Cleanup/prettify examlples

examples/Braccio_Basic/Braccio_Basic.ino

@@ -0,0 +1,88 @@
+/*
+ * @brief Activating the "MOVE" button by pressing
+ * the joystick enables a waving motion of the arm.
+ */
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <Braccio++.h>
+
+/**************************************************************************************
+ * GLOBAL CONSTANTS
+ **************************************************************************************/
+
+float const home_position[6] = {SmartServoClass::MAX_ANGLE / 2.0f,
+                                SmartServoClass::MAX_ANGLE / 2.0f,
+                                SmartServoClass::MAX_ANGLE / 2.0f,
+                                SmartServoClass::MAX_ANGLE / 2.0f,
+                                SmartServoClass::MAX_ANGLE / 2.0f,
+                                90.0f};
+static const char * btnm_map[] = {"Move", "\0"};
+
+/**************************************************************************************
+ * GLOBAL VARIABLES
+ **************************************************************************************/
+
+bool move_joint = false;
+
+/**************************************************************************************
+ * FUNCTIONS
+ **************************************************************************************/
+
+static void event_handler(lv_event_t * e)
+{
+  lv_event_code_t code = lv_event_get_code(e);
+  lv_obj_t * obj = lv_event_get_target(e);
+  if (code == LV_EVENT_CLICKED)
+  {
+    uint32_t id = lv_btnmatrix_get_selected_btn(obj);
+    const char * txt = lv_btnmatrix_get_btn_text(obj, id);
+
+    LV_LOG_USER("%s was pressed\n", txt);
+    if (Serial) Serial.println(txt);
+
+    if (strcmp(txt, "Move") == 0)
+      move_joint = !move_joint;
+  }
+}
+
+void customMenu()
+{
+  lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act());
+  lv_btnmatrix_set_map(btnm1, btnm_map);
+  lv_btnmatrix_set_btn_ctrl(btnm1, 0, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_obj_align(btnm1, LV_ALIGN_CENTER, 0, 0);
+  lv_obj_add_event_cb(btnm1, event_handler, LV_EVENT_ALL, NULL);
+  Braccio.connectJoystickTo(btnm1);
+}
+
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
+void setup()
+{
+  Serial.begin(115200);
+  for (auto const start = millis(); !Serial && ((millis() - start) < 5000); delay(10)) { }
+
+  if (!Braccio.begin(customMenu)) {
+    if (Serial) Serial.println("Braccio.begin() failed.");
+    for(;;) { }
+  }
+
+  Braccio.moveTo(home_position[0], home_position[1], home_position[2], home_position[3], home_position[4], home_position[5]);
+  delay(1000);
+}
+
+void loop()
+{
+  if (move_joint)
+  {
+    Braccio.move(4).to((SmartServoClass::MAX_ANGLE / 2.0f) - 45.0f).in(1s);
+    delay(1000);
+    Braccio.move(4).to((SmartServoClass::MAX_ANGLE / 2.0f) + 45.0f).in(1s);
+    delay(1000);
+  }
+}

examples/LearnByDoing/LearnByDoing.ino → examples/Braccio_LearnByDoing/Braccio_LearnByDoing.ino

@@ -1,7 +1,19 @@
-#include "Braccio++.h"
+/*
+ * @brief Learn the arm an movement and replay it.
+ */
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <Braccio++.h>
 #include "FlashIAPBlockDevice.h"
 #include "FATFileSystem.h"
 
+/**************************************************************************************
+ * VARIABLES
+ **************************************************************************************/
+
 enum states {
   LEARN,
   REPEAT,
@@ -14,6 +26,10 @@ float values[10000];
 float* idx = values;
 float* final_idx = 0;
 
+/**************************************************************************************
+ * FUNCTIONS
+ **************************************************************************************/
+
 static void event_handler(lv_event_t * e) {
   lv_event_code_t code = lv_event_get_code(e);
   lv_obj_t * obj = lv_event_get_target(e);
@@ -95,9 +111,14 @@ void customMenu() {
 static FlashIAPBlockDevice bd(XIP_BASE + 0x100000, 0x100000);
 static mbed::FATFileSystem fs("fs");
 
-void setup() {
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
 
+void setup()
+{
   Serial.begin(115200);
+  while (!Serial) { }
 
   // Mount file system for load/store movements
   int err = fs.mount(&bd);

examples/LCD_Custom_Menu/LCD_Custom_Menu.ino

@@ -1,19 +1,43 @@
-#include "Braccio++.h"
+/*
+ * @brief This sketch demonstrates how to build a very simple and basic custom menu.
+ */
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <Braccio++.h>
+
+/**************************************************************************************
+ * DEFINE
+ **************************************************************************************/
 
 #define MARGIN_LEFT   0
 #define MARGIN_TOP    0
 
+/**************************************************************************************
+ * CONSTANTS
+ **************************************************************************************/
+
 static const char * btnm_map[] = {"Option 1", "\n",
                                   "Option 2", "\n",
                                   "Option 3", "\n", "\0"
                                  };
 
+/**************************************************************************************
+ * FUNCTIONS
+ **************************************************************************************/
+
 void customMenu(){
   lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act());
   lv_btnmatrix_set_map(btnm1, btnm_map);
   lv_obj_align(btnm1, LV_ALIGN_CENTER, MARGIN_LEFT, MARGIN_TOP);
 }
 
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
 void setup() {
   Braccio.begin(customMenu);
 }

examples/LCD_Menu_Joystick/LCD_Menu_Joystick.ino

@@ -1,8 +1,35 @@
-#include "Braccio++.h"
+/*
+ * @brief This sketch demonstrates how to build a very simple
+ * and basic custom menu interacting with the Braccio++ carriers
+ * joystick.
+ */
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <Braccio++.h>
+
+/**************************************************************************************
+ * DEFINE
+ **************************************************************************************/
 
 #define MARGIN_LEFT   0
 #define MARGIN_TOP    0
 
+/**************************************************************************************
+ * CONSTANT
+ **************************************************************************************/
+
+static const char * btnm_map[] = {"Option 1", "Option 2", "\n",
+                                  "Option 3", "Option 4", "\n",
+                                  "Option 5", "Option 6", "\n", "\0"
+                                 };
+
+/**************************************************************************************
+ * FUNCTIONS
+ **************************************************************************************/
+
 static void event_handler(lv_event_t * e){
   lv_event_code_t code = lv_event_get_code(e);
   lv_obj_t * obj = lv_event_get_target(e);
@@ -15,11 +42,6 @@ static void event_handler(lv_event_t * e){
   }
 }
 
-static const char * btnm_map[] = {"Option 1", "Option 2", "\n",
-                                  "Option 3", "Option 4", "\n",
-                                  "Option 5", "Option 6", "\n", "\0"
-                                 };
-
 void customMenu(){
   lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act());
   lv_btnmatrix_set_map(btnm1, btnm_map);
@@ -34,6 +56,10 @@ void customMenu(){
   Braccio.connectJoystickTo(btnm1);
 }
 
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
 void setup() {
   Braccio.begin(customMenu);
 }

examples/LCD_Motors/LCD_Motors.ino

@@ -1,7 +1,35 @@
-#include "Braccio++.h"
+/*
+ * @brief This sketch demonstrates how to build a very simple
+ * and basic custom menu interacting with the Braccio++ carriers
+ * joystick, allowing to control a specific motor by selecting
+ * it from the menu.
+ */
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <Braccio++.h>
+
+/**************************************************************************************
+ * VARIABLES
+ **************************************************************************************/
 
 int selected_motor = 0;
 
+/**************************************************************************************
+ * CONSTANTS
+ **************************************************************************************/
+
+static const char * btnm_map[] = {"Motor 1", "Motor 2", "\n",
+                                  "Motor 3", "Motor 4", "\n",
+                                  "Motor 5", "Motor 6", "\n", "\0"
+                                 };
+
+/**************************************************************************************
+ * FUNCTIONS
+ **************************************************************************************/
+
 static void event_handler(lv_event_t * e)
 {
   lv_event_code_t code = lv_event_get_code(e);
@@ -37,12 +65,6 @@ static void event_handler(lv_event_t * e)
   }
 }
 
-
-static const char * btnm_map[] = {"Motor 1", "Motor 2", "\n",
-                                  "Motor 3", "Motor 4", "\n",
-                                  "Motor 5", "Motor 6", "\n", "\0"
-                                 };
-
 void customMenu() {
   lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act());
   lv_btnmatrix_set_map(btnm1, btnm_map);
@@ -57,8 +79,11 @@ void customMenu() {
   Braccio.connectJoystickTo(btnm1);
 }
 
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
 void setup() {
-  // Call Braccio.begin() for default menu or pass a function for custom menu
   Braccio.begin(customMenu);
   Serial.begin(115200);
 }

examples/tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button/01_creating_a_button.ino

@@ -1,4 +1,4 @@
- #include "Braccio++.h"
+ #include <Braccio++.h>
 
 void customMenu() {
   lv_obj_t * btn1 = lv_btn_create(lv_scr_act());