diff.diff

diff --git a/main/lib/Menu/Menu.cpp b/main/lib/Menu/Menu.cpp
new file mode 100644
index 0000000..f61f6a9
--- /dev/null
+++ b/main/lib/Menu/Menu.cpp
@@ -0,0 +1,5 @@
+#include "Menu.h"
+
+Menu::Menu() {
+
+}
diff --git a/main/lib/Menu/Menu.h b/main/lib/Menu/Menu.h
new file mode 100644
index 0000000..3703b05
--- /dev/null
+++ b/main/lib/Menu/Menu.h
@@ -0,0 +1,17 @@
+#pragma once
+#include "MenuItem.h"
+#include <Arduino.h>
+
+/**
+ * The base menu class. Call Menu.run() to start the menu.
+ * The menu will contain a base MenuItem implementation
+ *
+ *
+ *
+ */
+
+class Menu {
+private:
+public:
+    Menu();
+};
diff --git a/main/lib/Menu/MenuItem.cpp b/main/lib/Menu/MenuItem.cpp
new file mode 100644
index 0000000..ef1ce4a
--- /dev/null
+++ b/main/lib/Menu/MenuItem.cpp
@@ -0,0 +1,18 @@
+#include "MenuItem.h"
+
+int16_t MenuItem::getVal()
+{
+    return val;
+}
+void MenuItem::setVal(int16_t _val)
+{
+    val = _val;
+}
+constexpr int16_t MenuItem::getMin()
+{
+    return myMin;
+}
+constexpr int16_t MenuItem::getMax()
+{
+    return myMax;
+}
diff --git a/main/lib/Menu/MenuItem.h b/main/lib/Menu/MenuItem.h
new file mode 100644
index 0000000..1799ec7
--- /dev/null
+++ b/main/lib/Menu/MenuItem.h
@@ -0,0 +1,28 @@
+#pragma once
+#include <Arduino.h>
+
+class MenuItem {
+private:
+    const char* name;
+    const int16_t myMin, myMax;
+    // TODO track menu items
+
+public:
+    //MenuItem();
+    int16_t val;
+
+    constexpr MenuItem(const char* _name, int16_t _myMin, int16_t _myMax)
+        : name(_name), myMin(_myMin), myMax(_myMax), val(0)
+    {}
+    constexpr MenuItem(const char* _name, int16_t _myMin, int16_t _myMax, int16_t _defaultValue)
+        : name(_name), myMin(_myMin), myMax(_myMax), val(_defaultValue)
+    {}
+    constexpr char* getName()
+    {
+        return const_cast<char*>(name);
+    }
+    int16_t getVal();
+    void setVal(int16_t _val);
+    constexpr int16_t getMin();
+    constexpr int16_t getMax();
+};
diff --git a/main/lib/Menu/MenuScreen.cpp b/main/lib/Menu/MenuScreen.cpp
new file mode 100644
index 0000000..fcb42ab
--- /dev/null
+++ b/main/lib/Menu/MenuScreen.cpp
@@ -0,0 +1 @@
+#include "MenuScreen.h"
diff --git a/main/lib/Menu/MenuScreen.h b/main/lib/Menu/MenuScreen.h
new file mode 100644
index 0000000..28a90ad
--- /dev/null
+++ b/main/lib/Menu/MenuScreen.h
@@ -0,0 +1,7 @@
+#pragma once
+#include <Arduino.h>
+
+class MenuScreen {
+private:
+public:
+};
diff --git a/main/lib/constants/Constants.cpp b/main/lib/constants/Constants.cpp
new file mode 100644
index 0000000..cd23762
--- /dev/null
+++ b/main/lib/constants/Constants.cpp
@@ -0,0 +1,26 @@
+#include "Constants.h"
+
+uint8_t Constants::lowPwmPins[2] = {PA0, PA2};
+uint8_t Constants::highPwmPins[2] = {PA1, PA3};
+
+void Constants::load(int16_t addr)
+{
+    // TODO: What happens if overflowing EEPROM?
+    for(int i=0;i<static_cast<int>(size());++i)
+    {
+        *((char*)this+i) = EEPROM.read(addr+i);
+    }
+}
+
+void Constants::dump(int16_t addr)
+{
+    // TODO: What happens if overflowing EEPROM?
+    for(int i=0;i<static_cast<int>(size());++i)
+    {
+        EEPROM.write(addr+i, *((char*)this+i));
+    }
+}
+
+constexpr size_t Constants::size() {
+    return sizeof(Constants);
+}
diff --git a/main/lib/constants/constants.h b/main/lib/constants/constants.h
new file mode 100644
index 0000000..d6cf93f
--- /dev/null
+++ b/main/lib/constants/constants.h
@@ -0,0 +1,26 @@
+#pragma once
+#include <Arduino.h>
+#include <EEPROM.h>
+#include <MenuItem.h>
+
+/**
+ * NOTE: you will likely
+ *
+ */
+
+class Constants {
+private:
+    int16_t vals[20];
+public:
+    static uint8_t lowPwmPins[2];
+    static uint8_t highPwmPins[2];
+    constexpr static MenuItem PROPORTIONAL = MenuItem("P", 0, 256, 40);
+    constexpr static MenuItem INTEGRAL = MenuItem("I", 0, 20, 0);
+    constexpr static MenuItem DERIVATIVE = MenuItem("D", 0, 40, 5);
+    constexpr static MenuItem BASE_SPEED = MenuItem("BS", 0, 256, 150);
+    constexpr static MenuItem LEFT_THRESHOLD = MenuItem("LT", 0, 4096, 1024);
+    constexpr static MenuItem RIGHT_THRESHOLD = MenuItem("RT", 0, 4096, 1024);
+    void load(int16_t addr);
+    void dump(int16_t addr);
+    constexpr static size_t size();
+};
diff --git a/main/lib/readme.txt b/main/lib/readme.txt
new file mode 100644
index 0000000..131f1bf
--- /dev/null
+++ b/main/lib/readme.txt
@@ -0,0 +1,41 @@
+
+This directory is intended for the project specific (private) libraries.
+PlatformIO will compile them to static libraries and link to executable file.
+
+The source code of each library should be placed in separate directory, like
+"lib/private_lib/[here are source files]".
+
+For example, see how can be organized `Foo` and `Bar` libraries:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) http://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- readme.txt --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+Then in `src/main.c` you should use:
+
+#include <Foo.h>
+#include <Bar.h>
+
+// rest H/C/CPP code
+
+PlatformIO will find your libraries automatically, configure preprocessor's
+include paths and build them.
+
+More information about PlatformIO Library Dependency Finder
+- http://docs.platformio.org/page/librarymanager/ldf.html
diff --git a/main/platformio.ini b/main/platformio.ini
new file mode 100644
index 0000000..851a7c3
--- /dev/null
+++ b/main/platformio.ini
@@ -0,0 +1,14 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; http://docs.platformio.org/page/projectconf.html
+
+[env:bluepill_f103c8]
+platform = ststm32
+board = bluepill_f103c8
+framework = arduino
diff --git a/main/src/main.cpp b/main/src/main.cpp
new file mode 100644
index 0000000..f24c162
--- /dev/null
+++ b/main/src/main.cpp
@@ -0,0 +1,10 @@
+#include <Arduino.h>
+#include <Constants.h>
+
+void setup() {
+    // put your setup code here, to run once:
+}
+
+void loop() {
+    // put your main code here, to run repeatedly:
+}
diff --git a/motors/src/main.cpp b/motors/src/main.cpp
index 7d07554..1bcc8b9 100644
--- a/motors/src/main.cpp
+++ b/motors/src/main.cpp
@@ -48,6 +48,7 @@ int last_g = 0;
 float i = 0;
 
 void setup() {
+<<<<<<< HEAD
     motor.init();
     // put your setup code here, to run once:
     oled.begin();
@@ -67,6 +68,8 @@ void setup() {
     THRESHOLD_LEFT = pidScreen.vals[4]<<4;
     THRESHOLD_RIGHT= pidScreen.vals[5]<<4;
     //base_speed = pidScreen.vals[0];
+=======
+>>>>>>> 63b8f3b... Menu system dev
 }
 
 void loop() {
@@ -84,6 +87,7 @@ void loop() {
     delay(15); */
 
     // put your main code here, to run repeatedly:
+<<<<<<< HEAD
     /*
     oled.clrScr();
     oled.printNumI(pval, 0, 0);
@@ -162,4 +166,10 @@ void loop() {
     previous_time = now;
     loop_counter++;
     delay(10);
+=======
+    for(int i=0;i<4;++i) {
+        motor.speed(0, min(255, max(-255, i*256-512)));
+        delay(500);
+    }
+>>>>>>> 63b8f3b... Menu system dev
 }