeName, const char *sensorTopicName, const char *fingerprintTopicName);
+boolean microRosSetup(unsigned int timerValue, const char *nodeName, const char *sensorTopicName);
 
 bool create_entities();
 
 void destroy_entities();
 
 void microRosTick();
 
-void transmitMsg(RefDisplacement thetaRef, RefSpeed omegaRef, USData ultrasonicData, PIRSensors pirSensors, FanSpeeds fanSpeeds, IMUData imuData);
+void transmitMsg(RefDisplacement thetaRef, RefSpeed omegaRef, USData ultrasonicData, FanSpeeds fanSpeeds, IMUData imuData);
 
-void publishFingerprint(uint8_t fingerprintID);
-
-void publishError(bool joystick_adc_error, bool ultrasonic_adc_error, bool fingerprint_error, bool imu_error);
+void publishError(bool joystick_adc_error, bool ultrasonic_adc_error, bool imu_error);
 
 static void fan_subscription_callback(const void *msgin);
 
@@ -53,7 +50,7 @@ boolean microRosSetup(unsigned int timerValue, const char *nodeName, const char
  * Transmits the message over ROS
  * @param omegaRef The referenceSpeed struct to transmit
  */
-void transmitMsg(RefSpeed omegaRef);
+void transmitMsg(RefDisplacement thetaRef, RefSpeed omegaRef);
 #endif
 
 void checkConnection();

MicrocontrollerCode/src/JoystickFunctions.cpp

@@ -12,7 +12,7 @@ int deadzoneParam = 30;
 RefDisplacement joystickToDisplacement(Adafruit_ADS1115 &adc){
     int forwardJoystick = adc.readADC_SingleEnded(0); //a0 is forward/backward
     int sidewaysJoystick = adc.readADC_SingleEnded(1); //a1 is left/right
-
+    Serial.println("Joystick longitudinal displacement: " + String(forwardJoystick) + " latitudinal displacement: " + String(sidewaysJoystick));
     RefDisplacement displacements;
     /*
      * Joystick middle values: ~8500