# Laser turret Debug

Code de la tourelle de pointage laser du projet bouchons EDF.

> [!WARNING]
> Code de debuggage uniquement.

> [!IMPORTANT]
> Nouvelle méca, les axes H/x et V/y sont découplés.

## Usage

Compile through Arduino IDE or equivalent.

> [!IMPORTANT]
> Add [kissStepper](https://github.com/risitt/kissStepper) to your project
> librairies.

## Conventions

- **x** is the horizontal axis centered at 0 and going from left (min value) to
  right (max value).
- **y** is the vertical axis centered at 0 and going from bottom (min value) to
  top (max value).
- **z** is the distance between the turrent and the target.

```mermaid
xychart-beta
  title "Turret coordinate system"
  x-axis "X axis [m]" -3 --> 3 
  y-axis "Y axis [m]" -3 --> 3
  bar [-4]
```

## Development

Required dependeinces if not using
[Arduino IDE](https://www.arduino.cc/en/software/):

- [Arduino CLI](https://docs.arduino.cc/arduino-cli/):
  - Install:
    ```sh
    # linux
    curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | sh

    # macos
    brew update
    brew install arduino-cli

    # windows
    winget install --id=ArduinoSA.CLI  -e
    ```
  - Configure:
    ```sh
    arduino-cli config init
    arduino-cli core update-index
    arduino-cli core install arduino:avr
    ```

If you use `clangd` as lsp run `python ./generate_clangd.py` to load arduino
config and libraries.

## Contributing

Before `git commit`, run `git clang-format --staged` to format stagged files and
then `git add` to commit formatting.