Comms rover 502

[ginywiny]

Assignee Section

Description

Rover wheel code refactored to support new internal comms system.

• Moved and updated the new wheel command functions set_motors, motors_estop, close_motors_loop, open_motors_loop, set_joystick. set_gps, set_enc, set_acc, get_rover_status, move_rover, move_wheel within MobilePlatform.ino arduino code
• Added commands within WheelsCommandCenter.cpp which are called from the new internal_comms library
• WARNING: Need to discuss 3 possible solutions when setting and using ArduinoBlue, SoftwareSerial, motorList, servoList (Works with current solution, but it could benefit from further refactoring)

Steps for Testing

• To test that it builds
  1. cd robotics-prototype/robot/rover
  2. mkdir build
  3. cd build
  4. cmake ..
  5. make

6. Testing unsure... needs to be improved... format taken from @MartensCedric

   For each feature f on the wheels:
   test(f)

closes #502

The approval from all software team leads is necessary before merging.

Reviewer Section

Aside from local testing and the General Integration Test it is implied that static analysis should be included in the verification process.

• [ ] Local Test Performed Successfully
• [ ] General Integration Test Performed Successfully

For Pull Requests that do not include code changes, it is not required to perform the tests above.

[MartensCedric]

@ginywiny your code doesn't work see travis

[ginywiny]

@ginywiny your code doesn't work see travis

fixed my dood

[MartensCedric]

ALSO : Jeff gives me the OK to yeet the Bluetooth shit

[ginywiny]

@MartensCedric Arm.ino formatting is fixed.