Merge branch 'main' of https://git.passer.life/RoboidControl/RoboidControl-cpp

Merge commit '90e89b2ecd49870e84af4b66fe41610e4855673c'
Merge commit 'e50c8eb9c89c7fc801ed2c543a1d3970011efb2c'
2025-06-02 12:26:25 +02:00 · 2025-06-02 12:26:07 +02:00 · 2025-05-26 15:29:28 +02:00 · 2025-05-26 15:26:44 +02:00 · 2025-05-26 14:04:37 +02:00 · 2025-05-26 12:27:09 +02:00
53 changed files with 1017 additions and 378 deletions
--- a/Arduino/ArduinoParticipant.cpp
+++ b/Arduino/ArduinoParticipant.cpp
@ -1,5 +1,9 @@
 #include "ArduinoParticipant.h"

+#if !defined(NO_STD)
+#include <iostream>
+#endif
+
 #if defined(ARDUINO)
 #if defined(ARDUINO_ARCH_ESP8266)
 #include <ESP8266WiFi.h>
@ -29,7 +33,9 @@ void ParticipantUDP::Setup() {

 #if defined(UNO_R4)
  if (WiFi.status() == WL_NO_MODULE) {
+#if !defined(NO_STD)
    std::cout << "No network available!\n";
+#endif
    return;
  }
 #else
@ -42,11 +48,13 @@ void ParticipantUDP::Setup() {
  udp = new WiFiUDP();
  udp->begin(this->port);

+#if !defined(NO_STD)
  std::cout << "Wifi sync started local " << this->port;
  if (this->remoteSite != nullptr)
    std::cout << ", remote " << this->remoteSite->ipAddress << ":"
              << this->remoteSite->port << "\n";
 #endif
+#endif
 }

 void ParticipantUDP::GetBroadcastAddress() {
@ -57,8 +65,10 @@ void ParticipantUDP::GetBroadcastAddress() {
  this->broadcastIpAddress = new char[broadcastIpString.length() + 1];
  broadcastIpString.toCharArray(this->broadcastIpAddress,
                                broadcastIpString.length() + 1);
+#if !defined(NO_STD)
  std::cout << "Broadcast address: " << broadcastIpAddress << "\n";
 #endif
+#endif
 }

 void ParticipantUDP::Receive() {
@ -72,19 +82,6 @@ void ParticipantUDP::Receive() {
    senderAddress.toCharArray(sender_ipAddress, 16);
    unsigned int sender_port = udp->remotePort();

-    // Participant* remoteParticipant = this->Get(sender_ipAddress,
-    // sender_port); if (remoteParticipant == nullptr) {
-    //   remoteParticipant = this->Add(sender_ipAddress,
-    //   sender_port);
-    //   // std::cout << "New sender " << sender_ipAddress << ":" << sender_port
-    //   //           << "\n";
-    //   // std::cout << "New remote participant " <<
-    //   remoteParticipant->ipAddress
-    //   //           << ":" << remoteParticipant->port << " "
-    //   //           << (int)remoteParticipant->networkId << "\n";
-    // }
-
-    // ReceiveData(packetSize, remoteParticipant);
    ReceiveData(packetSize, sender_ipAddress, sender_port);
    packetSize = udp->parsePacket();
  }
@ -97,15 +94,22 @@ bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
  // << remoteParticipant->port << "\n";

  int n = 0;
+  int r = 0;
  do {
    if (n > 0) {
+#if !defined(NO_STD)
      std::cout << "Retry sending\n";
+#endif
      delay(10);
    }
    n++;
+
    udp->beginPacket(remoteParticipant->ipAddress, remoteParticipant->port);
    udp->write((unsigned char*)buffer, bufferSize);
-  } while (udp->endPacket() == 0 && n < 10);
+    r = udp->endPacket();
+    // On an Uno R4 WiFi, endPacket blocks for 10 seconds the first time
+    // It is not cleary yet why
+  } while (r == 0 && n < 10);

 #endif
  return true;
--- a/Arduino/Things/DRV8833.cpp
+++ b/Arduino/Things/DRV8833.cpp
@ -5,6 +5,39 @@
 namespace RoboidControl {
 namespace Arduino {

+#pragma region DRV8833
+
+DRV8833::DRV8833(Configuration config, Thing* parent) : Thing(Type::Undetermined, parent) {
+  this->pinStandby = config.standby;
+  if (pinStandby != 255)
+    pinMode(pinStandby, OUTPUT);
+
+  this->motorA = new DRV8833Motor(this, config.AIn1, config.AIn2);
+  this->motorA->SetName("Motor A");
+  this->motorB = new DRV8833Motor(this, config.BIn1, config.BIn2);
+  this->motorB->SetName("Motor B");
+}
+
+#pragma endregion DRV8833
+
+#pragma region Differential drive
+
+DRV8833::DifferentialDrive::DifferentialDrive(DRV8833::Configuration config,
+                                              Thing* parent)
+    : RoboidControl::DifferentialDrive(this->drv8833.motorA,
+                                       this->drv8833.motorB,
+                                       parent),
+      drv8833(config, this) {}
+
+void DRV8833::DifferentialDrive::Update(bool recurse) {
+  RoboidControl::DifferentialDrive::Update(recurse);
+  this->drv8833.Update(false);
+}
+
+#pragma endregion Differential drive
+
+#pragma region Motor
+
 #if (ESP32)
 uint8_t DRV8833Motor::nextAvailablePwmChannel = 0;
 #endif
@ -13,7 +46,7 @@ DRV8833Motor::DRV8833Motor(DRV8833* driver,
                           unsigned char pinIn1,
                           unsigned char pinIn2,
                           bool reverse)
-    : Thing(driver->owner) {
+    : Motor() {
  this->SetParent(driver);

  this->pinIn1 = pinIn1;
@ -33,33 +66,20 @@ DRV8833Motor::DRV8833Motor(DRV8833* driver,
  pinMode(pinIn2, OUTPUT);  // configure the in1 pin to output mode
 #endif

-  this->reverse = reverse;
+  // this->reverse = reverse;
 }

-void DRV8833Motor::SetMaxRPM(unsigned int rpm) {
-  this->maxRpm = rpm;
-}
+// void DRV8833Motor::SetMaxRPM(unsigned int rpm) {
+//   this->maxRpm = rpm;
+// }

-void DRV8833Motor::SetAngularVelocity(Spherical velocity) {
-  Thing::SetAngularVelocity(velocity);
-  // ignoring rotation axis for now.
-  // Spherical angularVelocity = this->GetAngularVelocity();
-  float angularSpeed = velocity.distance;  // in degrees/sec
+void DRV8833Motor::SetTargetVelocity(float motorSpeed) {
+  Motor::SetTargetVelocity(motorSpeed);

-  float rpm = angularSpeed / 360 * 60;
-  float motorSpeed = rpm / this->maxRpm;
+  uint8_t motorSignal =
+      (uint8_t)(motorSpeed > 0 ? motorSpeed * 255 : -motorSpeed * 255);

-  uint8_t motorSignal = (uint8_t)(motorSpeed * 255);
-  // if (direction == RotationDirection::CounterClockwise)
-  //   speed = -speed;
-  // Determine the rotation direction
-  if (velocity.direction.horizontal.InDegrees() < 0)
-    motorSpeed = -motorSpeed;
-  if (this->reverse)
-    motorSpeed = -motorSpeed;
-
-  // std::cout << "ang speed " << this->name << " = " << angularSpeed << "   rpm
-  // " << rpm
+  // std::cout << "moto speed " << this->name << " = " << motorSpeed
  //           << ", motor signal = " << (int)motorSignal << "\n";

 #if (ESP32)
@ -109,43 +129,7 @@ void DRV8833Motor::SetAngularVelocity(Spherical velocity) {
 #endif
 }

-DRV8833::DRV8833(Participant* participant,
-                 unsigned char pinAIn1,
-                 unsigned char pinAIn2,
-                 unsigned char pinBIn1,
-                 unsigned char pinBIn2,
-                 unsigned char pinStandby,
-                 bool reverseA,
-                 bool reverseB)
-    : Thing(participant) {
-  this->pinStandby = pinStandby;
-  if (pinStandby != 255)
-    pinMode(pinStandby, OUTPUT);
-
-  this->motorA = new DRV8833Motor(this, pinAIn1, pinAIn2, reverseA);
-  this->motorA->SetName("Motor A");
-  this->motorB = new DRV8833Motor(this, pinBIn1, pinBIn2, reverseB);
-  this->motorB->SetName("Motor B");
-}
-
-DRV8833::DRV8833(Thing* parent,
-                 unsigned char pinAIn1,
-                 unsigned char pinAIn2,
-                 unsigned char pinBIn1,
-                 unsigned char pinBIn2,
-                 unsigned char pinStandby,
-                 bool reverseA,
-                 bool reverseB)
-    : DRV8833(parent->owner,
-              pinAIn1,
-              pinAIn2,
-              pinBIn1,
-              pinBIn2,
-              pinStandby,
-              reverseA,
-              reverseB) {
-                this->SetParent(parent);
-}
+#pragma endregion Motor

 }  // namespace Arduino
 }  // namespace RoboidControl
--- a/Arduino/Things/DRV8833.h
+++ b/Arduino/Things/DRV8833.h
@ -1,8 +1,10 @@
 #pragma once

 #include <Arduino.h>
+#include "Participants/IsolatedParticipant.h"
 #include "Thing.h"
 #include "Things/DifferentialDrive.h"
+#include "Things/Motor.h"

 namespace RoboidControl {
 namespace Arduino {
@ -11,44 +13,46 @@ class DRV8833Motor;

 class DRV8833 : public Thing {
 public:
+  struct Configuration {
+    int AIn1;
+    int AIn2;
+    int BIn1;
+    int BIn2;
+    int standby = 255;
+  };
+
  /// @brief Setup a DRV8833 motor controller
-  /// @param pinAIn1 The pin number connected to the AIn1 port
-  /// @param pinAIn2 The pin number connected to the AIn2 port
-  /// @param pinBIn1 The pin number connected to the BIn1 port
-  /// @param pinBIn2 The pin number connceted to the BIn2 port
-  /// @param pinStandby The pin number connected to the standby port, 255
-  /// indicated that the port is not connected
-  /// @param reverseA The forward turning direction of motor A
-  /// @param reverseB The forward turning direction of motor B
-  DRV8833(Participant* participant,
-          unsigned char pinAIn1,
-          unsigned char pinAIn2,
-          unsigned char pinBIn1,
-          unsigned char pinBIn2,
-          unsigned char pinStandby = 255,
-          bool reverseA = false,
-          bool reverseB = false);
-  DRV8833(Thing* parent,
-          unsigned char pinAIn1,
-          unsigned char pinAIn2,
-          unsigned char pinBIn1,
-          unsigned char pinBIn2,
-          unsigned char pinStandby = 255,
-          bool reverseA = false,
-          bool reverseB = false);
+  DRV8833(Configuration config, Thing* parent = Thing::LocalRoot());
+
  DRV8833Motor* motorA = nullptr;
  DRV8833Motor* motorB = nullptr;

 protected:
  unsigned char pinStandby = 255;
+
+ public:
+  class DifferentialDrive;
 };

-/// @brief Support for a DRV8833 motor controller
-class DRV8833Motor : public Thing {
- public:
-  /// @brief Motor turning direction
-  enum class RotationDirection { Clockwise = 1, CounterClockwise = -1 };
+#pragma region Differential drive

+class DRV8833::DifferentialDrive : public RoboidControl::DifferentialDrive {
+ public:
+  DifferentialDrive(DRV8833::Configuration config, Thing* parent = Thing::LocalRoot());
+
+  virtual void Update(bool recurse = false) override;
+
+ protected:
+  DRV8833 drv8833;
+};
+
+#pragma endregion Differential drive
+
+#pragma region Motor
+
+/// @brief Support for a DRV8833 motor controller
+class DRV8833Motor : public Motor {
+ public:
  /// @brief Setup the DC motor
  /// @param pinIn1 the pin number for the in1 signal
  /// @param pinIn2 the pin number for the in2 signal
@ -57,16 +61,16 @@ class DRV8833Motor : public Thing {
               unsigned char pinIn1,
               unsigned char pinIn2,
               bool reverse = false);
-  void SetMaxRPM(unsigned int rpm);
+  // void SetMaxRPM(unsigned int rpm);

-  virtual void SetAngularVelocity(Spherical velocity) override;
-
-  bool reverse = false;
+  // virtual void SetAngularVelocity(Spherical velocity) override;
+  virtual void SetTargetVelocity(float targetSpeed) override;
+  // bool reverse = false;

 protected:
  unsigned char pinIn1 = 255;
  unsigned char pinIn2 = 255;
-  unsigned int maxRpm = 200;
+  // unsigned int maxRpm = 200;

 #if (ESP32)
  uint8_t in1Ch;
@ -75,5 +79,7 @@ class DRV8833Motor : public Thing {
 #endif
 };

+#pragma endregion Motor
+
 }  // namespace Arduino
 }  // namespace RoboidControl
--- a/Arduino/Things/DigitalInput.cpp
+++ b/Arduino/Things/DigitalInput.cpp
@ -5,19 +5,125 @@
 namespace RoboidControl {
 namespace Arduino {

-DigitalInput::DigitalInput(Participant* participant, unsigned char pin)
-    : TouchSensor(participant) {
+#pragma region Digital input
+
+DigitalInput::DigitalInput(unsigned char pin, Thing* parent)
+    : Thing(Type::Undetermined, parent) {
  this->pin = pin;
-
-  pinMode(pin, INPUT);
+  pinMode(this->pin, INPUT);
+  std::cout << "digital input start\n";
 }

-void DigitalInput::Update(unsigned long currentTimeMs, bool recursive) {
-  this->touchedSomething = digitalRead(pin) == LOW;
-  // std::cout << "DigitalINput pin " << (int)this->pin << ": " <<
-  // this->touchedSomething << "\n";
-  Thing::Update(currentTimeMs, recursive);
+void DigitalInput::Update(bool recursive) {
+  this->isHigh = digitalRead(this->pin);
+  this->isLow = !this->isHigh;
+  Thing::Update(recursive);
 }

+#pragma endregion Digital input
+
+#pragma region Touch sensor
+
+DigitalInput::TouchSensor::TouchSensor(unsigned char pin, Thing* parent)
+    : RoboidControl::TouchSensor(parent), digitalInput(pin, parent) {}
+
+void DigitalInput::TouchSensor::Update(bool recursive) {
+  this->touchedSomething = digitalInput.isLow;
+}
+
+#pragma endregion Touch sensor
+
+#pragma region Relative encoder
+
+int DigitalInput::RelativeEncoder::interruptCount = 0;
+volatile int DigitalInput::RelativeEncoder::pulseCount0 = 0;
+volatile int DigitalInput::RelativeEncoder::pulseCount1 = 0;
+
+DigitalInput::RelativeEncoder::RelativeEncoder(Configuration config,
+                                               Thing* parent)
+    : RoboidControl::RelativeEncoder(parent),
+      digitalInput(config.pin, parent),
+      pulsesPerRevolution(config.pulsesPerRevolution) {}
+
+void DigitalInput::RelativeEncoder::Start() {
+  // We support up to 2 pulse counters
+  if (interruptCount == 0) {
+    std::cout << "pin interrupt 1 activated" << std::endl;
+    attachInterrupt(digitalPinToInterrupt(digitalInput.pin), PulseInterrupt0,
+                    RISING);
+  } else if (interruptCount == 1) {
+    std::cout << "pin interrupt 2 activated" << std::endl;
+    attachInterrupt(digitalPinToInterrupt(digitalInput.pin), PulseInterrupt1,
+                    RISING);
+  } else {
+    // maximum interrupt count reached
+    std::cout << "DigitalInput::RelativeEncoder: max. # counters of 2 reached"
+              << std::endl;
+    return;
+  }
+  interruptIx = interruptCount;
+  interruptCount++;
+  std::cout << "pin ints. " << interruptCount << std::endl;
+}
+
+int DigitalInput::RelativeEncoder::GetPulseCount() {
+  if (interruptIx == 0) {
+    int pulseCount = pulseCount0;
+    pulseCount0 = 0;
+    return pulseCount;
+  } else if (interruptIx == 1) {
+    int pulseCount = pulseCount1;
+    pulseCount1 = 0;
+    return pulseCount;
+  }
+  return 0;
+}
+
+void DigitalInput::RelativeEncoder::Update(bool recursive) {
+  unsigned long currentTimeMs = GetTimeMs();
+  if (this->lastUpdateTime == 0) {
+    this->Start();
+    this->lastUpdateTime = currentTimeMs;
+    return;
+  }
+
+  float timeStep = (float)(currentTimeMs - this->lastUpdateTime) / 1000.0f;
+  if (timeStep <= 0)
+    return;
+
+  int pulseCount = GetPulseCount();
+  netPulseCount += pulseCount;
+
+  this->pulseFrequency = pulseCount / timeStep;
+  this->rotationSpeed = pulseFrequency / pulsesPerRevolution;
+
+  std::cout << "pulses: " << pulseCount << " per second " << pulseFrequency
+            << " timestep " << timeStep << std::endl;
+
+  this->lastUpdateTime = currentTimeMs;
+}
+
+#if defined(ESP8266) || defined(ESP32)
+void ICACHE_RAM_ATTR DigitalInput::RelativeEncoder::PulseInterrupt0() {
+  pulseCount0++;
+}
+#else
+void DigitalInput::RelativeEncoder::PulseInterrupt0() {
+  pulseCount0++;
+}
+#endif
+
+#if defined(ESP8266) || defined(ESP32)
+void IRAM_ATTR DigitalInput::RelativeEncoder::PulseInterrupt1() {
+  pulseCount1++;
+}
+#else
+void DigitalInput::RelativeEncoder::PulseInterrupt1() {
+  pulseCount1++;
+}
+#endif
+
+#pragma endregion Relative encoder
+
 }  // namespace Arduino
 }  // namespace RoboidControl
--- a/Arduino/Things/DigitalInput.h
+++ b/Arduino/Things/DigitalInput.h
@ -1,26 +1,92 @@
 #pragma once

+#include "Things/RelativeEncoder.h"
 #include "Things/TouchSensor.h"

 namespace RoboidControl {
 namespace Arduino {

 /// @brief A digital input represents the stat of a digital GPIO pin
-class DigitalInput : public TouchSensor {
+class DigitalInput : public Thing {
 public:
  /// @brief Create a new digital input
  /// @param participant The participant to use
  /// @param pin The digital pin
-  DigitalInput(Participant* participant, unsigned char pin);
+  //DigitalInput(Participant* participant, unsigned char pin);
+  // DigitalInput(Thing* parent, unsigned char pin);
+  DigitalInput(unsigned char pin, Thing* parent);
+
+  bool isHigh = false;
+  bool isLow = false;

  /// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
-  virtual void Update(unsigned long currentTimeMs,
-                      bool recursive = false) override;
+  virtual void Update(bool recursive = false) override;

 protected:
  /// @brief The pin used for digital input
  unsigned char pin = 0;
+
+ public:
+  class TouchSensor;
+  class RelativeEncoder;
 };

+#pragma region Touch sensor
+
+class DigitalInput::TouchSensor : public RoboidControl::TouchSensor {
+ public:
+  TouchSensor(unsigned char pin, Thing* parent);
+
+  /// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
+  virtual void Update(bool recurse = false) override;
+
+ protected:
+  DigitalInput digitalInput;
+};
+
+#pragma endregion Touch sensor
+
+#pragma region Incremental encoder
+
+class DigitalInput::RelativeEncoder : public RoboidControl::RelativeEncoder {
+ public:
+  struct Configuration {
+    unsigned char pin;
+    unsigned char pulsesPerRevolution;
+  };
+
+  RelativeEncoder(Configuration config, Thing* parent = Thing::LocalRoot());
+
+  unsigned char pulsesPerRevolution;
+
+  /// @brief The current pulse frequency in Hz
+  float pulseFrequency = 0;
+
+  /// @copydoc RoboidControl::Thing::Update()
+  virtual void Update(bool recurse = false) override;
+
+ protected:
+  DigitalInput digitalInput;
+
+  int interruptIx = 0;
+
+  static int interruptCount;
+
+  volatile static int pulseCount0;
+  static void PulseInterrupt0();
+
+  volatile static int pulseCount1;
+  static void PulseInterrupt1();
+
+  int GetPulseCount();
+  long netPulseCount = 0;
+  unsigned long lastUpdateTime = 0;
+
+ private:
+  void Start();
+};
+
+#pragma endregion Incremental encoder
+
 }  // namespace Arduino
 }  // namespace RoboidControl
--- a/Arduino/Things/UltrasonicSensor.cpp
+++ b/Arduino/Things/UltrasonicSensor.cpp
@ -1,39 +1,32 @@
 #include "UltrasonicSensor.h"

 #include <Arduino.h>
+#include <iostream>

 namespace RoboidControl {
 namespace Arduino {

-UltrasonicSensor::UltrasonicSensor(Participant* participant,
-                                   unsigned char pinTrigger,
-                                   unsigned char pinEcho)
-    : TouchSensor(participant) {
-  this->pinTrigger = pinTrigger;
-  this->pinEcho = pinEcho;
+UltrasonicSensor::UltrasonicSensor(Configuration config, Thing* parent)
+    : Thing(Type::Undetermined, parent) {
+  this->name = "Ultrasonic sensor";
+  this->pinTrigger = config.trigger;
+  this->pinEcho = config.echo;

  pinMode(pinTrigger, OUTPUT);  // configure the trigger pin to output mode
  pinMode(pinEcho, INPUT);      // configure the echo pin to input mode
 }

-UltrasonicSensor::UltrasonicSensor(Thing* parent,
-                                   unsigned char pinTrigger,
-                                   unsigned char pinEcho)
-    : UltrasonicSensor(parent->owner, pinTrigger, pinEcho) {
-  this->SetParent(parent);
-}
-
 float UltrasonicSensor::GetDistance() {
  // Start the ultrasonic 'ping'
  digitalWrite(pinTrigger, LOW);
-  delayMicroseconds(5);
+  delayMicroseconds(2);
  digitalWrite(pinTrigger, HIGH);
  delayMicroseconds(10);
  digitalWrite(pinTrigger, LOW);

  // Measure the duration of the pulse on the echo pin
-  float duration_us =
-      pulseIn(pinEcho, HIGH, 100000);  // the result is in microseconds
+  unsigned long duration_us =
+      pulseIn(pinEcho, HIGH, 10000);  // the result is in microseconds

  // Calculate the distance:
  // * Duration should be divided by 2, because the ping goes to the object
@ -44,32 +37,38 @@ float UltrasonicSensor::GetDistance() {
  // * Now we calculate the distance based on the speed of sound (340 m/s):
  // distance = duration_sec * 340;
  // * The result calculation is therefore:
-  this->distance = duration_us / 2 / 1000000 * 340;
+  this->distance = (float)duration_us / 2 / 1000000 * 340;
+
+  // Serial.println(this->distance);
+
+  // std::cout << "US distance " << this->distance << std::endl;

  // Filter faulty measurements. The sensor can often give values > 30 m which
  // are not correct
  // if (distance > 30)
  //   distance = 0;

-  this->touchedSomething |= (this->distance > 0 && this->distance <= this->touchDistance);
-
-  // std::cout << "Ultrasonic " << this->touchedSomething << " |  " << (this->distance > 0) << " " <<
-  // (this->distance <= this->touchDistance) << "\n";
-
-  return distance;
+  return this->distance;
 }

-void UltrasonicSensor::Update(unsigned long currentTimeMs, bool recursive) {
-  this->touchedSomething = false;
+void UltrasonicSensor::Update(bool recursive) {
  GetDistance();
-  Thing::Update(currentTimeMs, recursive);
+  Thing::Update(recursive);
 }

-// void UltrasonicSensor::ProcessBinary(char* bytes) {
-//   this->touchedSomething = (bytes[0] == 1);
-//   if (this->touchedSomething)
-//     std::cout << "Touching something!\n";
-// }
+#pragma region Touch sensor
+
+UltrasonicSensor::TouchSensor::TouchSensor(Configuration config, Thing* parent)
+    : RoboidControl::TouchSensor(parent), ultrasonic(config, this) {}
+
+void UltrasonicSensor::TouchSensor::Update(bool recursive) {
+  RoboidControl::TouchSensor::Update(recursive);
+  this->ultrasonic.Update(false);
+  this->touchedSomething |= (this->ultrasonic.distance > 0 &&
+                            this->ultrasonic.distance <= this->touchDistance);
+}
+
+#pragma region Touch sensor

 }  // namespace Arduino
 }  // namespace RoboidControl
--- a/Arduino/Things/UltrasonicSensor.h
+++ b/Arduino/Things/UltrasonicSensor.h
@ -6,26 +6,19 @@ namespace RoboidControl {
 namespace Arduino {

 /// @brief An HC-SR04 ultrasonic distance sensor
-class UltrasonicSensor : public TouchSensor {
+class UltrasonicSensor : Thing {
 public:
-  // Inherit all constructors
-  //using TouchSensor::TouchSensor;
+  struct Configuration {
+    int trigger;
+    int echo;
+  };

-  /// @brief  Setup an ultrasonic sensor
-  /// @param participant The participant to use
-  /// @param pinTrigger The pin number of the trigger signal
-  /// @param pinEcho The pin number of the echo signal
-  UltrasonicSensor(Participant* participant,
-                   unsigned char pinTrigger,
-                   unsigned char pinEcho);
-  UltrasonicSensor(Thing* parent,
-                   unsigned char pinTrigger,
-                   unsigned char pinEcho);
+  UltrasonicSensor(Configuration config, Thing* parent = Thing::LocalRoot());

  // parameters

  /// @brief The distance at which the object is considered to be touched
-  float touchDistance = 0.2f;
+  // float touchDistance = 0.2f;

  // state

@ -37,15 +30,35 @@ class UltrasonicSensor : public TouchSensor {
  float GetDistance();

  /// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
-  virtual void Update(unsigned long currentTimeMs,
-                      bool recursive = false) override;
+  virtual void Update(bool recursive = false) override;

 protected:
  /// @brief The pin number of the trigger signal
  unsigned char pinTrigger = 0;
  /// @brief The pin number of the echo signal
  unsigned char pinEcho = 0;
+
+ public:
+  class TouchSensor;
 };

+#pragma region Touch sensor
+
+class UltrasonicSensor::TouchSensor : public RoboidControl::TouchSensor {
+ public:
+  TouchSensor(UltrasonicSensor::Configuration config,
+              Thing* parent = Thing::LocalRoot());
+
+  float touchDistance = 0.2f;
+
+  /// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
+  virtual void Update(bool recursive = false) override;
+
+ protected:
+  UltrasonicSensor ultrasonic;
+};
+
+#pragma region Touch sensor
+
 }  // namespace Arduino
 }  // namespace RoboidControl
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -19,13 +19,13 @@ if(ESP_PLATFORM)
        REQUIRES esp_netif esp_wifi
    )
 else() 
+    set(CMAKE_CXX_STANDARD 17)      # Enable c++11 standard
+    set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
    project(RoboidControl)
    add_subdirectory(LinearAlgebra)
    add_subdirectory(Examples)

-    set(CMAKE_CXX_STANDARD 17)      # Enable c++11 standard
-    set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-
    add_compile_definitions(GTEST)
    include(FetchContent)
    FetchContent_Declare(
--- a/LinearAlgebra/Direction.cpp
+++ b/LinearAlgebra/Direction.cpp
@ -9,6 +9,7 @@

 #include <math.h>

+namespace LinearAlgebra {
 template <typename T>
 DirectionOf<T>::DirectionOf() {
  this->horizontal = AngleOf<T>();
@ -98,5 +99,6 @@ void DirectionOf<T>::Normalize() {
  }
 }

-template class DirectionOf<float>;
-template class DirectionOf<signed short>;
+template class LinearAlgebra::DirectionOf<float>;
+template class LinearAlgebra::DirectionOf<signed short>;
+}
--- a/LinearAlgebra/Direction.h
+++ b/LinearAlgebra/Direction.h
@ -99,6 +99,4 @@ using Direction = DirectionSingle;

 }  // namespace LinearAlgebra

-using namespace LinearAlgebra;
-
 #endif
--- a/LinearAlgebra/Matrix.cpp
+++ b/LinearAlgebra/Matrix.cpp
@ -139,7 +139,7 @@ Matrix2 Matrix2::Identity(int size) {
 }

 Matrix2 Matrix2::Diagonal(float f, int size) {
-  Matrix2 r = Matrix2(size, size);
+  Matrix2 r = Matrix2::Zero(size, size);
  float* data = r.data;
  int valueIx = 0;
  for (int ix = 0; ix < size; ix++) {
@ -206,16 +206,16 @@ Matrix2 LinearAlgebra::Matrix2::operator*(const Matrix2& B) const {
    int BColOffset = i * BCols;  // BColOffset is constant for each row of B
    for (int j = 0; j < BCols; ++j) {
      float sum = 0;
-      // std::cout << " 0";
+      std::cout << " 0";
      int BIndex = j;
      for (int k = 0; k < ACols; ++k) {
-        // std::cout << " + " << this->data[ARowOffset + k] << " * "
-        //           << B.data[BIndex];
+        std::cout << " + " << this->data[ARowOffset + k] << " * "
+                  << B.data[BIndex];
        sum += this->data[ARowOffset + k] * B.data[BIndex];
        BIndex += BCols;
      }
      r.data[BColOffset + j] = sum;
-      // std::cout << " = " << sum << " ix: " << BColOffset + j << "\n";
+      std::cout << " = " << sum << " ix: " << BColOffset + j << "\n";
    }
  }
  return r;
--- a/LinearAlgebra/Polar.cpp
+++ b/LinearAlgebra/Polar.cpp
@ -175,5 +175,5 @@ PolarOf<T> PolarOf<T>::Rotate(const PolarOf& v, AngleOf<T> angle) {
  return r;
 }

-template class PolarOf<float>;
-template class PolarOf<signed short>;
+template class LinearAlgebra::PolarOf<float>;
+template class LinearAlgebra::PolarOf<signed short>;
--- a/LinearAlgebra/Spherical.cpp
+++ b/LinearAlgebra/Spherical.cpp
@ -5,6 +5,8 @@

 #include <math.h>

+namespace LinearAlgebra {
+
 template <typename T>
 SphericalOf<T>::SphericalOf() {
  this->distance = 0.0f;
@ -301,3 +303,5 @@ SphericalOf<T> SphericalOf<T>::RotateVertical(const SphericalOf<T>& v,

 template class SphericalOf<float>;
 template class SphericalOf<signed short>;
+
+}  // namespace LinearAlgebra
--- a/LinearAlgebra/Spherical.h
+++ b/LinearAlgebra/Spherical.h
@ -186,7 +186,6 @@ using Spherical = SphericalSingle;
 #endif

 }  // namespace LinearAlgebra
-using namespace LinearAlgebra;

 #include "Polar.h"
 #include "Vector3.h"
--- a/LinearAlgebra/SwingTwist.cpp
+++ b/LinearAlgebra/SwingTwist.cpp
@ -4,6 +4,8 @@

 #include "SwingTwist.h"

+namespace LinearAlgebra {
+
 template <typename T>
 SwingTwistOf<T>::SwingTwistOf() {
  this->swing = DirectionOf<T>(AngleOf<T>(), AngleOf<T>());
@ -166,3 +168,5 @@ void SwingTwistOf<T>::Normalize() {

 template class SwingTwistOf<float>;
 template class SwingTwistOf<signed short>;
+
+}
--- a/LinearAlgebra/test/Direction_test.cc
+++ b/LinearAlgebra/test/Direction_test.cc
@ -6,6 +6,8 @@

 #include "Direction.h"

+using namespace LinearAlgebra;
+
 #define FLOAT_INFINITY std::numeric_limits<float>::infinity()

 TEST(Direction16, Compare) {
--- a/LinearAlgebra/test/Polar_test.cc
+++ b/LinearAlgebra/test/Polar_test.cc
@ -2,6 +2,7 @@
 #include <gtest/gtest.h>
 #include <limits>
 #include <math.h>
+#include <chrono>

 #include "Polar.h"
 #include "Spherical.h"
--- a/LinearAlgebra/test/Spherical16_test.cc
+++ b/LinearAlgebra/test/Spherical16_test.cc
@ -2,6 +2,7 @@
 #include <gtest/gtest.h>
 #include <limits>
 #include <math.h>
+#include <chrono>

 #include "Spherical.h"
 #include "Vector3.h"
--- a/LinearAlgebra/test/SphericalSingle_test.cc
+++ b/LinearAlgebra/test/SphericalSingle_test.cc
@ -2,6 +2,7 @@
 #include <gtest/gtest.h>
 #include <limits>
 #include <math.h>
+#include <chrono>

 #include "Spherical.h"

--- a/Messages/NetworkIdMsg.cpp
+++ b/Messages/NetworkIdMsg.cpp
@ -1,5 +1,7 @@
 #include "NetworkIdMsg.h"

+#include <iostream>
+
 namespace RoboidControl {

 NetworkIdMsg::NetworkIdMsg(const char* buffer) {
--- a/Messages/ParticipantMsg.cpp
+++ b/Messages/ParticipantMsg.cpp
@ -1,5 +1,9 @@
 #include "ParticipantMsg.h"

+#if !defined(NO_STD)
+#include <iostream>
+#endif
+
 namespace RoboidControl {

 ParticipantMsg::ParticipantMsg(char networkId) {
@ -13,7 +17,7 @@ ParticipantMsg::ParticipantMsg(const char* buffer) {
 ParticipantMsg::~ParticipantMsg() {}

 unsigned char ParticipantMsg::Serialize(char* buffer) {
-#if defined(DEBUG)
+#if defined(DEBUG) && !defined(NO_STD)
  std::cout << "Send ParticipantMsg [" << (int)this->networkId << "] "
            << std::endl;
 #endif
--- a/Messages/PoseMsg.cpp
+++ b/Messages/PoseMsg.cpp
@ -8,11 +8,11 @@ PoseMsg::PoseMsg(unsigned char networkId, Thing* thing, bool force) {
  this->thingId = thing->id;

  this->poseType = 0;
-  if (thing->positionUpdated || (force && thing->GetParent() != nullptr)) {
+  if (thing->positionUpdated || (force && thing->IsRoot())) {
    this->position = thing->GetPosition();
    this->poseType |= Pose_Position;
  }
-  if (thing->orientationUpdated || (force && thing->GetParent() != nullptr)) {
+  if (thing->orientationUpdated || (force && thing->IsRoot())) {
    this->orientation = thing->GetOrientation();
    this->poseType |= Pose_Orientation;
  }
--- a/Messages/TextMsg.cpp
+++ b/Messages/TextMsg.cpp
@ -1,5 +1,9 @@
 #include "TextMsg.h"

+#if !defined(NO_STD)
+#include <iostream>
+#endif
+
 namespace RoboidControl {

 TextMsg::TextMsg(const char* text, unsigned char textLength) {
@ -24,7 +28,7 @@ unsigned char TextMsg::Serialize(char* buffer) {
  if (this->textLength == 0 || this->text == nullptr)
    return 0;

-#if defined(DEBUG)
+#if defined(DEBUG) && !defined(NO_STD)
  std::cout << "Send TextMsg " << (int)this->textLength << " " << this->text << std::endl;
 #endif
  unsigned char ix = 0;
--- a/Messages/ThingMsg.cpp
+++ b/Messages/ThingMsg.cpp
@ -14,27 +14,21 @@ ThingMsg::ThingMsg(unsigned char networkId, Thing* thing) {
  this->networkId = networkId;
  this->thingId = thing->id;
  this->thingType = thing->type;
-  Thing* parent = thing->GetParent();
-  if (parent != nullptr)
-    this->parentId = parent->id;
-  else
+  if (thing->IsRoot())
    this->parentId = 0;
+  else {
+    Thing* parent = thing->GetParent();
+    this->parentId = parent->id;
+  }
 }

-// ThingMsg::ThingMsg(unsigned char networkId, unsigned char thingId,
-//                    unsigned char thingType, unsigned char parentId) {
-//   this->networkId = networkId;
-//   this->thingId = thingId;
-//   this->thingType = thingType;
-//   this->parentId = parentId;
-// }
-
 ThingMsg::~ThingMsg() {}

 unsigned char ThingMsg::Serialize(char* buffer) {
 #if defined(DEBUG)
-  std::cout << "Send ThingMsg [" << (int)this->networkId << "/" << (int)this->thingId
-            << "] " << (int)this->thingType << " " << (int)this->parentId << std::endl;
+  std::cout << "Send ThingMsg [" << (int)this->networkId << "/"
+            << (int)this->thingId << "] " << (int)this->thingType << " "
+            << (int)this->parentId << std::endl;
 #endif
  unsigned char ix = 0;
  buffer[ix++] = this->id;
--- a/Participant.cpp
+++ b/Participant.cpp
@ -8,7 +8,26 @@ namespace RoboidControl {

 ParticipantRegistry Participant::registry;

+Participant* Participant::LocalParticipant = new Participant();
+
+void Participant::ReplaceLocalParticipant(Participant& newParticipant) {
+  LocalParticipant = &newParticipant;
+  std::cout << "Replaced local participant" << std::endl;
+}
+
+Participant::Participant() {
+  std::cout << "P\n";
+  //this->root.name = "Isolated";
+  this->root = new Thing(this);
+  this->root->name = "Root";
+  this->Add(this->root);
+}
+
 Participant::Participant(const char* ipAddress, int port) {
+  // Add the root thing to the list of things, because we could not do that
+  // earlier (I think)
+  this->Add(this->root);
+
  // make a copy of the ip address string
  int addressLength = (int)strlen(ipAddress);
  int stringLength = addressLength + 1;
@ -26,14 +45,14 @@ Participant::Participant(const char* ipAddress, int port) {
 }

 Participant::~Participant() {
-  registry.Remove(this);
+  // registry.Remove(this);
  delete[] this->ipAddress;
 }

-void Participant::Update(unsigned long currentTimeMs) {
+void Participant::Update() {
  for (Thing* thing : this->things) {
    if (thing != nullptr)
-      thing->Update(currentTimeMs, true);
+      thing->Update(true);
  }
 }

@ -112,23 +131,26 @@ void Participant::Remove(Thing* thing) {
 #pragma region ParticipantRegistry

 Participant* ParticipantRegistry::Get(const char* ipAddress,
-                                                 unsigned int port) {
+                                      unsigned int port) {
+#if !defined(NO_STD)
  for (Participant* participant : ParticipantRegistry::participants) {
    if (participant == nullptr)
      continue;
    if (strcmp(participant->ipAddress, ipAddress) == 0 &&
        participant->port == port) {
-      std::cout << "found participant " << participant->ipAddress << ":"
-                << (int)participant->port << std::endl;
+      // std::cout << "found participant " << participant->ipAddress << ":"
+      //           << (int)participant->port << std::endl;
      return participant;
    }
  }
  std::cout << "Could not find participant " << ipAddress << ":" << (int)port
            << std::endl;
+#endif
  return nullptr;
 }

 Participant* ParticipantRegistry::Get(unsigned char participantId) {
+#if !defined(NO_STD)
  for (Participant* participant : ParticipantRegistry::participants) {
    if (participant == nullptr)
      continue;
@ -136,11 +158,12 @@ Participant* ParticipantRegistry::Get(unsigned char participantId) {
      return participant;
  }
  std::cout << "Could not find participant " << (int)participantId << std::endl;
+#endif
  return nullptr;
 }

 Participant* ParticipantRegistry::Add(const char* ipAddress,
-                                                 unsigned int port) {
+                                      unsigned int port) {
  Participant* participant = new Participant(ipAddress, port);
  Add(participant);
  return participant;
@ -152,19 +175,22 @@ void ParticipantRegistry::Add(Participant* participant) {

  if (foundParticipant == nullptr) {
 #if defined(NO_STD)
-    this->things[this->thingCount++] = thing;
+    // this->things[this->thingCount++] = thing;
 #else
    ParticipantRegistry::participants.push_back(participant);
 #endif
-    std::cout << "Add participant " << participant->ipAddress << ":"
-              << participant->port << "[" << (int)participant->networkId
-              << "]\n";
-    std::cout << "participants " << ParticipantRegistry::participants.size()
-              << "\n";
-  } else {
-    std::cout << "Did not add, existing participant " << participant->ipAddress
-              << ":" << participant->port << "[" << (int)participant->networkId
-              << "]\n";
+    //   std::cout << "Add participant " << participant->ipAddress << ":"
+    //             << participant->port << "[" << (int)participant->networkId
+    //             << "]\n";
+    //   std::cout << "participants " <<
+    //   ParticipantRegistry::participants.size()
+    //             << "\n";
+    // } else {
+    //   std::cout << "Did not add, existing participant " <<
+    //   participant->ipAddress
+    //             << ":" << participant->port << "[" <<
+    //             (int)participant->networkId
+    //             << "]\n";
  }
 }

@ -172,9 +198,15 @@ void ParticipantRegistry::Remove(Participant* participant) {
  // participants.remove(participant);
 }

+#if defined(NO_STD)
+Participant** ParticipantRegistry::GetAll() const {
+  return ParticipantRegistry::participants;
+}
+#else
 const std::list<Participant*>& ParticipantRegistry::GetAll() const {
  return ParticipantRegistry::participants;
 }
+#endif

 #pragma endregion ParticipantRegistry

--- a/Participant.h
+++ b/Participant.h
@ -1,4 +1,5 @@
 #pragma once
+
 #include "Thing.h"

 namespace RoboidControl {
@ -31,13 +32,21 @@ class ParticipantRegistry {
  /// @param participant The participant to remove
  void Remove(Participant* participant);

+ private:
+#if defined(NO_STD)
+ public:
+  Participant** GetAll() const;
+  int count = 0;
+
+ private:
+  Participant** participants;
+#else
+ public:
  /// @brief Get all participants
  /// @return All participants
  const std::list<Participant*>& GetAll() const;

 private:
-#if defined(NO_STD)
-#else
  /// @brief The list of known participants
  std::list<Participant*> participants;
 #endif
@ -51,6 +60,9 @@ class ParticipantRegistry {
 /// reference to remote participants.
 class Participant {
 public:
+  /// @brief The name of the participant
+  const char* name = "Participant";
+
  /// @brief The Ip Address of a participant.
  const char* ipAddress = "0.0.0.0";
  /// @brief The port number for UDP communication with the participant.
@ -59,6 +71,7 @@ class Participant {
  /// @brief The network Id to identify the participant
  unsigned char networkId = 0;

+  Participant();
  /// @brief Create a new participant with the given communcation info
  /// @param ipAddress The IP address of the participant
  /// @param port The UDP port of the participant
@ -66,6 +79,11 @@ class Participant {
  /// @brief Destructor for the participant
  ~Participant();

+  static Participant* LocalParticipant;
+  static void ReplaceLocalParticipant(Participant& newParticipant);
+
+  Thing* root = new Thing(this);
+
 public:
 #if defined(NO_STD)
  unsigned char thingCount = 0;
@ -88,7 +106,7 @@ class Participant {

  /// @brief Update all things for this participant
  /// @param currentTimeMs The current time in milliseconds (optional)
-  virtual void Update(unsigned long currentTimeMs = 0);
+  virtual void Update();

 public:
  static ParticipantRegistry registry;
--- a/Participants/ParticipantUDP.cpp
+++ b/Participants/ParticipantUDP.cpp
@ -1,30 +1,49 @@
 #include "ParticipantUDP.h"

+#include "Participant.h"
 #include "Thing.h"

 #include "Arduino/ArduinoParticipant.h"
 #include "EspIdf/EspIdfParticipant.h"
-#include "Windows/WindowsParticipant.h"
 #include "Posix/PosixParticipant.h"
+#include "Windows/WindowsParticipant.h"

 #include <string.h>

 namespace RoboidControl {

+#pragma region Init
+
 ParticipantUDP::ParticipantUDP(int port) : Participant("127.0.0.1", port) {
+  this->name = "ParticipantUDP";
  this->remoteSite = nullptr;
  if (this->port == 0)
    this->isIsolated = true;
  Participant::registry.Add(this);
+
+  this->root = Thing::LocalRoot();  //::LocalParticipant->root;
+  this->root->owner = this;
+  this->root->name = "UDP Root";
+  this->Add(this->root);
+
+  Participant::ReplaceLocalParticipant(*this);
 }

 ParticipantUDP::ParticipantUDP(const char* ipAddress, int port, int localPort)
    : Participant("127.0.0.1", localPort) {
+  this->name = "ParticipantUDP";
  if (this->port == 0)
    this->isIsolated = true;
  else
    this->remoteSite = new Participant(ipAddress, port);
  Participant::registry.Add(this);
+
+  this->root = Thing::LocalRoot();  // Participant::LocalParticipant->root;
+  this->root->owner = this;
+  this->root->name = "UDP Root";
+  this->Add(this->root);
+
+  Participant::ReplaceLocalParticipant(*this);
 }

 static ParticipantUDP* isolatedParticipant = nullptr;
@ -64,11 +83,18 @@ void ParticipantUDP::SetupUDP(int localPort,
  this->connected = true;
 }

+#pragma endregion Init
+
 #pragma region Update

-void ParticipantUDP::Update(unsigned long currentTimeMs) {
-  if (currentTimeMs == 0)
-    currentTimeMs = Thing::GetTimeMs();
+// The update order
+// 1. receive external messages
+// 2. update the state
+// 3. send out the updated messages
+void ParticipantUDP::Update() {
+  unsigned long currentTimeMs = Thing::GetTimeMs();
+
+  PrepMyThings();

  if (this->isIsolated == false) {
    if (this->connected == false)
@ -88,15 +114,26 @@ void ParticipantUDP::Update(unsigned long currentTimeMs) {
    this->ReceiveUDP();
  }

-  UpdateMyThings(currentTimeMs);
-  UpdateOtherThings(currentTimeMs);
+  UpdateMyThings();
+  UpdateOtherThings();
 }

-void ParticipantUDP::UpdateMyThings(unsigned long currentTimeMs = 0) {
+void ParticipantUDP::PrepMyThings() {
+  for (Thing* thing : this->things) {
+    if (thing == nullptr)
+      continue;
+      
+    thing->PrepareForUpdate();
+  }
+}
+
+void ParticipantUDP::UpdateMyThings() {
+  // std::cout << this->things.size() << std::endl;
  for (Thing* thing : this->things) {
    if (thing == nullptr)  // || thing->GetParent() != nullptr)
      continue;

+    // std::cout << thing->name << "\n";
    if (thing->hierarchyChanged) {
      if (!(this->isIsolated || this->networkId == 0)) {
        ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
@ -111,12 +148,14 @@ void ParticipantUDP::UpdateMyThings(unsigned long currentTimeMs = 0) {
      }
    }

+    // std::cout << "B\n";
    // Why don't we do recursive?
    // Because when a thing creates a thing in the update,
    // that new thing is not sent out (because of hierarchyChanged)
    // before it is updated itself: it is immediatedly updated!
-    thing->Update(currentTimeMs, false);
+    thing->Update(false);

+    // std::cout << "C\n";
    if (!(this->isIsolated || this->networkId == 0)) {
      if (thing->terminate) {
        DestroyMsg* destroyMsg = new DestroyMsg(this->networkId, thing);
@ -137,20 +176,28 @@ void ParticipantUDP::UpdateMyThings(unsigned long currentTimeMs = 0) {
        delete binaryMsg;
      }
    }
+    // std::cout << "D\n";
    if (thing->terminate)
      this->Remove(thing);
+    // std::cout << "E\n";
  }
 }

-void ParticipantUDP::UpdateOtherThings(unsigned long currentTimeMs = 0) {
+void ParticipantUDP::UpdateOtherThings() {
+#if defined(NO_STD)
+  Participant** participants = Participant::registry.GetAll();
+  for (int ix = 0; ix < Participant::registry.count; ix++) {
+    Participant* participant = participants[ix];
+#else
  for (Participant* participant : Participant::registry.GetAll()) {
+#endif
    if (participant == nullptr || participant == this)
      continue;

    // Call only the Participant version of the Update.
    // This is to deal with the function where one of the (remote)
    // participants is actually a local participant
-    participant->Participant::Update(currentTimeMs);
+    participant->Participant::Update();
    if (this->isIsolated)
      continue;

@ -195,8 +242,8 @@ bool ParticipantUDP::Send(Participant* remoteParticipant, IMessage* msg) {
  if (bufferSize <= 0)
    return true;

-  // std::cout << "send msg " << (int)this->buffer[0] << " to "
-  // << remoteParticipant->ipAddress << std::endl;
+  // std::cout << "send msg " << (static_cast<int>(this->buffer[0]) & 0xff)
+  //           << " to " << remoteParticipant->ipAddress << std::endl;

 #if defined(_WIN32) || defined(_WIN64)
  Windows::ParticipantUDP* thisWindows =
@ -373,14 +420,14 @@ void ParticipantUDP::Process(Participant* sender, ParticipantMsg* msg) {

 void ParticipantUDP::Process(Participant* sender, NetworkIdMsg* msg) {
 #if defined(DEBUG)
-  std::cout << this->name << ": process SiteMsg " << (int)this->networkId
+  std::cout << this->name << ": process NetworkIdMsg " << (int)this->networkId
            << " -> " << (int)msg->networkId << "\n";
 #endif

  if (this->networkId != msg->networkId) {
    this->networkId = msg->networkId;

-    // std::cout << this->things.size() << " things\n";
+    std::cout << this->things.size() << " things\n";
    for (Thing* thing : this->things)
      this->SendThingInfo(sender, thing);
  }
@ -441,7 +488,7 @@ void ParticipantUDP::Process(Participant* sender, ModelUrlMsg* msg) {
 }

 void ParticipantUDP::Process(Participant* sender, PoseMsg* msg) {
-#if !defined(DEBUG)
+#if !defined(DEBUG) && !defined(NO_STD)
  std::cout << this->name << ": process PoseMsg [" << (int)this->networkId
            << "/" << (int)msg->networkId << "] " << (int)msg->poseType << "\n";
 #endif
--- a/Participants/ParticipantUDP.h
+++ b/Participants/ParticipantUDP.h
@ -78,9 +78,6 @@ class ParticipantUDP : public Participant {
  /// local network
  long publishInterval = 3000;  // 3 seconds

-  /// @brief The name of the participant
-  const char* name = "ParticipantUDP";
-
 protected:
  char buffer[1024];

@ -100,13 +97,15 @@ class ParticipantUDP : public Participant {
 #pragma region Update

 public:
-  virtual void Update(unsigned long currentTimeMs = 0) override;
+  virtual void Update() override;

 protected:
  unsigned long nextPublishMe = 0;

-  virtual void UpdateMyThings(unsigned long currentTimeMs);
-  virtual void UpdateOtherThings(unsigned long currentTimeMs);
+  /// @brief Prepare the local things for the next update
+  virtual void PrepMyThings();
+  virtual void UpdateMyThings();
+  virtual void UpdateOtherThings();

 #pragma endregion Update

--- a/Participants/SiteServer.cpp
+++ b/Participants/SiteServer.cpp
@ -22,16 +22,22 @@ SiteServer::SiteServer(int port) : ParticipantUDP(port) {

 #pragma region Update

-void SiteServer::UpdateMyThings(unsigned long currentTimeMs) {
+void SiteServer::UpdateMyThings() {
  for (Thing* thing : this->things) {
    if (thing == nullptr)
      continue;

-    thing->Update(currentTimeMs, true);
+    thing->Update(true);

    if (this->isIsolated == false) {
      // Send to all other participants
+#if defined(NO_STD)
+      Participant** participants = Participant::registry.GetAll();
+      for (int ix = 0; ix < Participant::registry.count; ix++) {
+        Participant* participant = participants[ix];
+#else
      for (Participant* participant : Participant::registry.GetAll()) {
+#endif
        if (participant == nullptr || participant == this)
          continue;

@ -66,15 +72,24 @@ void SiteServer::Process(Participant* sender, NetworkIdMsg* msg) {}
 void SiteServer::Process(Participant* sender, ThingMsg* msg) {
  Thing* thing = sender->Get(msg->thingId);
  if (thing == nullptr)
-    new Thing(sender, (Thing::Type)msg->thingType, msg->thingId);
+    // new Thing(sender, (Thing::Type)msg->thingType, msg->thingId);
+    // Thing::Reconstruct(sender, msg->thingType, msg->thingId);
+    //thing = new Thing(msg->thingType, sender->root);
+    ;
+  thing->id = msg->thingId;

  if (msg->parentId != 0) {
    thing->SetParent(Get(msg->parentId));
-    if (thing->GetParent() != nullptr)
+    if (thing->IsRoot())
+    // if (thing->GetParent() != nullptr)
+#if defined(NO_STD)
+      ;
+#else
      std::cout << "Could not find parent [" << (int)msg->networkId << "/"
                << (int)msg->parentId << "]\n";
+#endif
  } else
-    thing->SetParent(nullptr);
+    thing->SetParent(Thing::LocalRoot());
 }

 #pragma endregion Receive
--- a/Participants/SiteServer.h
+++ b/Participants/SiteServer.h
@ -24,7 +24,7 @@ class SiteServer : public ParticipantUDP {

 #pragma region Update

-  virtual void UpdateMyThings(unsigned long currentTimeMs) override;
+  virtual void UpdateMyThings() override;

 #pragma endregion Update

--- a/Posix/PosixParticipant.cpp
+++ b/Posix/PosixParticipant.cpp
@ -11,7 +11,7 @@
 namespace RoboidControl {
 namespace Posix {

-void Setup(int localPort, const char* remoteIpAddress, int remotePort) {
+void ParticipantUDP::Setup(int localPort, const char* remoteIpAddress, int remotePort) {
 #if defined(__unix__) || defined(__APPLE__)

  // Create a UDP socket
@ -63,7 +63,7 @@ void Setup(int localPort, const char* remoteIpAddress, int remotePort) {
 #endif
 }

-void Receive() {
+void ParticipantUDP::Receive() {
 #if defined(__unix__) || defined(__APPLE__)
  sockaddr_in client_addr;
  socklen_t len = sizeof(client_addr);
@ -90,7 +90,7 @@ void Receive() {
 #endif
 }

-bool Send(Participant* remoteParticipant, int bufferSize) {
+bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
 #if defined(__unix__) || defined(__APPLE__)
  // std::cout << "Send to " << remoteParticipant->ipAddress << ":" << ntohs(remoteParticipant->port)
  //           << "\n";
@ -113,7 +113,7 @@ bool Send(Participant* remoteParticipant, int bufferSize) {
  return true;
 }

-bool Publish(IMessage* msg) {
+bool ParticipantUDP::Publish(IMessage* msg) {
 #if defined(__unix__) || defined(__APPLE__)
  int bufferSize = msg->Serialize(this->buffer);
  if (bufferSize <= 0)
--- a/Posix/PosixParticipant.h
+++ b/Posix/PosixParticipant.h
@ -11,6 +11,13 @@ class ParticipantUDP : public RoboidControl::ParticipantUDP {
  void Receive();
  bool Send(Participant* remoteParticipant, int bufferSize);
  bool Publish(IMessage* msg);
+
+ protected:
+#if defined(__unix__) || defined(__APPLE__)
+  sockaddr_in remote_addr;
+  sockaddr_in server_addr;
+  sockaddr_in broadcast_addr;
+#endif
 };

 }  // namespace Posix
--- a/Thing.cpp
+++ b/Thing.cpp
@ -5,6 +5,7 @@
 #include "Participants/IsolatedParticipant.h"

 #include <string.h>
+// #include <iostream>

 #if defined(ARDUINO)
 #include "Arduino.h"
@ -19,14 +20,31 @@ namespace RoboidControl {

 #pragma region Init

-Thing::Thing(unsigned char thingType)
-    : Thing(IsolatedParticipant::Isolated(), thingType) {}
+Thing* Thing::LocalRoot() {
+  Participant* p = Participant::LocalParticipant;
+  Thing* localRoot = p->root;
+  return localRoot;
+}
+
+// Only use this for root things
+Thing::Thing(Participant* owner) {
+  this->type = Type::Roboid;  // should become root
+
+  this->position = Spherical::zero;
+  this->positionUpdated = true;
+  this->orientation = SwingTwist::identity;
+  this->orientationUpdated = true;
+  this->hierarchyChanged = true;
+
+  this->linearVelocity = Spherical::zero;
+  this->angularVelocity = Spherical::zero;

-Thing::Thing(Participant* owner,
-             unsigned char thingType,
-             unsigned char thingId) {
  this->owner = owner;
-  this->id = thingId;
+  //this->owner->Add(this, true);
+  std::cout << this->owner->name << ": New root thing " << std::endl;
+}
+
+Thing::Thing(unsigned char thingType, Thing* parent) {
  this->type = thingType;

  this->position = Spherical::zero;
@ -38,17 +56,25 @@ Thing::Thing(Participant* owner,
  this->linearVelocity = Spherical::zero;
  this->angularVelocity = Spherical::zero;

-  // std::cout << "add thing [" << (int)this->id << "] to owner "
-  //           << this->owner->ipAddress << ":" << this->owner->port <<
-  //           std::endl;
+  this->owner = parent->owner;
  this->owner->Add(this, true);
+  this->SetParent(parent);
+
+  std::cout << this->owner->name << ": New thing for " << parent->name
+            << std::endl;
 }

-Thing::Thing(Thing* parent, unsigned char thingType, unsigned char thingId)
-    : Thing(parent->owner, thingType, thingId) {
-  this->SetParent(parent);
+Thing::~Thing() {
+  std::cout << "Destroy thing " << this->name << std::endl;
 }

+// Thing Thing::Reconstruct(Participant* owner, unsigned char thingType,
+// unsigned char thingId) {
+//   Thing thing = Thing(owner, thingType);
+//   thing.id = thingId;
+//   return thing;
+// }
+
 #pragma endregion Init

 void Thing::SetName(const char* name) {
@ -77,6 +103,19 @@ void Thing::SetParent(Thing* parent) {
  this->hierarchyChanged = true;
 }

+// void Thing::SetParent(Thing* parent) {
+//   parent->AddChild(this);
+//   this->hierarchyChanged = true;
+// }
+
+// const Thing& Thing::GetParent() {
+//   return *this->parent;
+// }
+
+bool Thing::IsRoot() const {
+  return this == LocalRoot() || this->parent == nullptr;  //&Thing::Root;
+}
+
 // void Thing::SetParent(Thing* root, const char* name) {
 //   Thing* thing = root->FindChild(name);
 //   if (thing != nullptr)
@ -130,7 +169,7 @@ Thing* Thing::RemoveChild(Thing* child) {
    }
  }

-  child->parent = nullptr;
+  child->parent = Thing::LocalRoot();

  delete[] this->children;
  this->children = newChildren;
@ -221,7 +260,8 @@ Spherical Thing::GetAngularVelocity() {

 unsigned long Thing::GetTimeMs() {
 #if defined(ARDUINO)
-  return millis();
+  unsigned long ms = millis();
+  return ms;
 #else
  auto now = std::chrono::steady_clock::now();
  auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(
@ -230,11 +270,13 @@ unsigned long Thing::GetTimeMs() {
 #endif
 }

-void Thing::Update(bool recursive) {
-  Update(GetTimeMs(), recursive);
-}
+// void Thing::Update(bool recursive) {
+//   Update(GetTimeMs(), recursive);
+// }

-void Thing::Update(unsigned long currentTimeMs, bool recursive) {
+void Thing::PrepareForUpdate() {}
+
+void Thing::Update(bool recursive) {
  // if (this->positionUpdated || this->orientationUpdated)
  //   OnPoseChanged callback
  this->positionUpdated = false;
@ -245,17 +287,18 @@ void Thing::Update(unsigned long currentTimeMs, bool recursive) {
  this->nameChanged = false;

  if (recursive) {
+    // std::cout << "# children: " << (int)this->childCount << std::endl;
    for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
      Thing* child = this->children[childIx];
      if (child == nullptr)
        continue;
-      child->Update(currentTimeMs, recursive);
+      child->Update(recursive);
    }
  }
 }

-void Thing::UpdateThings(unsigned long currentTimeMs) {
-  IsolatedParticipant::Isolated()->Update(currentTimeMs);
+void Thing::UpdateThings() {
+  IsolatedParticipant::Isolated()->Update();
 }

 #pragma endregion Update
--- a/Thing.h
+++ b/Thing.h
@ -32,6 +32,7 @@ class Thing {
    ControlledMotor,
    UncontrolledMotor,
    Servo,
+    IncrementalEncoder,
    // Other
    Roboid,
    Humanoid,
@ -40,19 +41,23 @@ class Thing {
  };

 #pragma region Init
+  static Thing* LocalRoot();

-  /// @brief Create a new thing without communication abilities
-  /// @param thingType The type of thing (can use Thing::Type)
-  Thing(unsigned char thingType = Type::Undetermined);
+ private:
+  // Special constructor to create a root thing
+  Thing(Participant* parent);
+  // Which can only be used by the Participant
+  friend class Participant;

-  /// @brief Create a new thing for a participant
-  /// @param owner The owning participant
+ public:
+  /// @brief Create a new thing
  /// @param thingType The type of thing (can use Thing::Type)
-  /// @param thingId The ID of the thing, leave out or set to zero to generate
-  /// an ID
-  Thing(Participant* owner,
-        unsigned char thingType = Type::Undetermined,
-        unsigned char thingId = 0);
+  /// @param parent (optional) The parent thing
+  /// The owner will be the same as the owner of the parent thing, it will
+  /// be Participant::LocalParticipant if the parent is not specified. A thing
+  /// without a parent will be a root thing.
+  Thing(unsigned char thingType = Thing::Type::Undetermined,
+        Thing* parent = LocalRoot());

  /// @brief Create a new child thing
  /// @param parent The parent thing
@ -60,7 +65,12 @@ class Thing {
  /// @param thingId The ID of the thing, leave out or set to zero to generate
  /// an ID
  /// @note The owner will be the same as the owner of the parent thing
-  Thing(Thing* parent, unsigned char thingType = 0, unsigned char thingId = 0);
+
+  ~Thing();
+
+  static Thing Reconstruct(Participant* owner,
+                           unsigned char thingType,
+                           unsigned char thingId);

 #pragma endregion Init

@ -72,6 +82,7 @@ class Thing {

  /// @brief The participant managing this thing
  Participant* owner = nullptr;
+
  /// @brief The ID of the thing
  unsigned char id = 0;

@ -106,11 +117,15 @@ class Thing {

  /// @brief Sets the parent of this Thing
  /// @param parent The Thing which should become the parent
-  virtual void SetParent(Thing* parent);
+  // virtual void SetParent(Thing* parent);
+  void SetParent(Thing* parent);
  /// @brief Gets the parent of this Thing
  /// @return The parent Thing
+  // Thing* GetParent();
  Thing* GetParent();

+  bool IsRoot() const;
+
  /// @brief The number of children
  unsigned char childCount = 0;
  /// @brief Get a child by index
@ -198,9 +213,11 @@ class Thing {
  /// parent's orientation
  SwingTwist orientation;

-  /// @brief The linear velocity of the thing in local space, in meters per second
+  /// @brief The linear velocity of the thing in local space, in meters per
+  /// second
  Spherical linearVelocity;
-  /// @brief The angular velocity of the thing in local space, in degrees per second
+  /// @brief The angular velocity of the thing in local space, in degrees per
+  /// second
  Spherical angularVelocity;

 #pragma endregion Pose
@ -208,20 +225,19 @@ class Thing {
 #pragma region Update

 public:
-  /// @brief Get the current time in milliseconds
-  /// @return The current time in milliseconds
-  static unsigned long GetTimeMs();
-
-  /// @brief Updates the state of the thing
-  void Update(bool recursive = false);
+  virtual void PrepareForUpdate();

  /// @brief Updates the state of the thing
  /// @param currentTimeMs The current clock time in milliseconds; if this is
  /// zero, the current time is retrieved automatically
  /// @param recurse When true, this will Update the descendants recursively
-  virtual void Update(unsigned long currentTimeMs, bool recurse = false);
+  virtual void Update(bool recurse = false);

-  static void UpdateThings(unsigned long currentTimeMs);
+  static void UpdateThings();
+
+  /// @brief Get the current time in milliseconds
+  /// @return The current time in milliseconds
+  static unsigned long GetTimeMs();

 #pragma endregion Update

--- a/Things/ControlledMotor.cpp
+++ b/Things/ControlledMotor.cpp
@ -0,0 +1,68 @@
+#include "ControlledMotor.h"
+#include "LinearAlgebra/FloatSingle.h"
+
+namespace RoboidControl {
+
+ControlledMotor::ControlledMotor(Motor* motor,
+                                 RelativeEncoder* encoder,
+                                 Thing* parent)
+    : Motor(parent), motor(motor), encoder(encoder) {
+  this->type = Type::ControlledMotor;
+  //encoder->SetParent(null);
+  //  Thing parent = motor.GetParent();
+  //  this->SetParent(parent);
+  this->integral = 0;
+}
+
+void ControlledMotor::SetTargetVelocity(float velocity) {
+  this->targetVelocity = velocity;
+  this->rotationDirection =
+      (targetVelocity < 0) ? Direction::Reverse : Direction::Forward;
+}
+
+void ControlledMotor::Update(bool recurse) {
+  unsigned long currentTimeMs = GetTimeMs();
+  float timeStep = (currentTimeMs - this->lastUpdateTime) / 1000.0f;
+  this->lastUpdateTime = currentTimeMs;
+  if (timeStep <= 0)
+    return;
+
+  // encoder->Update(false);
+
+  this->actualVelocity = (int)rotationDirection * encoder->rotationSpeed;
+
+  float error = this->targetVelocity - this->actualVelocity;
+  float p_term = error * pidP;
+  this->integral += error * timeStep;
+  float i_term = pidI * this->integral;
+  float d_term = pidD * (error - this->lastError) / timeStep;
+  this->lastError = error;
+
+  float output = p_term + i_term + d_term;
+  std::cout << "target " << this->targetVelocity << " actual "
+            << this->actualVelocity << " output = " << output << std::endl;
+  // float acceleration =
+  //     error * timeStep * pidP;  // Just P is used at this moment
+  // std::cout << "motor acc. " << acceleration << std::endl;
+
+  // float newTargetVelocity = motor->targetVelocity + acceleration;
+  output = LinearAlgebra::Float::Clamp(output, -1, 1);
+  motor->SetTargetVelocity(output);  // or something like that
+  //motor->Update(false);
+}
+
+// float ControlledMotor::GetActualVelocity() {
+//   return (int)rotationDirection * encoder->rotationSpeed;
+// }
+
+// bool ControlledMotor::Drive(float distance) {
+//   if (!driving) {
+//     targetDistance = distance;
+//     startDistance = encoder->GetDistance();
+//     driving = true;
+//   }
+//   float totalDistance = encoder->GetDistance() - startDistance;
+//   bool completed = totalDistance > targetDistance;
+//   return completed;
+// }
+}  // namespace RoboidControl
--- a/Things/ControlledMotor.h
+++ b/Things/ControlledMotor.h
@ -0,0 +1,40 @@
+#pragma once
+
+#include "Motor.h"
+#include "RelativeEncoder.h"
+
+namespace RoboidControl {
+
+/// @brief A motor with speed control
+/// It uses a feedback loop from an encoder to regulate the speed
+/// The speed is measured in revolutions per second.
+class ControlledMotor : public Motor {
+ public:
+  ControlledMotor(Motor* motor, RelativeEncoder* encoder, Thing* parent = Thing::LocalRoot());
+
+  float pidP = 0.5;
+  float pidD = 0;
+  float pidI = 0.2;
+
+  /// @brief The actual velocity in revolutions per second
+  float actualVelocity;
+
+  enum Direction { Forward = 1, Reverse = -1 };
+  Direction rotationDirection;
+
+  virtual void Update(bool recurse = false) override;
+
+  /// @brief Set the target verlocity for the motor controller
+  /// @param speed the target velocity in revolutions per second
+  virtual void SetTargetVelocity(float velocity) override;
+
+  Motor* motor;
+  RelativeEncoder* encoder;
+
+ protected:
+  float integral = 0;
+  float lastError = 0;
+  float lastUpdateTime;
+};
+
+}  // namespace RoboidControl
--- a/Things/DifferentialDrive.cpp
+++ b/Things/DifferentialDrive.cpp
@ -1,13 +1,28 @@
 #include "DifferentialDrive.h"

+#include "Messages/LowLevelMessages.h"
+
 namespace RoboidControl {

-  DifferentialDrive::DifferentialDrive() : Thing(Thing::Type::DifferentialDrive) {}
+DifferentialDrive::DifferentialDrive(Thing* parent)
+    : Thing(Type::DifferentialDrive, parent) {
+  this->name = "Differential drive";

-DifferentialDrive::DifferentialDrive(Participant* participant, unsigned char thingId)
-    : Thing(participant, Thing::Type::DifferentialDrive, thingId) {}
+  this->leftWheel = new Motor(this);
+  this->leftWheel->name = "Left motor";

-DifferentialDrive::DifferentialDrive(Thing* parent, unsigned char thingId) : Thing(parent, Thing::Type::DifferentialDrive, thingId) {}
+  this->rightWheel = new Motor(this);
+  this->rightWheel->name = "Right motor";
+}
+
+DifferentialDrive::DifferentialDrive(Motor* leftMotor,
+                                     Motor* rightMotor,
+                                     Thing* parent)
+    : Thing(Type::DifferentialDrive, parent) {
+  this->name = "Differential drive";
+  this->leftWheel = leftMotor;
+  this->rightWheel = rightMotor;
+}

 void DifferentialDrive::SetDriveDimensions(float wheelDiameter,
                                           float wheelSeparation) {
@ -24,27 +39,38 @@ void DifferentialDrive::SetDriveDimensions(float wheelDiameter,
    this->rightWheel->SetPosition(Spherical(distance, Direction::right));
 }

-void DifferentialDrive::SetMotors(Thing* leftWheel, Thing* rightWheel) {
+// Motor& DifferentialDrive::GetMotorLeft() {
+//   return *this->leftWheel;
+// }
+
+// Motor& DifferentialDrive::GetMotorRight() {
+//   return *this->rightWheel;
+// }
+
+void DifferentialDrive::SetMotors(Motor& leftMotor, Motor& rightMotor) {
  float distance = this->wheelSeparation / 2;
-  this->leftWheel = leftWheel;
-  ;
-  if (leftWheel != nullptr)
-    this->leftWheel->SetPosition(Spherical(distance, Direction::left));
+  this->leftWheel = &leftMotor;
+  this->leftWheel->SetPosition(Spherical(distance, Direction::left));

-  this->rightWheel = rightWheel;
-  if (rightWheel != nullptr)
-    this->rightWheel->SetPosition(Spherical(distance, Direction::right));
+  this->rightWheel = &rightMotor;
+  this->rightWheel->SetPosition(Spherical(distance, Direction::right));
 }

-void DifferentialDrive::SetWheelVelocity(float speedLeft, float speedRight) {
+void DifferentialDrive::SetWheelVelocity(float velocityLeft,
+                                         float velocityRight) {
+  // if (this->leftWheel != nullptr)
+  //   this->leftWheel->SetAngularVelocity(Spherical(velocityLeft,
+  //   Direction::left));
+  // if (this->rightWheel != nullptr)
+  //   this->rightWheel->SetAngularVelocity(
+  //       Spherical(velocityRight, Direction::right));
  if (this->leftWheel != nullptr)
-    this->leftWheel->SetAngularVelocity(Spherical(speedLeft, Direction::left));
+    this->leftWheel->SetTargetVelocity(velocityLeft);
  if (this->rightWheel != nullptr)
-    this->rightWheel->SetAngularVelocity(
-        Spherical(speedRight, Direction::right));
+    this->rightWheel->SetTargetVelocity(velocityRight);
 }

-void DifferentialDrive::Update(unsigned long currentMs, bool recursive) {
+void DifferentialDrive::Update(bool recursive) {
  if (this->linearVelocityUpdated) {
    // this assumes forward velocity only....
    float linearVelocity = this->GetLinearVelocity().distance;
@ -65,7 +91,14 @@ void DifferentialDrive::Update(unsigned long currentMs, bool recursive) {

    this->SetWheelVelocity(speedLeft, speedRight);
  }
-  Thing::Update(currentMs, recursive);
+  Thing::Update(recursive);
+}
+
+int DifferentialDrive::GenerateBinary(char* data, unsigned char* ix) {
+  data[(*ix)++] = this->leftWheel->id;
+  data[(*ix)++] = this->rightWheel->id;
+  LowLevelMessages::SendFloat16(data, ix, this->wheelRadius);
+  return 4;
 }

 }  // namespace RoboidControl
--- a/Things/DifferentialDrive.h
+++ b/Things/DifferentialDrive.h
@ -1,6 +1,7 @@
 #pragma once

 #include "Thing.h"
+#include "Motor.h"

 namespace RoboidControl {

@ -9,18 +10,13 @@ namespace RoboidControl {
 /// @sa @link https://en.wikipedia.org/wiki/Differential_wheeled_robot @endlink
 class DifferentialDrive : public Thing {
 public:
-  /// @brief Create a differential drive without networking support
-  DifferentialDrive();
-  /// @brief Create a differential drive with networking support
-  /// @param participant The local participant
-  /// @param thingId The ID of the thing, leave out or set to zero to generate
-  /// an ID
-  DifferentialDrive(Participant* participant, unsigned char thingId = 0);
  /// @brief Create a new child differential drive
  /// @param parent The parent thing
  /// @param thingId The ID of the thing, leave out or set to zero to generate
  /// an ID
-  DifferentialDrive(Thing* parent, unsigned char thingId = 0);
+  DifferentialDrive(Thing* parent = Thing::LocalRoot());
+
+  DifferentialDrive(Motor* leftMotor, Motor* rightMotor, Thing* parent = Thing::LocalRoot());

  /// @brief Configures the dimensions of the drive
  /// @param wheelDiameter The diameter of the wheels in meters
@ -30,10 +26,13 @@ class DifferentialDrive : public Thing {
  /// linear and angular velocity.
  /// @sa SetLinearVelocity SetAngularVelocity
  void SetDriveDimensions(float wheelDiameter, float wheelSeparation);
+
+  // Motor& GetMotorLeft();
+  // Motor& GetMotorRight();
  /// @brief Congures the motors for the wheels
  /// @param leftWheel The motor for the left wheel
  /// @param rightWheel The motor for the right wheel
-  void SetMotors(Thing* leftWheel, Thing* rightWheel);
+  void SetMotors(Motor& leftMotor, Motor& rightMotor);

  /// @brief Directly specify the speeds of the motors
  /// @param speedLeft The speed of the left wheel in degrees per second.
@ -43,21 +42,25 @@ class DifferentialDrive : public Thing {
  void SetWheelVelocity(float speedLeft, float speedRight);

  /// @copydoc RoboidControl::Thing::Update(unsigned long)
-  virtual void Update(unsigned long currentMs, bool recursive = true) override;
+  virtual void Update(bool recursive = true) override;
+
+  int GenerateBinary(char* bytes, unsigned char* ix) override;
+  // virtual void ProcessBinary(char* bytes) override;
+
+    /// @brief The left wheel
+  Motor* leftWheel = nullptr;
+  /// @brief The right wheel
+  Motor* rightWheel = nullptr;

 protected:
  /// @brief The radius of a wheel in meters
-  float wheelRadius = 1.0f;
+  float wheelRadius = 0.0f;
  /// @brief The distance between the wheels in meters
-  float wheelSeparation = 1.0f;
+  float wheelSeparation = 0.0f;

  /// @brief Convert revolutions per second to meters per second
  float rpsToMs = 1.0f;

-  /// @brief The left wheel
-  Thing* leftWheel = nullptr;
-  /// @brief The right wheel
-  Thing* rightWheel = nullptr;
 };

 }  // namespace RoboidControl
--- a/Things/DigitalSensor.cpp
+++ b/Things/DigitalSensor.cpp
@ -2,13 +2,18 @@

 namespace RoboidControl {

-DigitalSensor::DigitalSensor() : Thing(Type::Switch) {}
+//DigitalSensor::DigitalSensor() : Thing(Type::Switch) {}

-DigitalSensor::DigitalSensor(Participant* owner, unsigned char thingId)
-    : Thing(owner, Type::Switch, thingId) {}
+// DigitalSensor::DigitalSensor(Participant* owner, unsigned char thingId)
+//     : Thing(owner, Type::Switch, thingId) {}

-DigitalSensor::DigitalSensor(Thing* parent, unsigned char thingId)
-    : Thing(parent, Type::Switch) {}
+// DigitalSensor::DigitalSensor(Thing* parent, unsigned char thingId)
+//     : Thing(parent, Type::Switch) {}
+
+// DigitalSensor::DigitalSensor(Participant* owner) : Thing(owner, Type::Switch) {}
+
+// DigitalSensor::DigitalSensor(Thing* parent) : Thing(parent, Type::Switch) {}
+DigitalSensor::DigitalSensor(Thing* parent) : Thing(Type::Switch, parent) {}

 int DigitalSensor::GenerateBinary(char* bytes, unsigned char* ix) {
  bytes[(*ix)++] = state ? 1 : 0;
--- a/Things/DigitalSensor.h
+++ b/Things/DigitalSensor.h
@ -8,17 +8,18 @@ namespace RoboidControl {
 class DigitalSensor : public Thing {
 public:
  /// @brief Create a digital sensor without communication abilities
-  DigitalSensor();
+  //DigitalSensor();
  /// @brief Create a digital sensor for a participant
  /// @param owner The owning participant
  /// @param thingId The ID of the thing, leave out or set to zero to generate
  /// an ID
-  DigitalSensor(Participant* owner, unsigned char thingId = 0);
+  DigitalSensor(Participant* owner = nullptr); //, unsigned char thingId = 0);
  /// @brief Create a new child digital sensor
  /// @param parent The parent thing
  /// @param thingId The ID of the thing, leave out or set to zero to generate
  /// an ID
-  DigitalSensor(Thing* parent, unsigned char thingId = 0);
+  // DigitalSensor(Thing* parent); //, unsigned char thingId = 0);
+  DigitalSensor(Thing* parent = Thing::LocalRoot());

  /// @brief The sigital state
  bool state = 0;
--- a/Things/Motor.cpp
+++ b/Things/Motor.cpp
@ -0,0 +1,16 @@
+#include "Motor.h"
+
+namespace RoboidControl {
+
+Motor::Motor(Thing* parent) : Thing(Type::UncontrolledMotor, parent) {}
+
+void Motor::SetTargetVelocity(float targetSpeed) {
+    this->targetVelocity = targetSpeed;
+}
+
+int Motor::GenerateBinary(char* data, unsigned char* ix) {
+  data[(*ix)++] = this->targetVelocity * 127.0f;
+  return 1;
+}
+
+}  // namespace RoboidControl
--- a/Things/Motor.h
+++ b/Things/Motor.h
@ -0,0 +1,25 @@
+#pragma once
+
+#include "Thing.h"
+
+namespace RoboidControl {
+
+class Motor : public Thing {
+ public:
+  Motor(Thing* parent = Thing::LocalRoot());
+
+  /// @brief Motor turning direction
+  enum class Direction { Clockwise = 1, CounterClockwise = -1 };
+  /// @brief The forward turning direction of the motor
+  Direction direction;
+
+  virtual void SetTargetVelocity(float velocity);  // -1..0..1
+
+  int GenerateBinary(char* bytes, unsigned char* ix) override;
+  // virtual void ProcessBinary(char* bytes) override;
+
+ //protected:
+  float targetVelocity = 0;
+};
+
+}  // namespace RoboidControl
--- a/Things/RelativeEncoder.cpp
+++ b/Things/RelativeEncoder.cpp
@ -0,0 +1,21 @@
+#include "RelativeEncoder.h"
+
+namespace RoboidControl {
+
+RelativeEncoder::RelativeEncoder(Thing* parent)
+    : Thing(Type::IncrementalEncoder, parent) {}
+
+float RelativeEncoder::GetRotationSpeed() {
+  return rotationSpeed;
+}
+
+int RelativeEncoder::GenerateBinary(char* data, unsigned char* ix) {
+  data[(*ix)++] = (unsigned char)(this->rotationSpeed * 127);
+  return 1;
+}
+
+void RelativeEncoder::ProcessBinary(char* data) {
+  this->rotationSpeed = (float)data[0] / 127;
+}
+
+}  // namespace RoboidControl
--- a/Things/RelativeEncoder.h
+++ b/Things/RelativeEncoder.h
@ -0,0 +1,39 @@
+#pragma once
+
+#include "Thing.h"
+
+namespace RoboidControl {
+
+/// @brief An Incremental Encoder measures the rotations of an axle using a
+/// rotary sensor. Some encoders are able to detect direction, while others can
+/// not.
+class RelativeEncoder : public Thing {
+ public:
+  /// @brief Creates a sensor which measures distance from pulses
+  /// @param pulsesPerRevolution The number of pulse edges which make a
+  /// full rotation
+  /// @param distancePerRevolution The distance a wheel travels per full
+  /// rotation
+  //RelativeEncoder(Participant* owner);
+  // RelativeEncoder(Thing* parent);
+  RelativeEncoder(Thing* parent = Thing::LocalRoot());
+
+  /// @brief Get the rotation speed 
+  /// @return The speed in revolutions per second
+  virtual float GetRotationSpeed();
+  float rotationSpeed = 0;
+
+  /// @brief Function used to generate binary data for this touch sensor
+  /// @param buffer The byte array for thw binary data
+  /// @param ix The starting position for writing the binary data
+  int GenerateBinary(char* bytes, unsigned char* ix) override;
+  /// @brief Function used to process binary data received for this touch sensor
+  /// @param bytes The binary data to process
+  virtual void ProcessBinary(char* bytes) override;
+
+protected:
+    /// @brief rotation speed in revolutions per second
+    //float _rotationSpeed;
+};
+
+}  // namespace RoboidControl
--- a/Things/TemperatureSensor.cpp
+++ b/Things/TemperatureSensor.cpp
@ -4,9 +4,15 @@

 namespace RoboidControl {

-TemperatureSensor::TemperatureSensor(Participant* participant,
-                                     unsigned char thingId)
-    : Thing(participant, Type::TemperatureSensor, thingId) {}
+// TemperatureSensor::TemperatureSensor(Participant* participant,
+//                                      unsigned char thingId)
+//     : Thing(participant, Type::TemperatureSensor, thingId) {}
+
+// TemperatureSensor::TemperatureSensor(Participant* owner) : Thing(owner, Type::TemperatureSensor) {}
+
+TemperatureSensor::TemperatureSensor(Thing* parent) : Thing(Type::TemperatureSensor, parent) {}
+
+// TemperatureSensor::TemperatureSensor(Thing* parent) : Thing(parent, Type::TemperatureSensor) {}

 void TemperatureSensor::SetTemperature(float temp) {
  this->temperature = temp;
--- a/Things/TemperatureSensor.h
+++ b/Things/TemperatureSensor.h
@ -12,7 +12,9 @@ class TemperatureSensor : public Thing {
  /// @brief Create a temperature sensor with the given ID
  /// @param networkId The network ID of the sensor
  /// @param thingId The ID of the thing
-  TemperatureSensor(Participant* participant, unsigned char thingId);
+  TemperatureSensor(Participant* participant); //, unsigned char thingId);
+  // TemperatureSensor(Thing* parent);
+  TemperatureSensor(Thing* parent = Thing::LocalRoot());

      /// @brief The measured temperature
      float temperature = 0;
--- a/Things/TouchSensor.cpp
+++ b/Things/TouchSensor.cpp
@ -2,22 +2,29 @@

 namespace RoboidControl {

-TouchSensor::TouchSensor() : Thing(Thing::Type::TouchSensor) {}
+TouchSensor::TouchSensor(Thing* parent) : Thing(Type::TouchSensor, parent) {
+  this->name = "Touch sensor";
+}

-TouchSensor::TouchSensor(Participant* owner, unsigned char thingId)
-    : Thing(owner, Thing::Type::TouchSensor, thingId) {}
+void TouchSensor::PrepareForUpdate() {
+  this->touchedSomething = this->externalTouch;
+}

-TouchSensor::TouchSensor(Thing* parent, unsigned char thingId) : Thing(parent->owner, Thing::Type::TouchSensor, thingId) {
-  this->SetParent(parent);
+void TouchSensor::Update(bool recursive) {
+  Thing::Update(recursive);
 }

 int TouchSensor::GenerateBinary(char* bytes, unsigned char* ix) {
-  bytes[(*ix)++] = touchedSomething ? 1 : 0;
+  bytes[(*ix)++] = this->touchedSomething ? 1 : 0;
  return 1;
 }

 void TouchSensor::ProcessBinary(char* bytes) {
-  this->touchedSomething |= (bytes[0] == 1);
+  this->externalTouch = (bytes[0] == 1);
+  if (this->externalTouch)
+    std::cout << "touching!\n";
+  else
+    std::cout << "not touching\n";
 }

 }  // namespace RoboidControl
--- a/Things/TouchSensor.h
+++ b/Things/TouchSensor.h
@ -8,23 +8,19 @@ namespace RoboidControl {
 class TouchSensor : public Thing {
 // Why finishing this release (0.3), I notice that this is equivalent to a digital sensor
 public:
-  /// @brief Create a touch sensor without communication abilities
-  TouchSensor();
-  /// @brief Create a touch sensor for a participant
-  /// @param owner The owning participant
-  /// @param thingId The ID of the thing, leave out or set to zero to generate
-  /// an ID
-  TouchSensor(Participant* owner, unsigned char thingId = 0);
  /// @brief Create a new child touch sensor
  /// @param parent The parent thing
  /// @param thingId The ID of the thing, leave out or set to zero to generate
  /// an ID
-  TouchSensor(Thing* parent, unsigned char thingId = 0);
+  TouchSensor(Thing* parent = Thing::LocalRoot());

  /// @brief Value which is true when the sensor is touching something, false
  /// otherwise
  bool touchedSomething = false;

+  virtual void PrepareForUpdate() override;
+  virtual void Update(bool recursive) override;
+
  /// @brief Function used to generate binary data for this touch sensor
  /// @param buffer The byte array for thw binary data
  /// @param ix The starting position for writing the binary data
@ -32,6 +28,8 @@ class TouchSensor : public Thing {
  /// @brief Function used to process binary data received for this touch sensor
  /// @param bytes The binary data to process
  virtual void ProcessBinary(char* bytes) override;
+protected:
+  bool externalTouch = false;
 };

 }  // namespace RoboidControl
--- a/examples/BB2B.cpp
+++ b/examples/BB2B.cpp
@ -17,26 +17,26 @@ using namespace RoboidControl;

 int main() {
  // The robot's propulsion is a differential drive
-  DifferentialDrive* bb2b = new DifferentialDrive();
+  DifferentialDrive bb2b = DifferentialDrive();
  // Is has a touch sensor at the front left of the roboid
-  TouchSensor* touchLeft = new TouchSensor(bb2b);
+  TouchSensor touchLeft = TouchSensor(&bb2b); 
  // and other one on the right
-  TouchSensor* touchRight = new TouchSensor(bb2b);
+  TouchSensor touchRight = TouchSensor(&bb2b);

  // Do forever:
  while (true) {
    // The left wheel turns forward when nothing is touched on the right side
    // and turn backward when the roboid hits something on the right
-    float leftWheelSpeed = (touchRight->touchedSomething) ? -600.0f : 600.0f;
+    float leftWheelSpeed = (touchRight.touchedSomething) ? -600.0f : 600.0f;
    // The right wheel does the same, but instead is controlled by
    // touches on the left side
-    float rightWheelSpeed = (touchLeft->touchedSomething) ? -600.0f : 600.0f;
+    float rightWheelSpeed = (touchLeft.touchedSomething) ? -600.0f : 600.0f;
    // When both sides are touching something, both wheels will turn backward
    // and the roboid will move backwards
-    bb2b->SetWheelVelocity(leftWheelSpeed, rightWheelSpeed);
+    bb2b.SetWheelVelocity(leftWheelSpeed, rightWheelSpeed);

    // Update the roboid state
-    bb2b->Update(true);
+    bb2b.Update(true);

    // and sleep for 100ms
 #if defined(ARDUINO)
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
--- a/examples/README.md
+++ b/examples/README.md
@ -0,0 +1 @@
+Important: this folder has to be names 'examples' exactly to maintain compatibility with Arduino
--- a/test/participant_test.cc
+++ b/test/participant_test.cc
@ -7,6 +7,9 @@
 #include "Participants/SiteServer.h"
 #include "Thing.h"

+#include <chrono>
+#include <thread>
+
 using namespace RoboidControl;

 TEST(Participant, Participant) {
@ -15,7 +18,7 @@ TEST(Participant, Participant) {
  unsigned long milliseconds = Thing::GetTimeMs();
  unsigned long startTime = milliseconds;
  while (milliseconds < startTime + 7000) {
-    participant->Update(milliseconds);
+    participant->Update();
    
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    milliseconds = Thing::GetTimeMs();
@ -29,7 +32,7 @@ TEST(Participant, SiteServer) {
  unsigned long milliseconds = Thing::GetTimeMs();
  unsigned long startTime = milliseconds;
  while (milliseconds < startTime + 7000) {
-    siteServer->Update(milliseconds);
+    siteServer->Update();
    
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    milliseconds = Thing::GetTimeMs();
@ -44,8 +47,8 @@ TEST(Participant, SiteParticipant) {
  unsigned long milliseconds = Thing::GetTimeMs();
  unsigned long startTime = milliseconds;
  while (milliseconds < startTime + 7000) {
-    siteServer->Update(milliseconds);
-    participant->Update(milliseconds);
+    siteServer->Update();
+    participant->Update();

    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    milliseconds = Thing::GetTimeMs();
@ -56,15 +59,15 @@ TEST(Participant, SiteParticipant) {
 TEST(Participant, ThingMsg) {
  SiteServer* siteServer = new SiteServer(7681);
  ParticipantUDP* participant = new ParticipantUDP("127.0.0.1", 7681, 7682);
-  Thing* thing = new Thing(participant);
+  Thing* thing = new Thing();
  thing->SetName("First Thing");
  thing->SetModel("https://passer.life/extras/ant.jpg");
  
  unsigned long milliseconds = Thing::GetTimeMs();
  unsigned long startTime = milliseconds;
  while (milliseconds < startTime + 7000) {
-    siteServer->Update(milliseconds);
-    participant->Update(milliseconds);
+    siteServer->Update();
+    participant->Update();

    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    milliseconds = Thing::GetTimeMs();
--- a/test/thing_test.cc
+++ b/test/thing_test.cc
@ -15,7 +15,7 @@ TEST(RoboidControlSuite, HiddenParticipant) {
  unsigned long milliseconds = Thing::GetTimeMs();
  unsigned long startTime = milliseconds;
  while (milliseconds < startTime + 1000) {
-    Thing::UpdateThings(milliseconds);
+    Thing::UpdateThings();

    milliseconds = Thing::GetTimeMs();
  }
@ -24,12 +24,12 @@ TEST(RoboidControlSuite, HiddenParticipant) {

 TEST(RoboidControlSuite, IsolatedParticipant) {
  ParticipantUDP* participant = ParticipantUDP::Isolated();
-  Thing* thing = new Thing(participant);
+  Thing* thing = new Thing();

  unsigned long milliseconds = Thing::GetTimeMs();
  unsigned long startTime = milliseconds;
  while (milliseconds < startTime + 1000) {
-    participant->Update(milliseconds);
+    participant->Update();

    milliseconds = Thing::GetTimeMs();
  }
Author	SHA1	Message	Date
Pascal Serrarens	c95d1cfc06	Merge branch 'main' of https://git.passer.life/RoboidControl/RoboidControl-cpp	2025-06-02 12:26:25 +02:00
Pascal Serrarens	627a79f56c	Merge commit '90e89b2ecd49870e84af4b66fe41610e4855673c'	2025-06-02 12:26:07 +02:00
Pascal Serrarens	c3ba44d47a	Merge commit 'e50c8eb9c89c7fc801ed2c543a1d3970011efb2c'	2025-05-26 15:29:28 +02:00
Pascal Serrarens	e50c8eb9c8	Squashed 'LinearAlgebra/' changes from bfa1123..8b6f628 8b6f628 Fix Matrix unit test 28a3064 Fix tests 91f4280 Reduced the use of raw pointers 83539df Fixes to make it work againg, but failing at udp.begin() 3cca327 Optimizations 361807c Performance improvements 7bd83fa Processomg Acc data * propagating 0eb2851 Linking works 06ff5e9 Added ESP-IDF Wifi/UDP support (but it still give linker errors) 7461a1f Implemented integrate function b7f102a Fix matrix2 tests 7d2dd08 First steps implementation Matrix operations f05b411 Cleanup 05a3b09 Update namespace, Windows compatibility 95a248a First udp communcation is working fea15c3 removed namespace Passer 753de2d Fixes 9674f68 Disabled test failing on MacOS 5b89234 Made it work on MacOS d0ba29e Updated LinearAlgebra ebfb4fb Merge commit '0b63a044eb84175cc922f3f1fe0ce039d101bf7b' 0b63a04 Updated documentation, cleanup a0082bd Add direction documentation 770ce32 Merge commit '2b5f5cd175b20fa01e04b696dfe0cfbe2c4ad9da' 2b5f5cd Removed shorthand Deg/Rad aliases... (see below) d212db2 Trying to fix specialization before instantiation error e445e5b Trying to fix specialization before instantiation error f47e504 Trying to fix specialization before instantiation error b877d4d Trying to fix specialization before instantiation error 06e8623 Trying to fix specialization before instantiation error e97aee9 Trying to fix specialization before instantiation error 0e00e5d Merge branch 'main' of http://gitlab.passervr.com/passer/cpp/linear-algebra 52de55d Trying to fix specialization before instantiation error 47ba024 Trying to fix specialization before instantiation error 2402030 Trying to fix specialization before instantiation error 4e3f253 Fixed gitignore 06c70e2 Merge branch 'Experimental' 6f30334 Updated PolarOf, removed default Polar type 94a3105 Cleanup 89a5711 Fixed typo in documentation 64b7f11 Removed default Angle type 58beb36 Completed AngleOf documentation 5f58a2c Updated documentation 97d937e Fixed (copilot) unit tests 585a3b0 Removed default Spherical type d3226fd Added copilot test documentation a7aa679 Added a performance test 2c57c3f Fixed direction for spherical 28ee225 Normalize Spherical at creation 800eb75 improved rounding of discrete angles 536d6ce Add Binary support 18756ba Correct axis on quaternion from swingtwist 06e42c5 Normalized swing twist edbb4b1 Removes Angle::deg90/180 because of issues 0a07b23 SwingTwist == and Angle 9406b57 SwingTwist::AngleAxis using Direction 06da9e5 Removed AngleAxis, Sperhical will be used instead 2e61e1b Fix unit test 54d0318 Extended unit tests (plus fixes) 8286c1c Minor improvements 95a6fb3 Improved Angle quality 9eca318 Fixed inverse 0ebfce4 Spherical direction 136e44e Fixed unit tests fb5cee8 Proper angle implementation (unit tests still fail) 92d5ef0 Normalizing directions 1ea65d5 Made toQuestion const f1c70c7 Fix unit tests 2ad6a5a Fix include 11259a9 Extend functionality 3363388 Extended AngleAxis & Direction 09e25a8 Add Asin and Atan a646e93 Add ACos 407e771 Add WithDistance 69bad8f Added degrees, radians, cos, sin, and tan functions 5c3dfa6 Adde degrees/readians and poc ACos 05c61a3 Add distance between 6a1d043 Added Angle comparison 6b3bcfc Another anglebetween fix b5a6330 Fix anglebetween b975aed Added angle and rotate functions f483439 Moved Polar/Spherical to template class completely e0ef43a Merge branch 'Experimental' of http://gitlab.passervr.com/passer/cpp/linear-algebra into Experimental b460bec Added scaling to SphericalOf<T> e10e010 Added Direction to library sources dedaa31 Fix unit tests 1da93ca Fix ToVector3 9c3503f Added SphericalOf 353cb1b Add conversion from Quaternion cf86ba8 Cleanup template classes ea6894e Fix generic template functions 1ce7234 Bug fixes 38ebb34 Added Direction to replace Axis c72bba4 Change Vector3::Angle return type to AngleOf<float> 18cf653 Added scaling support 51772a1 Added add/subtract for discrete angles 49c6740 Make Angle -> float conversion explicit 608c45c Fix precision error 4591aef Added Spherical16 48828e2 Fix int/float issues 86b7c21 Added Degrees inline function a4b0491 Fix unit tests b81b77b Extend AngleOf support c70c079 Add spherical subtract 2bad384 Added spherical addition a25a8be Fixed namespace issues f8009a7 Updated namespace 91c7b20 Fix gitlab test runner 78468e3 Renamed VectorAlgebra project to LinearAlgebra 47a6368 Fix Vector3 ee62cba XYZ deprecation 62d7439 Extend ulitity functions 95713c8 Cleanup, added utility functions f7d9d97 Cleanup 66e47d7 Cleanup Vector2 and Polar e922a01 fix == operator 5693097 Initial subtractop test c411b43 Textual improvement 0c54276 equality support b1e34b6 Improved unit tests 6ddb074 Improved unit tests 5489b3c Fix test 3d971c1 Improve namespace 791bd78 namespace improvement 9bea94f Use Angle type for Polar 8a2ce21 Swapped polar constructor param order e5f8d73 namespace fix 8e7a8c6 Fix namespaces 64ca768 normalize toAngleAxis result 4385bef Add angle-axis 4b07328 Add conversion from Vector3 fe12c99 Fix Spherical reference c274c3e Add conversion from Spherical 66ff721 Fixed wrong conversion to short 264bcbc Added 32 bit angle f190dd7 Merge branch 'DiscreteAngle' into Experimental ae55a24 Further vector3 conversion fixes ec0cc47 Fix spherical to vector 89b5da8 Fix ambiguity e62fa96 Fix specialization again 430344a Fix specialization error 3e5ede0 Removed old file e62bacc First Discrete Angle functions 87d2c11 Set strict warnings 5141766 Add spherical.toVector3 test (and fixes) 8e3b9e2 Fix Polar test 7b85556 Addedfirst Polar test 395f82d Fix Spherical Unit test 0cbef79 Add first Spherical Unit test dc601a1 Removed Vector2.tofactor 159bdae Added spherical.tovector (but is is buggy) 273ebae Fixes 0468031 Bug fix 3714507 Implemented templated angles 69e7ee1 Added DiscreteAgle 2cbf259 Make negation virtual override 2b50bab Add negation for DiscreteAngle de3a647 Updated negation 254bb27 Added negation bd04285 Make superclass accessable 2bb0009 Initial implementation git-subtree-dir: LinearAlgebra git-subtree-split: 8b6f628d0c6b9e72260ce1d9c0437124c2d7b6d8	2025-05-26 15:26:44 +02:00
Pascal Serrarens	90e89b2ecd	Squashed 'LinearAlgebra/' changes from bfa1123..72f1472 72f1472 Fix missing <chrono> include 54634f0 Backporting some style changes from Python fea15c3 removed namespace Passer 753de2d Fixes 9674f68 Disabled test failing on MacOS 5b89234 Made it work on MacOS d0ba29e Updated LinearAlgebra ebfb4fb Merge commit '0b63a044eb84175cc922f3f1fe0ce039d101bf7b' 0b63a04 Updated documentation, cleanup a0082bd Add direction documentation 770ce32 Merge commit '2b5f5cd175b20fa01e04b696dfe0cfbe2c4ad9da' 2b5f5cd Removed shorthand Deg/Rad aliases... (see below) d212db2 Trying to fix specialization before instantiation error e445e5b Trying to fix specialization before instantiation error f47e504 Trying to fix specialization before instantiation error b877d4d Trying to fix specialization before instantiation error 06e8623 Trying to fix specialization before instantiation error e97aee9 Trying to fix specialization before instantiation error 0e00e5d Merge branch 'main' of http://gitlab.passervr.com/passer/cpp/linear-algebra 52de55d Trying to fix specialization before instantiation error 47ba024 Trying to fix specialization before instantiation error 2402030 Trying to fix specialization before instantiation error 4e3f253 Fixed gitignore 06c70e2 Merge branch 'Experimental' 6f30334 Updated PolarOf, removed default Polar type 94a3105 Cleanup 89a5711 Fixed typo in documentation 64b7f11 Removed default Angle type 58beb36 Completed AngleOf documentation 5f58a2c Updated documentation 97d937e Fixed (copilot) unit tests 585a3b0 Removed default Spherical type d3226fd Added copilot test documentation a7aa679 Added a performance test 2c57c3f Fixed direction for spherical 28ee225 Normalize Spherical at creation 800eb75 improved rounding of discrete angles 536d6ce Add Binary support 18756ba Correct axis on quaternion from swingtwist 06e42c5 Normalized swing twist edbb4b1 Removes Angle::deg90/180 because of issues 0a07b23 SwingTwist == and Angle 9406b57 SwingTwist::AngleAxis using Direction 06da9e5 Removed AngleAxis, Sperhical will be used instead 2e61e1b Fix unit test 54d0318 Extended unit tests (plus fixes) 8286c1c Minor improvements 95a6fb3 Improved Angle quality 9eca318 Fixed inverse 0ebfce4 Spherical direction 136e44e Fixed unit tests fb5cee8 Proper angle implementation (unit tests still fail) 92d5ef0 Normalizing directions 1ea65d5 Made toQuestion const f1c70c7 Fix unit tests 2ad6a5a Fix include 11259a9 Extend functionality 3363388 Extended AngleAxis & Direction 09e25a8 Add Asin and Atan a646e93 Add ACos 407e771 Add WithDistance 69bad8f Added degrees, radians, cos, sin, and tan functions 5c3dfa6 Adde degrees/readians and poc ACos 05c61a3 Add distance between 6a1d043 Added Angle comparison 6b3bcfc Another anglebetween fix b5a6330 Fix anglebetween b975aed Added angle and rotate functions f483439 Moved Polar/Spherical to template class completely e0ef43a Merge branch 'Experimental' of http://gitlab.passervr.com/passer/cpp/linear-algebra into Experimental b460bec Added scaling to SphericalOf<T> e10e010 Added Direction to library sources dedaa31 Fix unit tests 1da93ca Fix ToVector3 9c3503f Added SphericalOf 353cb1b Add conversion from Quaternion cf86ba8 Cleanup template classes ea6894e Fix generic template functions 1ce7234 Bug fixes 38ebb34 Added Direction to replace Axis c72bba4 Change Vector3::Angle return type to AngleOf<float> 18cf653 Added scaling support 51772a1 Added add/subtract for discrete angles 49c6740 Make Angle -> float conversion explicit 608c45c Fix precision error 4591aef Added Spherical16 48828e2 Fix int/float issues 86b7c21 Added Degrees inline function a4b0491 Fix unit tests b81b77b Extend AngleOf support c70c079 Add spherical subtract 2bad384 Added spherical addition a25a8be Fixed namespace issues f8009a7 Updated namespace 91c7b20 Fix gitlab test runner 78468e3 Renamed VectorAlgebra project to LinearAlgebra 47a6368 Fix Vector3 ee62cba XYZ deprecation 62d7439 Extend ulitity functions 95713c8 Cleanup, added utility functions f7d9d97 Cleanup 66e47d7 Cleanup Vector2 and Polar e922a01 fix == operator 5693097 Initial subtractop test c411b43 Textual improvement 0c54276 equality support b1e34b6 Improved unit tests 6ddb074 Improved unit tests 5489b3c Fix test 3d971c1 Improve namespace 791bd78 namespace improvement 9bea94f Use Angle type for Polar 8a2ce21 Swapped polar constructor param order e5f8d73 namespace fix 8e7a8c6 Fix namespaces 64ca768 normalize toAngleAxis result 4385bef Add angle-axis 4b07328 Add conversion from Vector3 fe12c99 Fix Spherical reference c274c3e Add conversion from Spherical 66ff721 Fixed wrong conversion to short 264bcbc Added 32 bit angle f190dd7 Merge branch 'DiscreteAngle' into Experimental ae55a24 Further vector3 conversion fixes ec0cc47 Fix spherical to vector 89b5da8 Fix ambiguity e62fa96 Fix specialization again 430344a Fix specialization error 3e5ede0 Removed old file e62bacc First Discrete Angle functions 87d2c11 Set strict warnings 5141766 Add spherical.toVector3 test (and fixes) 8e3b9e2 Fix Polar test 7b85556 Addedfirst Polar test 395f82d Fix Spherical Unit test 0cbef79 Add first Spherical Unit test dc601a1 Removed Vector2.tofactor 159bdae Added spherical.tovector (but is is buggy) 273ebae Fixes 0468031 Bug fix 3714507 Implemented templated angles 69e7ee1 Added DiscreteAgle 2cbf259 Make negation virtual override 2b50bab Add negation for DiscreteAngle de3a647 Updated negation 254bb27 Added negation bd04285 Make superclass accessable 2bb0009 Initial implementation git-subtree-dir: LinearAlgebra git-subtree-split: 72f1472f2e1d2c9a1fe002460e47606b9aeed548	2025-05-26 14:04:37 +02:00
Pascal Serrarens	0920f99c1e	Fix tests	2025-05-26 12:27:09 +02:00
pascal	6e860be913	Updated BB2B example	2025-05-26 09:22:59 +02:00
Pascal Serrarens	8620023277	Working controlled motor	2025-05-23 17:57:14 +02:00
Pascal Serrarens	140138977a	AR mode works, but reaction time is slow	2025-05-21 15:59:11 +02:00
Pascal Serrarens	1b5fef15e6	More refactoring to get rid of pointers	2025-05-19 15:58:35 +02:00
Pascal Serrarens	da8831a968	Added controlledMotor, ptr to ref for hierarchy	2025-05-19 08:55:00 +02:00
Pascal Serrarens	5b5513971c	Reduced the use of raw pointers	2025-05-18 17:34:52 +02:00
Pascal Serrarens	3f8eadf8cc	Added Root & new Thing ref. constructor	2025-05-17 18:09:38 +02:00
Pascal Serrarens	17de9db0be	Added rel. encoder, removed currentTime in Update()	2025-05-16 11:54:40 +02:00
Pascal Serrarens	26be4557c5	Added thing reconstruct	2025-05-15 19:52:24 +02:00
Pascal Serrarens	31c725b0ca	BB2B with HW works	2025-05-15 15:59:43 +02:00
Pascal Serrarens	169d842143	Step2 of renaming examples map	2025-05-14 12:40:23 +02:00
Pascal Serrarens	ada8973964	step 1 of changing examples map	2025-05-14 12:39:54 +02:00
Pascal Serrarens	38fd8f51c8	Added readme about the examples folder name	2025-05-14 12:36:06 +02:00
Pascal Serrarens	23ea03fbaf	Ultrasonic TouchSensor subclass	2025-05-14 12:04:29 +02:00
Pascal Serrarens	40aab4dc7a	fix NO_STD issues	2025-05-13 09:38:30 +02:00
				`@ -0,0 +1 @@`
				`Important: this folder has to be names 'examples' exactly to maintain compatibility with Arduino`