From abc17980b5977c7d5fe03fdc841dca42df17dd6e Mon Sep 17 00:00:00 2001
From: Paula Amaya <paula.amaya@ucalgary.ca>
Date: Sat, 18 Nov 2023 13:39:39 -0700
Subject: [PATCH 01/14] Extrapolated basic motor information using bitwise
 operators

---
 .../Training/Core/Src/Training.c              | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)

diff --git a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
index 43c85491..ba321916 100644
--- a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
+++ b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
@@ -1,9 +1,28 @@
 #include "Training.h"
 
+// uint8_t 8 bit-unsigned integer
 uint8_t outputArray[3];
 uint8_t validData; // Set bits 0, 1, 2 if the input array elements were valid
 
+/**
+NOTE: I decided that if the motors do not have matching ON/OFF status or do not have matching velocity*, both motor inputs will be flagged as wrong (it's hard to know which motor is "right" when they are not in sync).
+
+* Velocity will be compared in its vector form. i.e. v1 = v2 if and only if they are equal in magnitude and direction.
+*/
+
+
 void trainingTask(uint8_t* data)
 {
+    // Check equality in motor ON/OFF status
+    // 00000001 (1)
+    uint8_t isMotorOneON = 1 & outputArray[0];
+    uint8_t isMotorTwoON = 1 & outputArray[1];
+
+    // Check equality in motor velocity
+    // 01111110 (126)
+    uint8_t motorOneVelocity = 126 & outputArray[0];
+    int motorTwoVelocity = 126 & outputArray[1];
 
+    // Check motors are in sync
+    int isSynced = (isMotorOneON == isMotorTwoON) && (motorOneVelocity == motorTwoVelocity);
 }

From 46b606007b1e0723f8db3424eedaaf68d96e3249 Mon Sep 17 00:00:00 2001
From: Paula Amaya <paula.amaya@ucalgary.ca>
Date: Sat, 18 Nov 2023 14:45:22 -0700
Subject: [PATCH 02/14] Finished implementing motor logic.  Not tested.

---
 .../Training/Core/Src/Training.c              | 51 ++++++++++++++++---
 1 file changed, 43 insertions(+), 8 deletions(-)

diff --git a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
index ba321916..c364cddd 100644
--- a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
+++ b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
@@ -13,16 +13,51 @@ NOTE: I decided that if the motors do not have matching ON/OFF status or do not
 
 void trainingTask(uint8_t* data)
 {
+    // MOTORS
     // Check equality in motor ON/OFF status
-    // 00000001 (1)
-    uint8_t isMotorOneON = 1 & outputArray[0];
-    uint8_t isMotorTwoON = 1 & outputArray[1];
+    uint8_t isMotorOneOn = 0b00000001 & outputArray[0];
+    uint8_t isMotorTwoOn = 0b00000001 & outputArray[1];
 
-    // Check equality in motor velocity
-    // 01111110 (126)
-    uint8_t motorOneVelocity = 126 & outputArray[0];
-    int motorTwoVelocity = 126 & outputArray[1];
+    // Check equality in velocity (magnitude and direction) 
+    uint8_t motorOneVelocity = (0b01111110 & outputArray[0]) >> 1;
+    uint8_t motorTwoVelocity = (0b01111110 & outputArray[1]) >> 1;
 
     // Check motors are in sync
-    int isSynced = (isMotorOneON == isMotorTwoON) && (motorOneVelocity == motorTwoVelocity);
+    int isSynced = (isMotorOneOn == isMotorTwoOn) && (motorOneVelocity == motorTwoVelocity);
+
+    if (isSynced)
+    {
+        // Set Motor 1 
+        checkMotorData(isMotorOneOn, motorOneVelocity) ? validData[0] = 1 : validData[0] = 0;
+        // Set Motor 2
+        checkMotorData(isMotorTwoOn, motorTwoVelocity) ? validData[1] = 1 : validData[1] = 0;
+    } else
+    {
+        validData[0] = 0;
+        validData[1] = 0;
+    }
+
+    // LIGHTS
+
+
+}
+
+/** @brief Function that takes in motor ON/OFF status and returns 1 if data
+* is valid and 0 if data is not valid.  This function only looks at the motor as a
+* standalone unit and aasumes that it is synced with the other motor. 
+* 
+* @param[in] isMotorOn 8 bit integer with value 0000000 or 0000001
+* @param[in] motorVelocity 8 bit integer representing the velocity of the motor
+*/
+int checkMotorData(uint8_t isMotorOn, uint8_t motorVelocity) {
+    // When motor is off we need to check velocity
+    if (!isMotorOn)
+    {
+        // Since motor is off, input is valid iff velocity is 0
+        !velocity? return 1: return 0;
+    }
+
+    // Since we are assuming that motors are synced, any on state is valid
+    return 1;
+    
 }

From 6968f67ed670c47dfb56eae66306c2187428f2f2 Mon Sep 17 00:00:00 2001
From: Paula Amaya <paula.amaya@ucalgary.ca>
Date: Mon, 20 Nov 2023 14:32:03 -0700
Subject: [PATCH 03/14] Finished implementing lights logic. Not tested

---
 .../Training/Core/Src/Training.c              | 26 ++++++++++++++++---
 1 file changed, 22 insertions(+), 4 deletions(-)

diff --git a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
index c364cddd..597621b5 100644
--- a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
+++ b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
@@ -10,7 +10,6 @@ NOTE: I decided that if the motors do not have matching ON/OFF status or do not
 * Velocity will be compared in its vector form. i.e. v1 = v2 if and only if they are equal in magnitude and direction.
 */
 
-
 void trainingTask(uint8_t* data)
 {
     // MOTORS
@@ -28,9 +27,9 @@ void trainingTask(uint8_t* data)
     if (isSynced)
     {
         // Set Motor 1 
-        checkMotorData(isMotorOneOn, motorOneVelocity) ? validData[0] = 1 : validData[0] = 0;
+        isMotorDataValid(isMotorOneOn, motorOneVelocity) ? validData[0] = 1 : validData[0] = 0;
         // Set Motor 2
-        checkMotorData(isMotorTwoOn, motorTwoVelocity) ? validData[1] = 1 : validData[1] = 0;
+        isMotorDataValid(isMotorTwoOn, motorTwoVelocity) ? validData[1] = 1 : validData[1] = 0;
     } else
     {
         validData[0] = 0;
@@ -38,6 +37,25 @@ void trainingTask(uint8_t* data)
     }
 
     // LIGHTS
+    // Check exactly one of the headlight statuses is on
+    uint8_t isHeadlightOff = (0b10000000 & lightData) >> 7;
+    uint8_t isHeadlightLow = (0b01000000 & lightData) >> 6;
+    uint8_t isHeadlightHigh = (0b00100000 & lightData) >> 5;
+    uint8_t isHeadlightValid = isHeadlightOff ^ isHeadlightLow ^ isHeadlightHigh;
+
+    // In order to check signal lights we needs to know if hazards are on and then determine the right behaviour
+    uint8_t isHazardOn = (0b00000100 & lightData) >> 2;
+    uint8_t isRightSignalOn = (0b00010000 & lightData) >> 4;
+    uint8_t isLeftSignalOn = (0b00001000 & lightData) >> 3;
+    uint8_t isSignalValid;
+    if (isHazardOn)
+    {
+        // When hazard light is on, the signals must both be in the same state to denote blinking.
+        isSignalValid = !(isRightSignalOn ^ isLeftSignalOn);
+    } else {
+        // Signals may not be on at the same time
+        isSignalValid = !(isRightSignalOn && isLeftSignalOn);
+    }
 
 
 }
@@ -49,7 +67,7 @@ void trainingTask(uint8_t* data)
 * @param[in] isMotorOn 8 bit integer with value 0000000 or 0000001
 * @param[in] motorVelocity 8 bit integer representing the velocity of the motor
 */
-int checkMotorData(uint8_t isMotorOn, uint8_t motorVelocity) {
+int isMotorDataValid(uint8_t isMotorOn, uint8_t motorVelocity) {
     // When motor is off we need to check velocity
     if (!isMotorOn)
     {

From fbeb8eda524a1e5fcfd47571aa8ad4601a8c4af6 Mon Sep 17 00:00:00 2001
From: Paula Amaya <paula.amaya@ucalgary.ca>
Date: Mon, 20 Nov 2023 15:23:39 -0700
Subject: [PATCH 04/14] Fixed naming misunderstanding of array names.

---
 .../Training/Core/Src/Training.c              | 31 +++++++++++++------
 .../Training/Test/TrainingTest.c              |  5 ++-
 2 files changed, 25 insertions(+), 11 deletions(-)

diff --git a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
index 597621b5..24e50d34 100644
--- a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
+++ b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
@@ -14,12 +14,12 @@ void trainingTask(uint8_t* data)
 {
     // MOTORS
     // Check equality in motor ON/OFF status
-    uint8_t isMotorOneOn = 0b00000001 & outputArray[0];
-    uint8_t isMotorTwoOn = 0b00000001 & outputArray[1];
+    uint8_t isMotorOneOn = 0b00000001 & data[0];
+    uint8_t isMotorTwoOn = 0b00000001 & data[1];
 
     // Check equality in velocity (magnitude and direction) 
-    uint8_t motorOneVelocity = (0b01111110 & outputArray[0]) >> 1;
-    uint8_t motorTwoVelocity = (0b01111110 & outputArray[1]) >> 1;
+    uint8_t motorOneVelocity = (0b01111110 & data[0]) >> 1;
+    uint8_t motorTwoVelocity = (0b01111110 & data[1]) >> 1;
 
     // Check motors are in sync
     int isSynced = (isMotorOneOn == isMotorTwoOn) && (motorOneVelocity == motorTwoVelocity);
@@ -38,16 +38,17 @@ void trainingTask(uint8_t* data)
 
     // LIGHTS
     // Check exactly one of the headlight statuses is on
-    uint8_t isHeadlightOff = (0b10000000 & lightData) >> 7;
-    uint8_t isHeadlightLow = (0b01000000 & lightData) >> 6;
-    uint8_t isHeadlightHigh = (0b00100000 & lightData) >> 5;
+    uint8_t isHeadlightOff = (0b10000000 & data[2]) >> 7;
+    uint8_t isHeadlightLow = (0b01000000 & data[2]) >> 6;
+    uint8_t isHeadlightHigh = (0b00100000 & data[2]) >> 5;
     uint8_t isHeadlightValid = isHeadlightOff ^ isHeadlightLow ^ isHeadlightHigh;
 
     // In order to check signal lights we needs to know if hazards are on and then determine the right behaviour
-    uint8_t isHazardOn = (0b00000100 & lightData) >> 2;
-    uint8_t isRightSignalOn = (0b00010000 & lightData) >> 4;
-    uint8_t isLeftSignalOn = (0b00001000 & lightData) >> 3;
+    uint8_t isHazardOn = (0b00000100 & data[2]) >> 2;
+    uint8_t isRightSignalOn = (0b00010000 & data[2]) >> 4;
+    uint8_t isLeftSignalOn = (0b00001000 & data[2]) >> 3;
     uint8_t isSignalValid;
+
     if (isHazardOn)
     {
         // When hazard light is on, the signals must both be in the same state to denote blinking.
@@ -57,6 +58,16 @@ void trainingTask(uint8_t* data)
         isSignalValid = !(isRightSignalOn && isLeftSignalOn);
     }
 
+    isHeadlightValid && isSignalValid ? validData[2] = 1 : validData[2] = 0;
+
+    // Write to outpuData iff data is valid
+    if (validData[0] == 0 && validData[1] == 0 && validData[2] == 0)
+    {
+        for (int i = 0; i < 3; i++)
+        {
+            outputArray[i] = data[i];
+        }
+    }
 
 }
 
diff --git a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
index 959a9e69..dccb2bad 100644
--- a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
+++ b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
@@ -7,7 +7,10 @@ extern uint8_t validData;
 
 void runTrainingTests()
 {
-    // Run all the tests here using RUN_TEST()
+    RUN_TEST(test_EverythingValid);
+    RUN_TEST(test_EverythingInvalid);
+    RUN_TEST(test_OnlyLightsInvalid);
+    RUN_TEST(test_OnlyMotorsInvalid);
 }
 
 void test_EverythingValid()

From 6f9ffad893fe23db4c47978e0d01faa996de4eb1 Mon Sep 17 00:00:00 2001
From: Paula Amaya <paula.amaya@ucalgary.ca>
Date: Mon, 20 Nov 2023 18:19:39 -0700
Subject: [PATCH 05/14] Fixed mistake and implemented validData as an int
 rather than an array.

---
 .../Training/Core/Src/Training.c              | 29 +++++--------------
 .../Training/Test/TrainingTest.c              | 16 +++++++---
 2 files changed, 20 insertions(+), 25 deletions(-)

diff --git a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
index 24e50d34..cdc7d6b1 100644
--- a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
+++ b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
@@ -24,17 +24,8 @@ void trainingTask(uint8_t* data)
     // Check motors are in sync
     int isSynced = (isMotorOneOn == isMotorTwoOn) && (motorOneVelocity == motorTwoVelocity);
 
-    if (isSynced)
-    {
-        // Set Motor 1 
-        isMotorDataValid(isMotorOneOn, motorOneVelocity) ? validData[0] = 1 : validData[0] = 0;
-        // Set Motor 2
-        isMotorDataValid(isMotorTwoOn, motorTwoVelocity) ? validData[1] = 1 : validData[1] = 0;
-    } else
-    {
-        validData[0] = 0;
-        validData[1] = 0;
-    }
+    // If the motors are in sync only need to check if one motor is valid since they must be equal!
+    isSynced && isMotorDataValid(isMotorOneOn, motorOneVelocity) ? validData = 0b11000000 : validData = 0b00000000;
 
     // LIGHTS
     // Check exactly one of the headlight statuses is on
@@ -49,19 +40,15 @@ void trainingTask(uint8_t* data)
     uint8_t isLeftSignalOn = (0b00001000 & data[2]) >> 3;
     uint8_t isSignalValid;
 
-    if (isHazardOn)
-    {
-        // When hazard light is on, the signals must both be in the same state to denote blinking.
-        isSignalValid = !(isRightSignalOn ^ isLeftSignalOn);
-    } else {
-        // Signals may not be on at the same time
-        isSignalValid = !(isRightSignalOn && isLeftSignalOn);
-    }
+    // When hazard light is on, the signals must both be in the same state to denote blinking.
+    // When hazards are not on, signals may not be on at the same time
+    isHazardOn ? isSignalValid = !(isRightSignalOn ^ isLeftSignalOn) : isSignalValid = !(isRightSignalOn && isLeftSignalOn);
 
-    isHeadlightValid && isSignalValid ? validData[2] = 1 : validData[2] = 0;
+    // Set bit 2 of validData accordingly
+    isHeadlightValid && isSignalValid ? validData = 0b00100000 | validData : validData = 0b11011111 & validData;
 
     // Write to outpuData iff data is valid
-    if (validData[0] == 0 && validData[1] == 0 && validData[2] == 0)
+    if (validData == 0b11100000)
     {
         for (int i = 0; i < 3; i++)
         {
diff --git a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
index dccb2bad..b5e79de8 100644
--- a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
+++ b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
@@ -7,15 +7,15 @@ extern uint8_t validData;
 
 void runTrainingTests()
 {
-    RUN_TEST(test_EverythingValid);
-    RUN_TEST(test_EverythingInvalid);
-    RUN_TEST(test_OnlyLightsInvalid);
+    // RUN_TEST(test_EverythingValid);
+    // RUN_TEST(test_EverythingInvalid);
+    // RUN_TEST(test_OnlyLightsInvalid);
     RUN_TEST(test_OnlyMotorsInvalid);
 }
 
 void test_EverythingValid()
 {
-
+    
 }
 
 void test_EverythingInvalid()
@@ -30,5 +30,13 @@ void test_OnlyLightsInvalid()
 
 void test_OnlyMotorsInvalid()
 {
+    // Case 1: Motors not in sync
+    uint8_t data1[3] = {0b11100111, 0b01001001, 0b01000000};
+    uint8_t expected[3] = {0,0,1};
+    TEST_ASSERT_EACH_EQUAL_UINT8(expected, trainingTask(data1));
+
 
+    // Case 2: Motors in sync, but turned off with non-zero velocity
+    uint8_t data2[3] = {0b11000000, 0b11000000, 0b01000000};
+    TEST_ASSERT_EACH_EQUAL_UINT8(expected, trainingTask(data2));
 }

From 98a3e7d1bafcc410981ec93adacb03862adf15b3 Mon Sep 17 00:00:00 2001
From: Paula Amaya <paula.amaya@ucalgary.ca>
Date: Mon, 20 Nov 2023 18:54:46 -0700
Subject: [PATCH 06/14] Added test data for each test. Need to actually
 implement the tests.

---
 .../Embedded-Teaser/Training/Core/Src/Training.c  |  4 ++++
 .../Embedded-Teaser/Training/Test/TrainingTest.c  | 15 ++++++++++-----
 2 files changed, 14 insertions(+), 5 deletions(-)

diff --git a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
index cdc7d6b1..b50d283d 100644
--- a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
+++ b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
@@ -66,6 +66,10 @@ void trainingTask(uint8_t* data)
 * @param[in] motorVelocity 8 bit integer representing the velocity of the motor
 */
 int isMotorDataValid(uint8_t isMotorOn, uint8_t motorVelocity) {
+
+    // TODO: If motor is moving forward, then the sign of the bit should be positive.
+
+
     // When motor is off we need to check velocity
     if (!isMotorOn)
     {
diff --git a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
index b5e79de8..4f9a763f 100644
--- a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
+++ b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
@@ -15,16 +15,25 @@ void runTrainingTests()
 
 void test_EverythingValid()
 {
-    
+    uint8_t data[3] = {0b1001001,0b1001001, 0011000};
 }
 
 void test_EverythingInvalid()
 {
+    uint8_t data[3] = {0b11011011, 0b10010000, 0b11111000};
 
 }
 
 void test_OnlyLightsInvalid()
 {
+    // Case 1: Headlights are in two states
+    uint8_t data1[3] = {0b10010111,0b10010111,0b11000000};
+
+    // Case 2: Hazards off, but both signals are on
+    uint8_t data2[3] = {0b10010111,0b10010111,0b10011000};
+
+    // Case 3: Hazards on, but signals not flashing
+    uint8_t data3[3] = {0b10010111,0b10010111,0b10010100};
 
 }
 
@@ -32,11 +41,7 @@ void test_OnlyMotorsInvalid()
 {
     // Case 1: Motors not in sync
     uint8_t data1[3] = {0b11100111, 0b01001001, 0b01000000};
-    uint8_t expected[3] = {0,0,1};
-    TEST_ASSERT_EACH_EQUAL_UINT8(expected, trainingTask(data1));
-
 
     // Case 2: Motors in sync, but turned off with non-zero velocity
     uint8_t data2[3] = {0b11000000, 0b11000000, 0b01000000};
-    TEST_ASSERT_EACH_EQUAL_UINT8(expected, trainingTask(data2));
 }

From 58f3bf5a9cb09856016c38f18f79cd401854b95c Mon Sep 17 00:00:00 2001
From: Paula Amaya <paula.amaya@ucalgary.ca>
Date: Mon, 20 Nov 2023 19:16:31 -0700
Subject: [PATCH 07/14] Flagged motor validation mistake that needs to be
 fixed.

---
 .../Embedded-Teaser/Training/Core/Src/Training.c                | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
index b50d283d..9bf39e95 100644
--- a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
+++ b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
@@ -54,7 +54,7 @@ void trainingTask(uint8_t* data)
         {
             outputArray[i] = data[i];
         }
-    }
+    };
 
 }
 

From 3a33478bca9f1b2ca7d343fd207980398fac54b2 Mon Sep 17 00:00:00 2001
From: Paula Amaya <paula.amaya@ucalgary.ca>
Date: Sat, 25 Nov 2023 14:25:01 -0700
Subject: [PATCH 08/14] Fixed ternary operator mistakes

---
 .../Training/Core/Src/Training.c              | 34 ++++++++++---------
 .../Training/Test/TrainingTest.c              |  2 +-
 2 files changed, 19 insertions(+), 17 deletions(-)

diff --git a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
index 9bf39e95..f983c8e5 100644
--- a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
+++ b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
@@ -3,6 +3,7 @@
 // uint8_t 8 bit-unsigned integer
 uint8_t outputArray[3];
 uint8_t validData; // Set bits 0, 1, 2 if the input array elements were valid
+uint8_t isMotorDataValid(uint8_t isMotorOn, uint8_t motorVelocity);
 
 /**
 NOTE: I decided that if the motors do not have matching ON/OFF status or do not have matching velocity*, both motor inputs will be flagged as wrong (it's hard to know which motor is "right" when they are not in sync).
@@ -18,14 +19,14 @@ void trainingTask(uint8_t* data)
     uint8_t isMotorTwoOn = 0b00000001 & data[1];
 
     // Check equality in velocity (magnitude and direction) 
-    uint8_t motorOneVelocity = (0b01111110 & data[0]) >> 1;
-    uint8_t motorTwoVelocity = (0b01111110 & data[1]) >> 1;
+    uint8_t motorOneVelocity = (0b11111110 & data[0]) >> 1;
+    uint8_t motorTwoVelocity = (0b11111110 & data[1]) >> 1;
 
     // Check motors are in sync
-    int isSynced = (isMotorOneOn == isMotorTwoOn) && (motorOneVelocity == motorTwoVelocity);
+    uint8_t isSynced = (isMotorOneOn == isMotorTwoOn) && (motorOneVelocity == motorTwoVelocity);
 
     // If the motors are in sync only need to check if one motor is valid since they must be equal!
-    isSynced && isMotorDataValid(isMotorOneOn, motorOneVelocity) ? validData = 0b11000000 : validData = 0b00000000;
+    validData = isSynced && isMotorDataValid(isMotorOneOn, motorOneVelocity) ? 0b11000000 : 0b00000000;
 
     // LIGHTS
     // Check exactly one of the headlight statuses is on
@@ -42,10 +43,10 @@ void trainingTask(uint8_t* data)
 
     // When hazard light is on, the signals must both be in the same state to denote blinking.
     // When hazards are not on, signals may not be on at the same time
-    isHazardOn ? isSignalValid = !(isRightSignalOn ^ isLeftSignalOn) : isSignalValid = !(isRightSignalOn && isLeftSignalOn);
+    isSignalValid = isHazardOn ? !(isRightSignalOn ^ isLeftSignalOn) : !(isRightSignalOn && isLeftSignalOn);
 
     // Set bit 2 of validData accordingly
-    isHeadlightValid && isSignalValid ? validData = 0b00100000 | validData : validData = 0b11011111 & validData;
+    validData = isHeadlightValid && isSignalValid ? 0b00100000 | validData : 0b11011111 & validData;
 
     // Write to outpuData iff data is valid
     if (validData == 0b11100000)
@@ -63,21 +64,22 @@ void trainingTask(uint8_t* data)
 * standalone unit and aasumes that it is synced with the other motor. 
 * 
 * @param[in] isMotorOn 8 bit integer with value 0000000 or 0000001
-* @param[in] motorVelocity 8 bit integer representing the velocity of the motor
+* @param[in] motorVelocity 8 bit integer representing the velocity of the motor.
 */
-int isMotorDataValid(uint8_t isMotorOn, uint8_t motorVelocity) {
-
-    // TODO: If motor is moving forward, then the sign of the bit should be positive.
-
+uint8_t isMotorDataValid(uint8_t isMotorOn, uint8_t motorVelocity) {
 
     // When motor is off we need to check velocity
     if (!isMotorOn)
-    {
+    { 
         // Since motor is off, input is valid iff velocity is 0
-        !velocity? return 1: return 0;
+        return (!motorVelocity) ? 1 : 0;
+    } else
+    {
+        // If motor is on, the sign of the velocity needs to match the direction
+        // Forward: 1, Positive: 0
+        uint8_t isForward = (0b01000000 & motorVelocity) >> 6;
+        uint8_t velocitySign = (0b00000001 & motorOneVelocity);
+        return (isForward == ~velocitySign) ? 1 : 0;
     }
-
-    // Since we are assuming that motors are synced, any on state is valid
-    return 1;
     
 }
diff --git a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
index 4f9a763f..f44b784d 100644
--- a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
+++ b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
@@ -15,7 +15,7 @@ void runTrainingTests()
 
 void test_EverythingValid()
 {
-    uint8_t data[3] = {0b1001001,0b1001001, 0011000};
+    uint8_t data[3] = {0b1001001,0b1001001, 0b011000};
 }
 
 void test_EverythingInvalid()

From f576fea5fed7b0fe79bef164dfd4b5bc39f716f1 Mon Sep 17 00:00:00 2001
From: Paula Amaya <paula.amaya@ucalgary.ca>
Date: Mon, 27 Nov 2023 18:16:06 -0700
Subject: [PATCH 09/14] Fixed everything valid test bugs

---
 .../Training/Core/Src/Training.c              | 17 +++++++--------
 .../Training/Test/TrainingTest.c              | 21 ++++++++++++++++---
 2 files changed, 25 insertions(+), 13 deletions(-)

diff --git a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
index f983c8e5..a147b6b8 100644
--- a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
+++ b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
@@ -68,18 +68,15 @@ void trainingTask(uint8_t* data)
 */
 uint8_t isMotorDataValid(uint8_t isMotorOn, uint8_t motorVelocity) {
 
-    // When motor is off we need to check velocity
-    if (!isMotorOn)
-    { 
-        // Since motor is off, input is valid iff velocity is 0
-        return (!motorVelocity) ? 1 : 0;
-    } else
-    {
+    if(isMotorOn){
         // If motor is on, the sign of the velocity needs to match the direction
         // Forward: 1, Positive: 0
-        uint8_t isForward = (0b01000000 & motorVelocity) >> 6;
-        uint8_t velocitySign = (0b00000001 & motorOneVelocity);
-        return (isForward == ~velocitySign) ? 1 : 0;
+        uint8_t isForward = (0b10000000 & motorVelocity) >> 6;
+        uint8_t velocitySign = (0b00000001 & motorVelocity);
+        return (isForward != velocitySign) ? 1 : 0;
+    } else {
+        // Since motor is off, input is valid iff velocity is 0
+        return (!motorVelocity) ? 1 : 0;
     }
     
 }
diff --git a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
index f44b784d..5adba5db 100644
--- a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
+++ b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
@@ -4,23 +4,30 @@
 
 extern uint8_t outputArray[3];
 extern uint8_t validData;
+void resetOutput();
 
 void runTrainingTests()
 {
-    // RUN_TEST(test_EverythingValid);
+    RUN_TEST(test_EverythingValid);
     // RUN_TEST(test_EverythingInvalid);
     // RUN_TEST(test_OnlyLightsInvalid);
-    RUN_TEST(test_OnlyMotorsInvalid);
+    // RUN_TEST(test_OnlyMotorsInvalid);
 }
 
 void test_EverythingValid()
 {
-    uint8_t data[3] = {0b1001001,0b1001001, 0b011000};
+    resetOutput();
+    uint8_t data[3] = {0b01001011,0b01001011, 0b00110000};
+    trainingTask(data);
+    TEST_ASSERT_EQUAL_UINT8(0b11100000, validData);
 }
 
 void test_EverythingInvalid()
 {
+    // resetOutput();
     uint8_t data[3] = {0b11011011, 0b10010000, 0b11111000};
+    // trainingTask(data);
+
 
 }
 
@@ -45,3 +52,11 @@ void test_OnlyMotorsInvalid()
     // Case 2: Motors in sync, but turned off with non-zero velocity
     uint8_t data2[3] = {0b11000000, 0b11000000, 0b01000000};
 }
+
+void resetOutput() {
+    for (int i = 0; i < 3; i++)
+    {
+        outputArray[i] = 0;
+    }
+    validData = 0;
+}

From 88e41e08ce078a43da8cb714720a01251c69cbfa Mon Sep 17 00:00:00 2001
From: Paula Amaya <paula.amaya@ucalgary.ca>
Date: Mon, 27 Nov 2023 18:45:38 -0700
Subject: [PATCH 10/14] Everything invalid test passed

---
 .../Embedded-Teaser/Training/Test/TrainingTest.c | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
index 5adba5db..01190e0b 100644
--- a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
+++ b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
@@ -9,7 +9,7 @@ void resetOutput();
 void runTrainingTests()
 {
     RUN_TEST(test_EverythingValid);
-    // RUN_TEST(test_EverythingInvalid);
+    RUN_TEST(test_EverythingInvalid);
     // RUN_TEST(test_OnlyLightsInvalid);
     // RUN_TEST(test_OnlyMotorsInvalid);
 }
@@ -18,24 +18,30 @@ void test_EverythingValid()
 {
     resetOutput();
     uint8_t data[3] = {0b01001011,0b01001011, 0b00110000};
+    uint8_t expected[3] = {0b01001011,0b01001011, 0b00110000};
     trainingTask(data);
     TEST_ASSERT_EQUAL_UINT8(0b11100000, validData);
+    TEST_ASSERT_EQUAL_UINT8_ARRAY(expected, outputArray, 3);
 }
 
 void test_EverythingInvalid()
 {
-    // resetOutput();
+    resetOutput();
     uint8_t data[3] = {0b11011011, 0b10010000, 0b11111000};
-    // trainingTask(data);
-
-
+    uint8_t expected[3] = {0,0,0};
+    trainingTask(data);
+    TEST_ASSERT_EQUAL_UINT8(0b00000000, validData);
+    TEST_ASSERT_EQUAL_UINT8_ARRAY(expected, outputArray, 3);
 }
 
 void test_OnlyLightsInvalid()
 {
     // Case 1: Headlights are in two states
+    // resetOutput();
     uint8_t data1[3] = {0b10010111,0b10010111,0b11000000};
 
+    // TEST_ASSERT_EQUAL_UINT8(0b00000000, validData);
+
     // Case 2: Hazards off, but both signals are on
     uint8_t data2[3] = {0b10010111,0b10010111,0b10011000};
 

From 350521738639c02897b26ed2789cc8e3487bf42f Mon Sep 17 00:00:00 2001
From: Paula Amaya <paula.amaya@ucalgary.ca>
Date: Mon, 27 Nov 2023 18:52:00 -0700
Subject: [PATCH 11/14] Refactored code to writte to outputArray only data that
 is correct

---
 .../Training/Core/Src/Training.c              | 36 ++++++++++++++-----
 1 file changed, 27 insertions(+), 9 deletions(-)

diff --git a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
index a147b6b8..813db4ca 100644
--- a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
+++ b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
@@ -26,7 +26,17 @@ void trainingTask(uint8_t* data)
     uint8_t isSynced = (isMotorOneOn == isMotorTwoOn) && (motorOneVelocity == motorTwoVelocity);
 
     // If the motors are in sync only need to check if one motor is valid since they must be equal!
-    validData = isSynced && isMotorDataValid(isMotorOneOn, motorOneVelocity) ? 0b11000000 : 0b00000000;
+    // Set validData bits accordingly
+    // If motors are valid, copy data onto outputArray
+    if(isSynced && isMotorDataValid(isMotorOneOn, motorOneVelocity)){
+        validData = 0b11000000;
+        outputArray[0] = data[0];
+        outputArray[1] = data[1];
+    } else {
+        validData = 0b00000000;
+    }
+
+    //validData = isSynced && isMotorDataValid(isMotorOneOn, motorOneVelocity) ? 0b11000000 : 0b00000000;
 
     // LIGHTS
     // Check exactly one of the headlight statuses is on
@@ -45,17 +55,25 @@ void trainingTask(uint8_t* data)
     // When hazards are not on, signals may not be on at the same time
     isSignalValid = isHazardOn ? !(isRightSignalOn ^ isLeftSignalOn) : !(isRightSignalOn && isLeftSignalOn);
 
+    // Copy data onto outputArray if lights are valid
     // Set bit 2 of validData accordingly
-    validData = isHeadlightValid && isSignalValid ? 0b00100000 | validData : 0b11011111 & validData;
+    if (isHeadlightValid && isSignalValid)
+    {
+        validData = 0b00100000 | validData;
+        outputArray[2] = data[2];
+    } else {
+        validData = 0b11011111 & validData;
+    }
+    // validData = isHeadlightValid && isSignalValid ? 0b00100000 | validData : 0b11011111 & validData;
 
     // Write to outpuData iff data is valid
-    if (validData == 0b11100000)
-    {
-        for (int i = 0; i < 3; i++)
-        {
-            outputArray[i] = data[i];
-        }
-    };
+    // if (validData == 0b11100000)
+    // {
+    //     for (int i = 0; i < 3; i++)
+    //     {
+    //         outputArray[i] = data[i];
+    //     }
+    // };
 
 }
 

From 0128f3516f3e241d9523d6ea12c9bd4fbbffda61 Mon Sep 17 00:00:00 2001
From: Paula Amaya <paula.amaya@ucalgary.ca>
Date: Mon, 27 Nov 2023 18:57:48 -0700
Subject: [PATCH 12/14] Only lights invalid test passing

---
 .../Training/Test/TrainingTest.c                | 17 +++++++++++++----
 1 file changed, 13 insertions(+), 4 deletions(-)

diff --git a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
index 01190e0b..b5607bdd 100644
--- a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
+++ b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
@@ -10,7 +10,7 @@ void runTrainingTests()
 {
     RUN_TEST(test_EverythingValid);
     RUN_TEST(test_EverythingInvalid);
-    // RUN_TEST(test_OnlyLightsInvalid);
+    RUN_TEST(test_OnlyLightsInvalid);
     // RUN_TEST(test_OnlyMotorsInvalid);
 }
 
@@ -36,17 +36,26 @@ void test_EverythingInvalid()
 
 void test_OnlyLightsInvalid()
 {
+    uint8_t expected[3] = {0b10010111,0b10010111,0};
+
     // Case 1: Headlights are in two states
-    // resetOutput();
+    resetOutput();
     uint8_t data1[3] = {0b10010111,0b10010111,0b11000000};
-
-    // TEST_ASSERT_EQUAL_UINT8(0b00000000, validData);
+    trainingTask(data1);
+    TEST_ASSERT_EQUAL_UINT8(0b11000000, validData);
+    TEST_ASSERT_EQUAL_UINT8_ARRAY(expected, outputArray, 3);
 
     // Case 2: Hazards off, but both signals are on
     uint8_t data2[3] = {0b10010111,0b10010111,0b10011000};
+    trainingTask(data2);
+    TEST_ASSERT_EQUAL_UINT8(0b11000000, validData);
+    TEST_ASSERT_EQUAL_UINT8_ARRAY(expected, outputArray, 3);
 
     // Case 3: Hazards on, but signals not flashing
     uint8_t data3[3] = {0b10010111,0b10010111,0b10010100};
+    trainingTask(data3);
+    TEST_ASSERT_EQUAL_UINT8(0b11000000, validData);
+    TEST_ASSERT_EQUAL_UINT8_ARRAY(expected, outputArray, 3);
 
 }
 

From e5713a95176f954a0f9a1e69d27135e8b81354d5 Mon Sep 17 00:00:00 2001
From: Paula Amaya <paula.amaya@ucalgary.ca>
Date: Mon, 27 Nov 2023 19:04:39 -0700
Subject: [PATCH 13/14] All the tests passed yayyyyyyyyyy

---
 .../Embedded-Teaser/Training/Test/TrainingTest.c    | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
index b5607bdd..aa648fdd 100644
--- a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
+++ b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Test/TrainingTest.c
@@ -11,7 +11,7 @@ void runTrainingTests()
     RUN_TEST(test_EverythingValid);
     RUN_TEST(test_EverythingInvalid);
     RUN_TEST(test_OnlyLightsInvalid);
-    // RUN_TEST(test_OnlyMotorsInvalid);
+    RUN_TEST(test_OnlyMotorsInvalid);
 }
 
 void test_EverythingValid()
@@ -46,12 +46,14 @@ void test_OnlyLightsInvalid()
     TEST_ASSERT_EQUAL_UINT8_ARRAY(expected, outputArray, 3);
 
     // Case 2: Hazards off, but both signals are on
+    resetOutput();
     uint8_t data2[3] = {0b10010111,0b10010111,0b10011000};
     trainingTask(data2);
     TEST_ASSERT_EQUAL_UINT8(0b11000000, validData);
     TEST_ASSERT_EQUAL_UINT8_ARRAY(expected, outputArray, 3);
 
     // Case 3: Hazards on, but signals not flashing
+    resetOutput();
     uint8_t data3[3] = {0b10010111,0b10010111,0b10010100};
     trainingTask(data3);
     TEST_ASSERT_EQUAL_UINT8(0b11000000, validData);
@@ -61,11 +63,20 @@ void test_OnlyLightsInvalid()
 
 void test_OnlyMotorsInvalid()
 {
+    uint8_t expected[3] = {0,0,0b01000000};
     // Case 1: Motors not in sync
+    resetOutput();
     uint8_t data1[3] = {0b11100111, 0b01001001, 0b01000000};
+    trainingTask(data1);
+    TEST_ASSERT_EQUAL_UINT8(0b00100000, validData);
+    TEST_ASSERT_EQUAL_UINT8_ARRAY(expected, outputArray, 3);
 
     // Case 2: Motors in sync, but turned off with non-zero velocity
+    resetOutput();
     uint8_t data2[3] = {0b11000000, 0b11000000, 0b01000000};
+    trainingTask(data2);
+    TEST_ASSERT_EQUAL_UINT8(0b00100000, validData);
+    TEST_ASSERT_EQUAL_UINT8_ARRAY(expected, outputArray, 3);
 }
 
 void resetOutput() {

From 5ef4fa9ed92903c81b2bfaae943eec803d9d6cea Mon Sep 17 00:00:00 2001
From: Paula Amaya <paula.amaya@ucalgary.ca>
Date: Mon, 27 Nov 2023 19:07:20 -0700
Subject: [PATCH 14/14] Cleaned messy comments that kept me sane throughout
 this exercise

---
 .../Embedded-Teaser/Training/Core/Src/Training.c  | 15 +--------------
 1 file changed, 1 insertion(+), 14 deletions(-)

diff --git a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
index 813db4ca..1b4eb831 100644
--- a/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
+++ b/Recruit-Training/Advanced-Recruit-Training/Embedded-Teaser/Training/Core/Src/Training.c
@@ -10,7 +10,6 @@ NOTE: I decided that if the motors do not have matching ON/OFF status or do not
 
 * Velocity will be compared in its vector form. i.e. v1 = v2 if and only if they are equal in magnitude and direction.
 */
-
 void trainingTask(uint8_t* data)
 {
     // MOTORS
@@ -36,8 +35,6 @@ void trainingTask(uint8_t* data)
         validData = 0b00000000;
     }
 
-    //validData = isSynced && isMotorDataValid(isMotorOneOn, motorOneVelocity) ? 0b11000000 : 0b00000000;
-
     // LIGHTS
     // Check exactly one of the headlight statuses is on
     uint8_t isHeadlightOff = (0b10000000 & data[2]) >> 7;
@@ -45,7 +42,7 @@ void trainingTask(uint8_t* data)
     uint8_t isHeadlightHigh = (0b00100000 & data[2]) >> 5;
     uint8_t isHeadlightValid = isHeadlightOff ^ isHeadlightLow ^ isHeadlightHigh;
 
-    // In order to check signal lights we needs to know if hazards are on and then determine the right behaviour
+    // In order to check signal lights we needs to know if hazards are on and then determine the right behaviour.
     uint8_t isHazardOn = (0b00000100 & data[2]) >> 2;
     uint8_t isRightSignalOn = (0b00010000 & data[2]) >> 4;
     uint8_t isLeftSignalOn = (0b00001000 & data[2]) >> 3;
@@ -64,16 +61,6 @@ void trainingTask(uint8_t* data)
     } else {
         validData = 0b11011111 & validData;
     }
-    // validData = isHeadlightValid && isSignalValid ? 0b00100000 | validData : 0b11011111 & validData;
-
-    // Write to outpuData iff data is valid
-    // if (validData == 0b11100000)
-    // {
-    //     for (int i = 0; i < 3; i++)
-    //     {
-    //         outputArray[i] = data[i];
-    //     }
-    // };
 
 }