Fixed WPI Romi library issues

Author: CAP1Sup

.gitignore

@@ -36,3 +36,6 @@
 
 # VSCode
 *.vscode
+
+# Platformio autogenerated files
+*.gitignore

homework1/platformio.ini

@@ -12,6 +12,7 @@
 platform = atmelavr
 board = a-star32U4
 framework = arduino
+lib_ldf_mode = chain+
 lib_deps = ;you need to have the white space/indent the libraries
-    wpi-32u4-library   
+    https://github.com/CAP1Sup/wpi-32u4-library.git
     wire

homework1/src/main.cpp

@@ -1,12 +1,34 @@
+/**
+ * Demonstration of controlling two servos simultanesouly. See documentation for
+ * servo.h/.cpp for more details.
+ *
+ * */
+
 #include <Arduino.h>
+#include <Chassis.h>
 #include <wpi-32u4-lib.h>
 
-void setup()
-{
-  // Setup code here
+// Declare a chassis object with nominal dimensions
+// In practice, adjust the parameters: wheel diam, encoder counts, wheel track
+Chassis chassis(7.0, 1440, 14.9);
+
+/*
+ * This is the standard setup function that is called when the board is rebooted
+ * It is used to initialize anything that needs to be done once.
+ */
+void setup() {
+  // initialize the chassis (which also initializes the motors)
+  chassis.init();
+  chassis.idle();
+
+  // these can be undone for the student to adjust
+  //chassis.setMotorPIDcoeffs(5, 0.5);
 }
 
-void loop()
-{
-  // Repeating code here
-}
+/*
+ * The main loop for the program. The loop function is repeatedly called
+ * after setup() is complete.
+ */
+void loop() {
+
+}