From c2a5aba55fc7124e85fb3628f17c64ee6d5f0499 Mon Sep 17 00:00:00 2001
From: Vojtech Bocek <vbocek@gmail.com>
Date: Tue, 5 Mar 2024 16:29:33 +0100
Subject: [PATCH] fix: all examples in GH Actions

---
 .github/workflows/build-test.yml | 15 +++++++++++++--
 examples/mpu/main.cpp            | 10 ++++++++--
 examples/oled/main.cpp           |  4 ++--
 src/RBCXMpu.h                    |  3 +--
 4 files changed, 24 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/build-test.yml b/.github/workflows/build-test.yml
index a0af7c2..71cc361 100644
--- a/.github/workflows/build-test.yml
+++ b/.github/workflows/build-test.yml
@@ -8,7 +8,18 @@ jobs:
     strategy:
       matrix:
         example:
-          - examples/motors
+          - battery
+          - buzzer
+          - leds
+          - motorDriveToPosition
+          - motorPower
+          - motors
+          - mpu
+          - oled
+          - readEncoderPosition
+          - stupidServos
+          - ultrasoundBasic
+          - ultrasoundLeds
     steps:
       - uses: actions/checkout@v1
       - name: Set up Python
@@ -20,4 +31,4 @@ jobs:
       - name: Build examples
         run: platformio ci --lib="." --project-conf="./platformio.ini"
         env:
-          PLATFORMIO_CI_SRC: ${{ matrix.example }}
+          PLATFORMIO_CI_SRC: examples/${{ matrix.example }}
diff --git a/examples/mpu/main.cpp b/examples/mpu/main.cpp
index 35b851e..7f28f11 100644
--- a/examples/mpu/main.cpp
+++ b/examples/mpu/main.cpp
@@ -26,13 +26,19 @@ void setup() {
     auto& mpu = rb::Manager::get().mpu();
 
     mpu.init();
+
+    // sets the 0 positions to current RBCX orientation
+    mpu.calibrateNow();
+    delay(1000);
+
     mpu.sendStart();
 
     while (true) {
-        printf("MPU - angle: X: %2.2f Y: %2.2f Z: %2.2f\n", mpu.getAngleX(), mpu.getAngleY(), mpu.getAngleZ());
+        auto angle = mpu.getAngle();
+        printf("MPU - angle: X: %2.2f Y: %2.2f Z: %2.2f\n", angle.x, angle.y, angle.z);
         delay(100);
     }
 
 }
 
-void loop() {}
\ No newline at end of file
+void loop() {}
diff --git a/examples/oled/main.cpp b/examples/oled/main.cpp
index 278d5d1..73dfc7b 100644
--- a/examples/oled/main.cpp
+++ b/examples/oled/main.cpp
@@ -56,7 +56,7 @@ void setup() {
         
         oled.setCursor(5, oled.getHeight()/2);
         String text = "OLED w:" + String(oled.getWidth()) + " | h:" + String(oled.getHeight());
-        oled.writeString(text, rb::Oled::Font_7x10, rb::Oled::White);
+        oled.writeString(text.c_str(), rb::Oled::Font_7x10, rb::Oled::White);
         oled.updateScreen();        
         waitToNextTest();
 
@@ -95,4 +95,4 @@ void setup() {
     }
 }
 
-void loop() {}
\ No newline at end of file
+void loop() {}
diff --git a/src/RBCXMpu.h b/src/RBCXMpu.h
index 600ed2f..4d93f62 100644
--- a/src/RBCXMpu.h
+++ b/src/RBCXMpu.h
@@ -6,7 +6,6 @@
 
 #include "rbcx.pb.h"
 
-
 namespace rb {
 
 struct MpuVector {
@@ -82,7 +81,7 @@ class Mpu {
     /**
      * @brief Restores calibration data previously obtained from calibrateNow callback
      */
-    void restoreCalibrationData(const uint8_t *data, size_t length);
+    void restoreCalibrationData(const uint8_t* data, size_t length);
 
     /**
      * @brief Restores calibration data previously obtained from calibrateNow callback