added ros1 code for power and fixed header gaurds

Author: JPGC04

pio_workspace/include/actuator_main.h

@@ -1,4 +1,8 @@
+#ifdef ACTUATOR_H
+
 #include <Arduino.h>
 
 void actuator_setup();
 void actuator_loop();
+
+#endif

pio_workspace/include/display_main.h

@@ -1,4 +1,8 @@
+#ifdef DISPLAY_H
+
 #include <Arduino.h>
 
 void display_setup();
 void display_loop();
+
+#endif

pio_workspace/include/power_main.h

@@ -1,4 +1,8 @@
+#ifdef POWER_H
+
 #include <Arduino.h>
 
 void power_setup();
 void power_loop();
+
+#endif

pio_workspace/include/power_ros1_main.h

@@ -0,0 +1,8 @@
+#ifdef POWER_ROS1_H
+
+#include <Arduino.h>
+
+void power_ros1_setup();
+void power_ros1_loop();
+
+#endif

pio_workspace/lib/power_custom/ThrusterControl.cpp

@@ -1,3 +1,5 @@
+#ifdef POWER_H
+
 #include "ThrusterControl.h"
 
 // Initialize thrusters
@@ -29,3 +31,5 @@ void updateThrusters(const int16_t microseconds[8]) {
         thrusters[i].writeMicroseconds(microseconds[i]);
     }
 }
+
+#endif

pio_workspace/lib/power_custom/ThrusterControl.h

@@ -1,3 +1,5 @@
+#ifdef POWER_H
+
 #ifndef THRUSTER_CONTROL_H
 #define THRUSTER_CONTROL_H
 
@@ -28,3 +30,5 @@ void initThrusters();
 void updateThrusters(const int16_t microseconds[8]);
 
 #endif
+
+#endif

pio_workspace/platformio.ini

@@ -43,3 +43,13 @@ build_flags =
     ${env.build_flags}
 #upload_protocol = teensy-cli
 upload_port = /dev/power
+
+[env:power_ros1]
+platform = teensy
+board = teensy40
+framework = arduino
+build_flags = 
+    -D POWER_ROS1_H
+    ${env.build_flags}
+#upload_protocol = teensy-cli
+upload_port = /dev/power

pio_workspace/src/actuator_main.cpp

@@ -1,3 +1,5 @@
+#ifdef ACTUATOR_H
+
 #include "actuator_main.h"
 
 void actuator_setup(){
@@ -7,3 +9,5 @@ void actuator_setup(){
 void actuator_loop(){
     // put your main code here, to run repeatedly:
 }
+
+#endif

pio_workspace/src/display_main.cpp

@@ -1,3 +1,5 @@
+#ifdef DISPLAY_H
+
 #include "display_main.h"
 
 void display_setup(){
@@ -7,3 +9,5 @@ void display_setup(){
 void display_loop(){
     // put your main code here, to run repeatedly:
 }
+
+#endif

pio_workspace/src/main.cpp

@@ -6,6 +6,8 @@
 #include "display_main.h"
 #elif POWER_H
 #include "power_main.h"
+#elif POWER_ROS1_H
+#include "power_ros1_main.h"
 #endif
 
 void setup() {
@@ -15,6 +17,8 @@ void setup() {
     display_setup();
   #elif POWER_H
     power_setup();
+  #elif POWER_ROS1_H
+    power_ros1_setup();
   #endif
 }
 
@@ -25,5 +29,7 @@ void loop() {
     display_loop();
   #elif POWER_H
     power_loop();
+  #elif POWER_ROS1_H
+    power_ros1_loop();
   #endif
 }