ES ordening

2025-05-27 23:20:05 +02:00
parent d9244f1ae3
commit 39269a71a7
49 changed files with 1952 additions and 0 deletions
--- a/systems.pdf
+++ b/systems.pdf
--- a/protocol.zip
+++ b/protocol.zip
--- a/Master/.gitignore
+++ b/Master/.gitignore
@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch
--- a/Master/.vscode/extensions.json
+++ b/Master/.vscode/extensions.json
@@ -0,0 +1,10 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}
--- a/Master/.vscode/settings.json
+++ b/Master/.vscode/settings.json
@@ -0,0 +1,3 @@
+{
+    "idf.portWin": "COM11"
+}
--- a/Master/include/README
+++ b/Master/include/README
@@ -0,0 +1,39 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
--- a/Master/lib/README
+++ b/Master/lib/README
@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html
--- a/Master/platformio.ini
+++ b/Master/platformio.ini
@@ -0,0 +1,16 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:esp32dev]
+platform = espressif32
+board = esp32dev
+framework = arduino
+monitor_speed = 115200
+lib_deps = plerup/EspSoftwareSerial@^8.2.0
--- a/Master/src/SerialProcess.cpp
+++ b/Master/src/SerialProcess.cpp
@@ -0,0 +1,74 @@
+#include "SerialProcess.h"
+#include <Arduino.h>
+
+// Constructor
+SerialProcess::SerialProcess(int addr) 
+    : address(addr), ndx(0), rc(0), newData(false), rcCheck(false) {
+    Serial.begin(115200);
+}
+
+// Processes Serial Input
+void SerialProcess::SerialInput() {
+    while (Serial.available() > 0) {
+        rc = static_cast<char>(Serial.read());
+
+        if (rc == beginMarker) {
+            rcCheck = true;  // Start reading after the begin marker
+            ndx = 0;         // Reset index for new message
+        }
+
+        if (rcCheck) {
+            // Store the character if within bounds
+            if (ndx < numChars - 1) {
+                receivedChars[ndx++] = rc;
+            }
+
+            // Check for end marker
+            if (rc == endMarker) {
+                receivedChars[ndx] = '\0';  // Null-terminate the string
+                newData = true;             // Mark new data as available
+                rcCheck = false;            // Stop reading until the next begin marker
+            }
+        }
+    }
+}
+
+// Check if new data is available
+bool SerialProcess::isNewDataAvailable() {
+    return newData;
+}
+
+// Get the received data
+char* SerialProcess::getReceivedData() {
+    if (newData) {
+        newData = false;  // Reset the flag after accessing the data
+        return receivedChars;
+    }
+    return nullptr;  // No new data
+}
+
+// Process the received message
+void SerialProcess::getPayload(char *payload) {
+    if (newData) {
+        uint8_t source;
+        uint8_t destination;  
+        char data[255];  // Allocate a buffer for the data  
+        int parsed = sscanf(receivedChars, "#%hhu:%hhu:%63s;", &source, &destination, data);
+        if (parsed == 3 && destination == address) {  // Ensure all fields are parsed correctly
+            strcpy(payload, data);  // Copy data to the provided buffer
+            newData = false;              // Mark the data as processed
+        } else if (address != source) {
+            Serial.print(receivedChars);  // Forward the message
+        }
+    }
+}
+
+// Send a message in the correct format
+void SerialProcess::sendMessage(int receiver, const char* payload) {
+    Serial.printf("#%u:%u:%s;", address, receiver, payload);
+}
+
+
+void SerialProcess::changeAddress(int addr) {
+    address = addr;  // Update the device address
+}
--- a/Master/src/SerialProcess.h
+++ b/Master/src/SerialProcess.h
@@ -0,0 +1,39 @@
+#include <Arduino.h>
+#ifndef SERIALPROCESS_H
+#define SERIALPROCESS_H
+
+class SerialProcess {
+private:
+    uint8_t ndx;                      // Current index for the buffer
+    const char beginMarker = '#';     // Marker to indicate the start of a message
+    const char endMarker = ';';       // Marker to indicate the end of a message
+    char rc;                          // Character read from Serial
+    int address;                      // Device address
+    bool newData;                     // Flag for new data availability
+    static const uint8_t numChars = 255; // Maximum size of the buffer
+    char receivedChars[numChars];     // Buffer for incoming data
+    bool rcCheck;
+
+public:
+    // Constructor
+    explicit SerialProcess(int addr);
+
+    // Store Serial Input (if available)
+    void SerialInput();
+
+    // Check if new data is available
+    bool isNewDataAvailable();
+
+    // Get the received data
+    char* getReceivedData();
+
+    // Process the received message
+    void getPayload(char* payload);
+
+    // Send message in the correct format
+    void sendMessage(int receiver, const char* payload);
+
+    void changeAddress(int addr);
+};
+
+#endif  // SERIALPROCESS_H
--- a/Master/src/main.cpp
+++ b/Master/src/main.cpp
@@ -0,0 +1,186 @@
+#include <SoftwareSerial.h>
+SoftwareSerial mySerial(16, 17);  // RX, TX
+
+const int red = 14;
+const int yellow = 33;
+const int green = 12;
+
+const unsigned long greenDuration = 5000;
+const unsigned long yellowDuration = 2000;
+const unsigned long redDuration = 5000;
+const unsigned long transitionDuration = 2000;
+const unsigned long heartbeatInterval = 1000;
+const unsigned long heartbeatTimeout = 3000;
+const unsigned long blinkInterval = 500;
+
+String receivedData = "";
+bool receiving = false;
+
+unsigned long previousMillis = 0;
+unsigned long lastHeartbeatMillis = 0;
+unsigned long lastBlinkMillis = 0;
+bool blinkState = false;
+bool isError = false;  
+
+enum State { GREEN, YELLOW, RED, TRANSITION, ERROR };
+State currentState = GREEN;
+
+#define REPEAT_SEND false
+
+void sendCommand(String cmd) {
+    mySerial.print("<");
+    mySerial.print(cmd);
+    mySerial.println(">");
+    Serial.print("Sent: ");
+    Serial.println(cmd);
+}
+
+void sendHeartbeat() {
+    mySerial.print("<HB>");
+    Serial.println("Sent: Heartbeat");
+}
+
+void ledRed() {
+    digitalWrite(red, HIGH);
+    digitalWrite(yellow, LOW);
+    digitalWrite(green, LOW);
+  }
+  
+  void ledYellow() {
+    digitalWrite(red, LOW);
+    digitalWrite(yellow, HIGH);
+    digitalWrite(green, LOW);
+  }
+  
+  void ledGreen() {
+    digitalWrite(red, LOW);
+    digitalWrite(yellow, LOW);
+    digitalWrite(green, HIGH);
+  }
+  
+void updateLights() {
+    switch (currentState) {
+        case GREEN:
+            ledGreen();
+            sendCommand("G");
+            break;
+        case YELLOW:
+            ledYellow();
+            sendCommand("Y");
+            break;
+        case RED:
+            ledRed();
+            sendCommand("R");
+            break;
+        case TRANSITION:
+            sendCommand("T");
+            break;
+        case ERROR:
+            if (millis() - lastBlinkMillis >= blinkInterval) {
+                blinkState = !blinkState;
+                digitalWrite(yellow, blinkState ? HIGH : LOW);
+                lastBlinkMillis = millis();
+            }
+            break;
+    }
+}
+
+void setup() {
+    pinMode(green, OUTPUT);
+    pinMode(yellow, OUTPUT);
+    pinMode(red, OUTPUT);
+    mySerial.begin(115200);
+    Serial.begin(115200);
+    previousMillis = millis();
+    lastHeartbeatMillis = millis();
+    updateLights();
+}
+
+void loop() {
+  unsigned long currentMillis = millis();
+
+  // Send heartbeat regularly
+  if (currentMillis - lastHeartbeatMillis >= heartbeatInterval) {
+      sendHeartbeat();
+      lastHeartbeatMillis = currentMillis;
+  }
+
+  // Heartbeat timeout check
+  if (currentMillis - lastHeartbeatMillis >= heartbeatTimeout) {
+      if (!isError) {
+          isError = true;  
+      }
+  }
+
+  // State transitions
+  switch (currentState) {
+      case GREEN:
+          if (currentMillis - previousMillis >= greenDuration) {
+              currentState = YELLOW;
+              previousMillis = currentMillis;
+              updateLights();
+          }
+          break;
+      case YELLOW:
+          if (currentMillis - previousMillis >= yellowDuration) {
+              currentState = RED;
+              previousMillis = currentMillis;
+              updateLights();
+          }
+          break;
+      case RED:
+          if (currentMillis - previousMillis >= redDuration) {
+              currentState = TRANSITION;
+              previousMillis = currentMillis;
+              updateLights();
+          }
+          break;
+      case TRANSITION:
+          if (currentMillis - previousMillis >= transitionDuration) {
+              currentState = GREEN;
+              previousMillis = millis();
+              updateLights();
+          }
+          break;
+      case ERROR:
+          updateLights();
+          break;
+  }
+
+  // Handle received data
+  while (mySerial.available()) {
+      char incomingByte = mySerial.read();
+
+      if (incomingByte == '<') {
+          receivedData = "";
+          receiving = true;
+      } else if (incomingByte == '>') {
+          receiving = false;
+          Serial.print("Received Data: ");
+          Serial.println(receivedData);
+
+          if (receivedData == "HB") {
+              lastHeartbeatMillis = millis();
+              if (isError) {
+                  digitalWrite(yellow, LOW);  
+              }
+              isError = false;  
+          }
+
+          receivedData = "";
+      } else if (receiving) {
+          if (incomingByte >= 32 && incomingByte <= 126) {
+              receivedData += incomingByte;
+          }
+      }
+  }
+
+  // Blinking yellow light in error state
+  if (isError) {
+      if (currentMillis - lastBlinkMillis >= blinkInterval) {
+          blinkState = !blinkState;
+          digitalWrite(yellow, blinkState ? HIGH : LOW);  
+          lastBlinkMillis = currentMillis;
+      }
+  }
+}
--- a/Master/test/README
+++ b/Master/test/README
@@ -0,0 +1,11 @@
+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html
--- a/machine/.gitignore
+++ b/machine/.gitignore
@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch
--- a/machine/.vscode/extensions.json
+++ b/machine/.vscode/extensions.json
@@ -0,0 +1,10 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}
--- a/machine/include/SerialProcess.h
+++ b/machine/include/SerialProcess.h
@@ -0,0 +1,39 @@
+#include <Arduino.h>
+#ifndef SERIALPROCESS_H
+#define SERIALPROCESS_H
+
+class SerialProcess {
+private:
+    uint8_t ndx;                      // Current index for the buffer
+    const char beginMarker = '#';     // Marker to indicate the start of a message
+    const char endMarker = ';';       // Marker to indicate the end of a message
+    char rc;                          // Character read from Serial
+    int address;                      // Device address
+    bool newData;                     // Flag for new data availability
+    static const uint8_t numChars = 255; // Maximum size of the buffer
+    char receivedChars[numChars];     // Buffer for incoming data
+    bool rcCheck;
+
+public:
+    // Constructor
+    explicit SerialProcess(int addr);
+
+    // Store Serial Input (if available)
+    void SerialInput();
+
+    // Check if new data is available
+    bool isNewDataAvailable();
+
+    // Get the received data
+    char* getReceivedData();
+
+    // Process the received message
+    void getPayload(char* payload);
+
+    // Send message in the correct format
+    void sendMessage(int receiver, const char* payload);
+
+    void changeAddress(int addr);
+};
+
+#endif  // SERIALPROCESS_H
--- a/machine/lib/README
+++ b/machine/lib/README
@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into the executable file.
+
+The source code of each library should be placed in a separate directory
+("lib/your_library_name/[Code]").
+
+For example, see the structure of the following example libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+Example contents of `src/main.c` using Foo and Bar:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+The PlatformIO Library Dependency Finder will find automatically dependent
+libraries by scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html
--- a/machine/platformio.ini
+++ b/machine/platformio.ini
@@ -0,0 +1,16 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:esp32dev]
+platform = espressif32
+board = esp32dev
+framework = arduino
+monitor_speed = 115200
+lib_deps = plerup/EspSoftwareSerial@^8.2.0
--- a/machine/src/SerialProcess.cpp
+++ b/machine/src/SerialProcess.cpp
@@ -0,0 +1,74 @@
+#include "SerialProcess.h"
+#include <Arduino.h>
+
+// Constructor
+SerialProcess::SerialProcess(int addr) 
+    : address(addr), ndx(0), rc(0), newData(false), rcCheck(false) {
+    Serial.begin(115200);
+}
+
+// Processes Serial Input
+void SerialProcess::SerialInput() {
+    while (Serial.available() > 0) {
+        rc = static_cast<char>(Serial.read());
+
+        if (rc == beginMarker) {
+            rcCheck = true;  // Start reading after the begin marker
+            ndx = 0;         // Reset index for new message
+        }
+
+        if (rcCheck) {
+            // Store the character if within bounds
+            if (ndx < numChars - 1) {
+                receivedChars[ndx++] = rc;
+            }
+
+            // Check for end marker
+            if (rc == endMarker) {
+                receivedChars[ndx] = '\0';  // Null-terminate the string
+                newData = true;             // Mark new data as available
+                rcCheck = false;            // Stop reading until the next begin marker
+            }
+        }
+    }
+}
+
+// Check if new data is available
+bool SerialProcess::isNewDataAvailable() {
+    return newData;
+}
+
+// Get the received data
+char* SerialProcess::getReceivedData() {
+    if (newData) {
+        newData = false;  // Reset the flag after accessing the data
+        return receivedChars;
+    }
+    return nullptr;  // No new data
+}
+
+// Process the received message
+void SerialProcess::getPayload(char *payload) {
+    if (newData) {
+        uint8_t source;
+        uint8_t destination;  
+        char data[255];  // Allocate a buffer for the data  
+        int parsed = sscanf(receivedChars, "#%hhu:%hhu:%63s;", &source, &destination, data);
+        if (parsed == 3 && destination == address) {  // Ensure all fields are parsed correctly
+            strcpy(payload, data);  // Copy data to the provided buffer
+            newData = false;              // Mark the data as processed
+        } else if (address != source) {
+            Serial.print(receivedChars);  // Forward the message
+        }
+    }
+}
+
+// Send a message in the correct format
+void SerialProcess::sendMessage(int receiver, const char* payload) {
+    Serial.printf("#%u:%u:%s;", address, receiver, payload);
+}
+
+
+void SerialProcess::changeAddress(int addr) {
+    address = addr;  // Update the device address
+}
--- a/machine/src/main.cpp
+++ b/machine/src/main.cpp
@@ -0,0 +1,238 @@
+#include <Arduino.h>
+#include "SerialProcess.h"
+
+#define LEDRED 14
+#define LEDORANGE 13
+#define LEDGREEN 12 
+
+unsigned long previousMillis = 0;
+const unsigned long greenDuration = 5000;
+const unsigned long yellowDuration = 2000;
+const unsigned long redDuration = 5000;
+const unsigned long transitionDuration = 2000;
+const unsigned long heartbeatInterval = 1000;
+const unsigned long heartbeatTimeout = 3000;
+const unsigned long blinkInterval = 500;
+unsigned long lastHeartbeatMillis = 0;
+unsigned long lastBlinkMillis = 0;
+bool blinkState = false;
+
+enum State { GREEN, YELLOW, RED, TRANSITION, ERROR };
+State currentState = GREEN;
+
+const char *slavecheck = "#slvchck;";
+const char *slaveack = "#slvack;";
+const char *masterack = "#mstack;";
+
+const char *turnRed = "tr";
+const char *turnOrange = "to";
+const char *turnGreen = "tg";
+const char *heartbeat = "hb";
+
+int node; // other bord addres number
+int address = 0; // Device address
+
+void setRed(){
+  digitalWrite(LEDRED, HIGH); 
+  digitalWrite(LEDORANGE, LOW);
+  digitalWrite(LEDGREEN, LOW); 
+}
+void setOrange(){
+  digitalWrite(LEDRED, LOW); 
+  digitalWrite(LEDORANGE, HIGH);
+  digitalWrite(LEDGREEN, LOW); 
+}
+void setGreen(){
+  digitalWrite(LEDRED, LOW); 
+  digitalWrite(LEDORANGE, LOW);
+  digitalWrite(LEDGREEN, HIGH); 
+}
+
+SerialProcess serialcom(0);
+
+bool MasterCheck() {
+  SerialProcess serialcomchecker(1000);
+  const unsigned long timeout = 2000;
+  unsigned long startTime = millis();
+  bool isMaster = true;
+  bool checkSent = false;
+  bool gotResponse = false;
+
+  delay(random(100, 600));  // Randomize startup slightly
+
+  Serial.print(slavecheck);  // Send check to see if someone replies
+  checkSent = true;
+
+  while (millis() - startTime < timeout) {
+    if (Serial.available()) {
+      serialcomchecker.SerialInput();
+      char* payload = serialcomchecker.getReceivedData();
+
+      if (strcmp(payload, slavecheck) == 0) {
+        // Got a check while we also sent a check — respond and become SLAVE
+        Serial.print(slaveack);
+        isMaster = false;
+        break;
+      } else if (strcmp(payload, slaveack) == 0) {
+        // Got an ACK from the other side — we are master
+        Serial.print(masterack);
+        isMaster = true;
+        break;
+      } else if (strcmp(payload, masterack) == 0) {
+        // Got master ack — we must be slave
+        isMaster = false;
+        break;
+      }
+    }
+  }
+
+  // Failsafe: no response at all
+  if (!Serial.available() && !gotResponse) {
+    // Assume we are master
+    isMaster = true;
+    Serial.print(masterack);
+  }
+
+  return isMaster;
+}
+
+
+void updateLights() {
+  switch (currentState) {
+    case GREEN:
+      setGreen();
+      serialcom.sendMessage(node, turnGreen);
+      break;
+    case YELLOW:
+      setOrange();          
+      serialcom.sendMessage(node, turnOrange);
+      break;
+    case RED:
+      setGreen();
+      serialcom.sendMessage(node, turnRed);
+      break;
+    case TRANSITION:
+      serialcom.sendMessage(node, turnOrange);
+      break;
+    case ERROR:
+      if (millis() - lastBlinkMillis >= blinkInterval) {
+        blinkState = !blinkState;
+        digitalWrite(LEDORANGE, blinkState ? HIGH : LOW);
+        lastBlinkMillis = millis();
+      }
+      break;
+  }
+}
+
+void sendHeartbeat() {
+  serialcom.sendMessage(node,heartbeat);
+  Serial.println("Sent: Heartbeat");
+}
+
+void master(){
+  bool running = true;
+  while (running){
+    unsigned long currentMillis = millis();
+    
+    if (currentMillis - lastHeartbeatMillis >= heartbeatInterval) {
+      sendHeartbeat();
+      lastHeartbeatMillis = currentMillis;
+    }
+    
+    if (currentMillis - lastHeartbeatMillis > heartbeatTimeout) {
+      currentState = ERROR;
+      updateLights();
+      return;
+    }
+    
+    switch (currentState) {
+      case GREEN:
+        if (currentMillis - previousMillis >= greenDuration) {
+          currentState = YELLOW;
+          previousMillis = currentMillis;
+          updateLights();
+        }
+        break;
+      case YELLOW:
+        if (currentMillis - previousMillis >= yellowDuration) {
+          currentState = RED;
+          previousMillis = currentMillis;
+          updateLights();
+        }
+        break;
+      case RED:
+        if (currentMillis - previousMillis >= redDuration) {
+          currentState = TRANSITION;
+          previousMillis = currentMillis;
+          updateLights();
+        }
+        break;
+      case TRANSITION:
+        if (currentMillis - previousMillis >= transitionDuration) {
+          currentState = GREEN;
+          previousMillis = millis();
+          updateLights();
+        }
+        break;
+      case ERROR:
+        updateLights();
+        break;
+    }
+  }
+}
+
+void setup() {
+  Serial.begin(115200);
+  pinMode(LEDGREEN, OUTPUT);
+  pinMode(LEDORANGE, OUTPUT);
+  pinMode(LEDRED, OUTPUT);
+  bool MorS = MasterCheck(); // Check if master or slave
+  //set address for master or slave
+  if (MorS == false){
+    address = 2; // Set address for this slave 
+    node = 1; // Set address for master
+  } else {
+    address = 1; // Set address for this master
+    node = 2; // Set address for slave
+  }
+  previousMillis = millis();
+  lastHeartbeatMillis = millis();
+  updateLights();
+  setRed();
+  serialcom.changeAddress(address); // Set address for serial communication
+}
+
+void slave(){
+  bool running = true;
+  char *command;
+  while (running && Serial.available() > 0){
+    serialcom.SerialInput();
+    serialcom.getPayload(command);
+    if (strcmp(command, turnRed)) setRed();
+    else if (strcmp(command, turnOrange)) setOrange();
+    else if (strcmp(command, turnGreen)) setGreen();
+    else if (strcmp(command, heartbeat)) {
+      lastHeartbeatMillis = millis();
+      digitalWrite(LEDRED, LOW);  // Reset the orange blink pattern
+      digitalWrite(LEDORANGE, LOW);
+    }
+    else {
+      Serial.print("slave: unknown command");
+    }
+  }
+  if (millis() - lastHeartbeatMillis > heartbeatTimeout) {
+    // Blink the red and yellow LEDs to indicate an error (orange light)
+    if (millis() - lastBlinkMillis >= blinkInterval) {
+      blinkState = !blinkState;
+      digitalWrite(LEDORANGE, blinkState ? HIGH : LOW);
+      lastBlinkMillis = millis();
+    }
+  }
+}
+
+void loop(){
+  serialcom.changeAddress(2);
+  if (address == 1) slave(); //master
+  else if (address == 2) slave(); //slave
+  else Serial.print("master slave issue");
+}
--- a/machine/test/README
+++ b/machine/test/README
@@ -0,0 +1,11 @@
+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html
--- a/protocol.docx
+++ b/protocol.docx
--- a/10.26.10_a1a476bf.mp4
+++ b/10.26.10_a1a476bf.mp4
--- a/protocol/state
+++ b/protocol/state
@@ -0,0 +1,112 @@
+<mxfile host="app.diagrams.net" agent="Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/135.0.0.0 Safari/537.36" version="26.2.7">
+  <diagram name="Pagina-1" id="CR9P-yaCSiBfdL3vZK3D">
+    <mxGraphModel grid="1" page="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" pageScale="1" pageWidth="827" pageHeight="1169" math="0" shadow="0">
+      <root>
+        <mxCell id="0" />
+        <mxCell id="1" parent="0" />
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-13" value="GREEN" style="swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
+          <mxGeometry x="-460" y="720" width="300" height="280" as="geometry" />
+        </mxCell>
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-14" value="Entry:&amp;nbsp;&lt;div&gt;&lt;br&gt;&lt;div&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;Set the &lt;/span&gt;&lt;code style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot; data-end=&quot;215&quot; data-start=&quot;208&quot;&gt;green&lt;/code&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt; light HIGH, &lt;/span&gt;&lt;code style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot; data-end=&quot;236&quot; data-start=&quot;228&quot;&gt;yellow&lt;/code&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt; and &lt;/span&gt;&lt;code style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot; data-end=&quot;246&quot; data-start=&quot;241&quot;&gt;red&lt;/code&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt; lights LOW.&lt;/span&gt;&lt;/div&gt;&lt;div&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;&lt;br&gt;&lt;/span&gt;&lt;/div&gt;&lt;div&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;Send the &quot;G&quot; command to the serial port.&lt;/span&gt;&lt;/div&gt;&lt;/div&gt;" style="text;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;" vertex="1" parent="dF3u_iEBEdzJW1drsnO6-13">
+          <mxGeometry y="30" width="300" height="90" as="geometry" />
+        </mxCell>
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-15" value="Do:&lt;div&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;&lt;br&gt;&lt;/span&gt;&lt;/div&gt;&lt;div&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;Stay in the GREEN state for &lt;/span&gt;&lt;code style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot; data-end=&quot;362&quot; data-start=&quot;347&quot;&gt;greenDuration&lt;/code&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt; (5 seconds).&lt;/span&gt;&lt;/div&gt;&lt;div&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;&lt;br&gt;&lt;/span&gt;&lt;/div&gt;&lt;div&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;Send heartbeats at intervals&lt;/span&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;.&lt;/span&gt;&lt;/div&gt;" style="text;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;" vertex="1" parent="dF3u_iEBEdzJW1drsnO6-13">
+          <mxGeometry y="120" width="300" height="90" as="geometry" />
+        </mxCell>
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-16" value="Exit:&lt;div&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;&lt;br&gt;&lt;/span&gt;&lt;/div&gt;&lt;div&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;Transition to the YELLOW state when the &lt;/span&gt;&lt;code style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot; data-end=&quot;517&quot; data-start=&quot;502&quot;&gt;greenDuration&lt;/code&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt; has elapsed.&lt;/span&gt;&lt;/div&gt;" style="text;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;" vertex="1" parent="dF3u_iEBEdzJW1drsnO6-13">
+          <mxGeometry y="210" width="300" height="70" as="geometry" />
+        </mxCell>
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-24" value="YELLOW" style="swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
+          <mxGeometry x="50" y="720" width="300" height="280" as="geometry" />
+        </mxCell>
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-25" value="Entry:&lt;div&gt;&lt;br&gt;&lt;/div&gt;&lt;div&gt;Set the &lt;code data-end=&quot;494&quot; data-start=&quot;486&quot;&gt;yellow&lt;/code&gt; light HIGH, &lt;code data-end=&quot;514&quot; data-start=&quot;507&quot;&gt;green&lt;/code&gt; and &lt;code data-end=&quot;524&quot; data-start=&quot;519&quot;&gt;red&lt;/code&gt; lights&lt;/div&gt;&lt;div&gt;&lt;br&gt;&lt;/div&gt;&lt;div&gt;&amp;nbsp;LOW. Send the &quot;Y&quot; command to the serial port.&lt;/div&gt;" style="text;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;" vertex="1" parent="dF3u_iEBEdzJW1drsnO6-24">
+          <mxGeometry y="30" width="300" height="90" as="geometry" />
+        </mxCell>
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-26" value="Do:&lt;div&gt;&lt;br&gt;&lt;/div&gt;&lt;div&gt;Stay in the YELLOW state for &lt;code data-end=&quot;633&quot; data-start=&quot;617&quot;&gt;yellowDuration&lt;/code&gt; (2 seconds).&amp;nbsp;&lt;/div&gt;&lt;div&gt;&lt;br&gt;&lt;/div&gt;&lt;div&gt;Send heartbeats at intervals.&lt;/div&gt;" style="text;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;" vertex="1" parent="dF3u_iEBEdzJW1drsnO6-24">
+          <mxGeometry y="120" width="300" height="90" as="geometry" />
+        </mxCell>
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-27" value="&lt;p class=&quot;&quot; data-end=&quot;790&quot; data-start=&quot;447&quot;&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;Exit:&lt;/span&gt;&lt;/p&gt;&lt;p class=&quot;&quot; data-end=&quot;790&quot; data-start=&quot;447&quot;&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;Transition to the RED state when the &lt;/span&gt;&lt;code style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot; data-end=&quot;777&quot; data-start=&quot;761&quot;&gt;yellowDuration&lt;/code&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt; has elapsed.&lt;/span&gt;&lt;/p&gt;" style="text;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;" vertex="1" parent="dF3u_iEBEdzJW1drsnO6-24">
+          <mxGeometry y="210" width="300" height="70" as="geometry" />
+        </mxCell>
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-28" value="ERROR" style="swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
+          <mxGeometry x="-90" y="1140" width="300" height="330" as="geometry" />
+        </mxCell>
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-29" value="Entry:&amp;nbsp;&lt;div&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;&lt;br&gt;&lt;/span&gt;&lt;/div&gt;&lt;div&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;Blink the yellow light (on and off).&lt;/span&gt;&lt;div&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;&lt;br&gt;&lt;/span&gt;&lt;/div&gt;&lt;div&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;Set the error flag to true and stop normal state transitions.&lt;/span&gt;&lt;/div&gt;&lt;/div&gt;" style="text;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;" vertex="1" parent="dF3u_iEBEdzJW1drsnO6-28">
+          <mxGeometry y="30" width="300" height="100" as="geometry" />
+        </mxCell>
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-30" value="Do:&lt;div&gt;&lt;br&gt;&lt;div&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;Continuously blink the yellow light at &lt;/span&gt;&lt;code style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot; data-end=&quot;1829&quot; data-start=&quot;1814&quot;&gt;blinkInterval&lt;/code&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt; while in the ERROR state.&lt;/span&gt;&lt;/div&gt;&lt;div&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;&lt;br&gt;&lt;/span&gt;&lt;/div&gt;&lt;div&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;Monitor for incoming heartbeat data to clear the error state.&lt;/span&gt;&lt;/div&gt;&lt;/div&gt;" style="text;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;" vertex="1" parent="dF3u_iEBEdzJW1drsnO6-28">
+          <mxGeometry y="130" width="300" height="130" as="geometry" />
+        </mxCell>
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-31" value="Exit:&lt;div&gt;&lt;br&gt;&lt;div&gt;&lt;span style=&quot;background-color: transparent; color: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));&quot;&gt;Exit the ERROR state when a valid heartbeat is received.&lt;/span&gt;&lt;/div&gt;&lt;/div&gt;" style="text;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;" vertex="1" parent="dF3u_iEBEdzJW1drsnO6-28">
+          <mxGeometry y="260" width="300" height="70" as="geometry" />
+        </mxCell>
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-32" value="RED" style="swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
+          <mxGeometry x="540" y="720" width="300" height="280" as="geometry" />
+        </mxCell>
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-33" value="Entry:&lt;div&gt;&lt;br&gt;&lt;/div&gt;&lt;div&gt;Set the &lt;code data-end=&quot;838&quot; data-start=&quot;833&quot;&gt;red&lt;/code&gt; light HIGH, &lt;code data-end=&quot;858&quot; data-start=&quot;851&quot;&gt;green&lt;/code&gt; and &lt;code data-end=&quot;871&quot; data-start=&quot;863&quot;&gt;yellow&lt;/code&gt; lights LOW.&amp;nbsp;&lt;/div&gt;&lt;div&gt;&lt;br&gt;&lt;/div&gt;&lt;div&gt;Send the &quot;R&quot; command to the serial port.&lt;/div&gt;" style="text;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;" vertex="1" parent="dF3u_iEBEdzJW1drsnO6-32">
+          <mxGeometry y="30" width="300" height="100" as="geometry" />
+        </mxCell>
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-34" value="Do:&lt;div&gt;&lt;br&gt;&lt;/div&gt;&lt;div&gt;Stay in the RED state for &lt;code data-end=&quot;974&quot; data-start=&quot;961&quot;&gt;redDuration&lt;/code&gt; (5 seconds).&amp;nbsp;&lt;/div&gt;&lt;div&gt;&lt;br&gt;&lt;/div&gt;&lt;div&gt;Send heartbeats at intervals.&lt;/div&gt;" style="text;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;" vertex="1" parent="dF3u_iEBEdzJW1drsnO6-32">
+          <mxGeometry y="130" width="300" height="80" as="geometry" />
+        </mxCell>
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-35" value="Exit:&lt;div&gt;&lt;br&gt;&lt;/div&gt;&lt;div&gt;Transition to the TRANSITION state when the &lt;code data-end=&quot;1122&quot; data-start=&quot;1109&quot;&gt;redDuration&lt;/code&gt; has elapsed.&lt;/div&gt;&lt;div&gt;&lt;br&gt;&lt;/div&gt;" style="text;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;" vertex="1" parent="dF3u_iEBEdzJW1drsnO6-32">
+          <mxGeometry y="210" width="300" height="70" as="geometry" />
+        </mxCell>
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-37" value="TRANSITION" style="swimlane;fontStyle=0;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=1;marginBottom=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
+          <mxGeometry x="540" y="1110" width="300" height="280" as="geometry" />
+        </mxCell>
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-38" value="Entry:&lt;div&gt;&lt;br&gt;&lt;/div&gt;&lt;div&gt;Send the &quot;T&quot; command to the serial port (for transitioning).&lt;/div&gt;" style="text;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;" vertex="1" parent="dF3u_iEBEdzJW1drsnO6-37">
+          <mxGeometry y="30" width="300" height="70" as="geometry" />
+        </mxCell>
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-39" value="Do:&lt;div&gt;&lt;br&gt;&lt;/div&gt;&lt;div&gt;Stay in the TRANSITION state for &lt;code data-end=&quot;1301&quot; data-start=&quot;1281&quot;&gt;transitionDuration&lt;/code&gt; (2 seconds).&amp;nbsp;&lt;/div&gt;&lt;div&gt;&lt;br&gt;&lt;/div&gt;&lt;div&gt;Send heartbeats at intervals.&lt;/div&gt;" style="text;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;" vertex="1" parent="dF3u_iEBEdzJW1drsnO6-37">
+          <mxGeometry y="100" width="300" height="110" as="geometry" />
+        </mxCell>
+        <mxCell id="dF3u_iEBEdzJW1drsnO6-40" value="Exit:&lt;div&gt;&lt;br&gt;&lt;/div&gt;&lt;div&gt;Transition to the GREEN state when the &lt;code data-end=&quot;1451&quot; data-start=&quot;1431&quot;&gt;transitionDuration&lt;/code&gt; has elapsed.&lt;/div&gt;" style="text;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;" vertex="1" parent="dF3u_iEBEdzJW1drsnO6-37">
+          <mxGeometry y="210" width="300" height="70" as="geometry" />
+        </mxCell>
+        <mxCell id="OWCZAN_wvuP4CP33OBUB-1" value="" style="endArrow=classic;html=1;rounded=0;exitX=1.019;exitY=0.159;exitDx=0;exitDy=0;exitPerimeter=0;" edge="1" parent="1" source="dF3u_iEBEdzJW1drsnO6-15">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="340" y="250" as="sourcePoint" />
+            <mxPoint x="47" y="860" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="OWCZAN_wvuP4CP33OBUB-3" value="" style="endArrow=classic;html=1;rounded=0;exitX=1.017;exitY=0.196;exitDx=0;exitDy=0;exitPerimeter=0;entryX=0.012;entryY=0.096;entryDx=0;entryDy=0;entryPerimeter=0;" edge="1" parent="1" source="dF3u_iEBEdzJW1drsnO6-26" target="dF3u_iEBEdzJW1drsnO6-34">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="340" y="250" as="sourcePoint" />
+            <mxPoint x="490" y="860" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
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+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="100" y="1200" as="sourcePoint" />
+            <mxPoint x="150" y="1150" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="OWCZAN_wvuP4CP33OBUB-6" value="" style="endArrow=classic;startArrow=classic;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;entryX=0.703;entryY=1.057;entryDx=0;entryDy=0;entryPerimeter=0;" edge="1" parent="1" source="dF3u_iEBEdzJW1drsnO6-28" target="dF3u_iEBEdzJW1drsnO6-16">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="100" y="1200" as="sourcePoint" />
+            <mxPoint x="150" y="1150" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="OWCZAN_wvuP4CP33OBUB-7" value="" style="endArrow=classic;startArrow=classic;html=1;rounded=0;exitX=0.579;exitY=0;exitDx=0;exitDy=0;exitPerimeter=0;entryX=0.41;entryY=1.057;entryDx=0;entryDy=0;entryPerimeter=0;" edge="1" parent="1" source="dF3u_iEBEdzJW1drsnO6-28" target="dF3u_iEBEdzJW1drsnO6-27">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="120" y="1200" as="sourcePoint" />
+            <mxPoint x="170" y="1150" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="OWCZAN_wvuP4CP33OBUB-8" value="" style="endArrow=classic;startArrow=classic;html=1;rounded=0;exitX=1;exitY=0;exitDx=0;exitDy=0;entryX=0.006;entryY=0.943;entryDx=0;entryDy=0;entryPerimeter=0;" edge="1" parent="1" source="dF3u_iEBEdzJW1drsnO6-28" target="dF3u_iEBEdzJW1drsnO6-35">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="120" y="1200" as="sourcePoint" />
+            <mxPoint x="170" y="1150" as="targetPoint" />
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+        </mxCell>
+        <mxCell id="OWCZAN_wvuP4CP33OBUB-9" value="" style="endArrow=classic;startArrow=classic;html=1;rounded=0;exitX=1.006;exitY=0.22;exitDx=0;exitDy=0;exitPerimeter=0;entryX=-0.014;entryY=0.743;entryDx=0;entryDy=0;entryPerimeter=0;" edge="1" parent="1" source="dF3u_iEBEdzJW1drsnO6-29" target="dF3u_iEBEdzJW1drsnO6-38">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="120" y="1200" as="sourcePoint" />
+            <mxPoint x="170" y="1150" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+      </root>
+    </mxGraphModel>
+  </diagram>
+</mxfile>
--- a/ES/ESAssignment3(KnightRider).zip
+++ b/ES/ESAssignment3(KnightRider).zip
--- a/3/ESAssignment3(KnightRider)/ES
+++ b/3/ESAssignment3(KnightRider)/ES
--- a/3/ESAssignment3(KnightRider)/WhatsApp
+++ b/3/ESAssignment3(KnightRider)/WhatsApp
--- a/3/ESAssignment3(KnightRider)/main.cpp
+++ b/3/ESAssignment3(KnightRider)/main.cpp
--- a/I2C.zip
+++ b/I2C.zip
--- a/I2C/Assignment-A/BME280.cpp
+++ b/I2C/Assignment-A/BME280.cpp
@@ -0,0 +1,85 @@
+
+#include "BME280.h"
+
+// I2C read 1 byte
+uint8_t readRegister(uint8_t reg) {
+    Wire.beginTransmission(BME280_ADDRESS);
+    Wire.write(reg);
+    Wire.endTransmission();
+    Wire.requestFrom(BME280_ADDRESS, 1);
+    return Wire.read();
+}
+
+// I2C write 1 byte
+void writeRegister(uint8_t reg, uint8_t value) {
+    Wire.beginTransmission(BME280_ADDRESS);
+    Wire.write(reg);
+    Wire.write(value);
+    Wire.endTransmission();
+}
+
+// Public functions
+uint8_t BME280_GetID() {
+    return readRegister(BME280_REG_ID);
+}
+
+void BME280_Reset() {
+    writeRegister(BME280_REG_RESET, BME280_RESET_CMD);
+}
+
+uint8_t BME280_CtrlHum() {
+    return readRegister(BME280_REG_CTRL_HUM);
+}
+
+void BME280_CtrlHum(uint8_t bitpattern) {
+    writeRegister(BME280_REG_CTRL_HUM, bitpattern);
+}
+
+uint8_t BME280_CtrlMeas() {
+    return readRegister(BME280_REG_CTRL_MEAS);
+}
+
+void BME280_CtrlMeas(uint8_t bitpattern) {
+    writeRegister(BME280_REG_CTRL_MEAS, bitpattern);
+}
+
+long BME280_ReadTemperature() {
+    Wire.beginTransmission(BME280_ADDRESS);
+    Wire.write(BME280_REG_TEMP_MSB);
+    Wire.endTransmission();
+    Wire.requestFrom(BME280_ADDRESS, 3);
+
+    long msb = Wire.read();
+    long lsb = Wire.read();
+    long xlsb = Wire.read();
+    long adc_T = ((msb << 16) | (lsb << 8) | xlsb) >> 4;
+
+    return adc_T; // Raw value (compensation needed)
+}
+
+int BME280_ReadHumidity() {
+    Wire.beginTransmission(BME280_ADDRESS);
+    Wire.write(BME280_REG_HUM_MSB);
+    Wire.endTransmission();
+    Wire.requestFrom(BME280_ADDRESS, 2);
+
+    int msb = Wire.read();
+    int lsb = Wire.read();
+    int adc_H = (msb << 8) | lsb;
+
+    return adc_H; // Raw value
+}
+
+long BME280_ReadPressure() {
+    Wire.beginTransmission(BME280_ADDRESS);
+    Wire.write(BME280_REG_PRESS_MSB);
+    Wire.endTransmission();
+    Wire.requestFrom(BME280_ADDRESS, 3);
+
+    long msb = Wire.read();
+    long lsb = Wire.read();
+    long xlsb = Wire.read();
+    long adc_P = ((msb << 16) | (lsb << 8) | xlsb) >> 4;
+
+    return adc_P; // Raw value
+}
--- a/I2C/Assignment-A/BME280.h
+++ b/I2C/Assignment-A/BME280.h
@@ -0,0 +1,43 @@
+#ifndef BME280_H
+#define BME280_H
+
+#include <Arduino.h>
+#include <Wire.h>
+
+// I2C address for BME280 (default)
+#define BME280_ADDRESS 0x76
+
+// Register addresses from datasheet
+#define BME280_REG_ID           0xD0
+#define BME280_REG_RESET        0xE0
+#define BME280_REG_CTRL_HUM     0xF2
+#define BME280_REG_STATUS       0xF3
+#define BME280_REG_CTRL_MEAS    0xF4
+#define BME280_REG_CONFIG       0xF5
+#define BME280_REG_PRESS_MSB    0xF7
+#define BME280_REG_TEMP_MSB     0xFA
+#define BME280_REG_HUM_MSB      0xFD
+
+// Reset command
+#define BME280_RESET_CMD        0xB6
+
+// Function declarations
+uint8_t BME280_GetID();
+
+void BME280_Reset();
+
+uint8_t BME280_CtrlHum();
+
+void BME280_CtrlHum(uint8_t bitpattern);
+
+uint8_t BME280_CtrlMeas();
+
+void BME280_CtrlMeas(uint8_t bitpattern);
+
+long BME280_ReadTemperature();
+
+int BME280_ReadHumidity();
+
+long BME280_ReadPressure();
+
+#endif
--- a/I2C/Assignment-A/main.cpp
+++ b/I2C/Assignment-A/main.cpp
@@ -0,0 +1,37 @@
+#include <Arduino.h>
+#include <Wire.h>
+#include "BME280.h"
+
+void setup() {
+    Serial.begin(9600);
+    Wire.begin();
+
+    Serial.println("Initializing BME280...");
+
+    uint8_t id = BME280_GetID();
+    Serial.print("Sensor ID: 0x");
+    Serial.println(id, HEX);
+
+    BME280_Reset();
+
+    // Set oversampling for humidity = x1 (00000001)
+    BME280_CtrlHum(0x01);
+
+    // Set oversampling for temp and pressure = x1, mode = normal (00100111)
+    BME280_CtrlMeas(0x27);
+
+    Serial.println("BME280 Setup Done.");
+}
+
+void loop() {
+    long temp_raw = BME280_ReadTemperature();
+    int hum_raw = BME280_ReadHumidity();
+    long press_raw = BME280_ReadPressure();
+
+    Serial.print("Raw Temperature: ");
+    Serial.print(temp_raw);
+    Serial.print(" | Raw Humidity: ");
+    Serial.print(hum_raw);
+    Serial.print(" | Raw Pressure: ");
+    Serial.println(press_raw);
+}
--- a/I2C/Assignment-B/Master.cpp
+++ b/I2C/Assignment-B/Master.cpp
@@ -0,0 +1,30 @@
+#include <Wire.h>
+#include <Arduino.h>
+
+uint8_t count = 0;
+
+void setup() {
+  Wire.begin(); // Master
+  Serial.begin(9600);
+}
+
+void loop() {
+
+  // Send count to slave
+  Wire.beginTransmission(0x42);
+  Wire.write(count);
+  Wire.endTransmission();
+
+  Serial.print("Sent: ");
+  Serial.println(count);
+
+  // Request response from slave
+  Wire.requestFrom(0x42, 1);
+  if (Wire.available()) {
+    uint8_t response = Wire.read();
+    Serial.print("Received: ");
+    Serial.println(response);
+  }
+
+  count++;
+}
--- a/I2C/Assignment-B/Slave.cpp
+++ b/I2C/Assignment-B/Slave.cpp
@@ -0,0 +1,29 @@
+#include <Arduino.h>
+#include <Wire.h>
+
+volatile uint8_t receivedValue = 0;
+
+void setup() {
+  Wire.begin(0x42); 
+  Wire.onReceive(receiveEvent);
+  Wire.onRequest(requestEvent);
+  Serial.begin(9600);
+}
+
+void loop() {
+}
+
+void receiveEvent(int howMany) {
+  if (howMany > 0) {
+    receivedValue = Wire.read(); 
+    Serial.print("Received from master: ");
+    Serial.println(receivedValue);
+  }
+}
+
+void requestEvent() {
+  uint8_t reply = (receivedValue > 100) ? 2 : 4;
+  Wire.write(reply);
+  Serial.print("Sent to master: ");
+  Serial.println(reply);
+}
--- a/I2C/Assignment-D/BME280.cpp
+++ b/I2C/Assignment-D/BME280.cpp
@@ -0,0 +1,85 @@
+
+#include "BME280.h"
+
+// I2C read 1 byte
+uint8_t readRegister(uint8_t reg) {
+    Wire.beginTransmission(BME280_ADDRESS);
+    Wire.write(reg);
+    Wire.endTransmission();
+    Wire.requestFrom(BME280_ADDRESS, 1);
+    return Wire.read();
+}
+
+// I2C write 1 byte
+void writeRegister(uint8_t reg, uint8_t value) {
+    Wire.beginTransmission(BME280_ADDRESS);
+    Wire.write(reg);
+    Wire.write(value);
+    Wire.endTransmission();
+}
+
+// Public functions
+uint8_t BME280_GetID() {
+    return readRegister(BME280_REG_ID);
+}
+
+void BME280_Reset() {
+    writeRegister(BME280_REG_RESET, BME280_RESET_CMD);
+}
+
+uint8_t BME280_CtrlHum() {
+    return readRegister(BME280_REG_CTRL_HUM);
+}
+
+void BME280_CtrlHum(uint8_t bitpattern) {
+    writeRegister(BME280_REG_CTRL_HUM, bitpattern);
+}
+
+uint8_t BME280_CtrlMeas() {
+    return readRegister(BME280_REG_CTRL_MEAS);
+}
+
+void BME280_CtrlMeas(uint8_t bitpattern) {
+    writeRegister(BME280_REG_CTRL_MEAS, bitpattern);
+}
+
+long BME280_ReadTemperature() {
+    Wire.beginTransmission(BME280_ADDRESS);
+    Wire.write(BME280_REG_TEMP_MSB);
+    Wire.endTransmission();
+    Wire.requestFrom(BME280_ADDRESS, 3);
+
+    long msb = Wire.read();
+    long lsb = Wire.read();
+    long xlsb = Wire.read();
+    long adc_T = ((msb << 16) | (lsb << 8) | xlsb) >> 4;
+
+    return adc_T; // Raw value (compensation needed)
+}
+
+int BME280_ReadHumidity() {
+    Wire.beginTransmission(BME280_ADDRESS);
+    Wire.write(BME280_REG_HUM_MSB);
+    Wire.endTransmission();
+    Wire.requestFrom(BME280_ADDRESS, 2);
+
+    int msb = Wire.read();
+    int lsb = Wire.read();
+    int adc_H = (msb << 8) | lsb;
+
+    return adc_H; // Raw value
+}
+
+long BME280_ReadPressure() {
+    Wire.beginTransmission(BME280_ADDRESS);
+    Wire.write(BME280_REG_PRESS_MSB);
+    Wire.endTransmission();
+    Wire.requestFrom(BME280_ADDRESS, 3);
+
+    long msb = Wire.read();
+    long lsb = Wire.read();
+    long xlsb = Wire.read();
+    long adc_P = ((msb << 16) | (lsb << 8) | xlsb) >> 4;
+
+    return adc_P; // Raw value
+}
--- a/I2C/Assignment-D/BME280.h
+++ b/I2C/Assignment-D/BME280.h
@@ -0,0 +1,43 @@
+#ifndef BME280_H
+#define BME280_H
+
+#include <Arduino.h>
+#include <Wire.h>
+
+// I2C address for BME280 (default)
+#define BME280_ADDRESS 0x76
+
+// Register addresses from datasheet
+#define BME280_REG_ID           0xD0
+#define BME280_REG_RESET        0xE0
+#define BME280_REG_CTRL_HUM     0xF2
+#define BME280_REG_STATUS       0xF3
+#define BME280_REG_CTRL_MEAS    0xF4
+#define BME280_REG_CONFIG       0xF5
+#define BME280_REG_PRESS_MSB    0xF7
+#define BME280_REG_TEMP_MSB     0xFA
+#define BME280_REG_HUM_MSB      0xFD
+
+// Reset command
+#define BME280_RESET_CMD        0xB6
+
+// Function declarations
+uint8_t BME280_GetID();
+
+void BME280_Reset();
+
+uint8_t BME280_CtrlHum();
+
+void BME280_CtrlHum(uint8_t bitpattern);
+
+uint8_t BME280_CtrlMeas();
+
+void BME280_CtrlMeas(uint8_t bitpattern);
+
+long BME280_ReadTemperature();
+
+int BME280_ReadHumidity();
+
+long BME280_ReadPressure();
+
+#endif
--- a/I2C/Assignment-D/Master.cpp
+++ b/I2C/Assignment-D/Master.cpp
@@ -0,0 +1,61 @@
+#include <Arduino.h>
+#include <Wire.h>
+#include "BME280.h"
+
+#define PARALLEL_SLAVE_ADDR 0x77
+
+void writeToRegister(uint8_t deviceAddr, uint8_t reg, uint8_t value) {
+    Wire.beginTransmission(deviceAddr);
+    Wire.write(reg);
+    Wire.write(value);
+    Wire.endTransmission();
+}
+
+uint8_t readFromRegister(uint8_t deviceAddr, uint8_t reg) {
+    Wire.beginTransmission(deviceAddr);
+    Wire.write(reg);
+    Wire.endTransmission();
+    Wire.requestFrom(deviceAddr, 1);
+    return Wire.available() ? Wire.read() : 0xFF;
+}
+
+void setup() {
+    Serial.begin(9600);
+    Wire.begin();
+
+    // BME280 initialisatie
+    BME280_Reset();
+    BME280_CtrlHum(0x01);    // x1 oversampling
+    BME280_CtrlMeas(0x27);   // temp/press x1, mode normal
+
+    Serial.println("Setup done.");
+}
+
+void loop() {
+    // === Lezen van BME280 ===
+    long temp = BME280_ReadTemperature();
+    long press = BME280_ReadPressure();
+    int hum = BME280_ReadHumidity();
+
+    Serial.println("--- BME280 Readings ---");
+    Serial.print("Raw Temp: "); Serial.println(temp);
+    Serial.print("Raw Press: "); Serial.println(press);
+    Serial.print("Raw Hum: "); Serial.println(hum);
+
+    // === Testen van parallelle slave ===
+    uint8_t a = random(0, 100);
+    uint8_t b = random(0, 100);
+
+    writeToRegister(PARALLEL_SLAVE_ADDR, 0x21, a); // INA
+    writeToRegister(PARALLEL_SLAVE_ADDR, 0x22, b); // INB
+
+    uint8_t minVal = readFromRegister(PARALLEL_SLAVE_ADDR, 0x23); // MIN
+    uint8_t maxVal = readFromRegister(PARALLEL_SLAVE_ADDR, 0x24); // MAX
+
+    Serial.println("--- Parallel Slave ---");
+    Serial.print("a: "); Serial.print(a);
+    Serial.print(", b: "); Serial.print(b);
+    Serial.print(" => MIN: "); Serial.print(minVal);
+    Serial.print(", MAX: "); Serial.println(maxVal);
+
+}
--- a/I2C/Assignment-D/Slave.cpp
+++ b/I2C/Assignment-D/Slave.cpp
@@ -0,0 +1,65 @@
+#include <Arduino.h>
+#include <Wire.h>
+
+#define SLAVE_ADDRESS 0x77
+
+uint8_t registers[256] = {0}; // Simuleer registermap
+uint8_t regAddr = 0;           // Registeradres voor read/write
+
+void setup() {
+  Wire.begin(SLAVE_ADDRESS);
+  Wire.onReceive(receiveEvent);
+  Wire.onRequest(requestEvent);
+  Serial.begin(9600);
+  Serial.println("Slave ready.");
+}
+
+void loop() {
+}
+
+// Ontvangen van master (write)
+void receiveEvent(int howMany) {
+  if (howMany < 1) return;
+
+  regAddr = Wire.read(); // Eerste byte is altijd registeradres
+
+  if (howMany > 1) {
+    // Daarna komen data bytes
+    int bytesToRead = howMany - 1;
+    for (int i = 0; i < bytesToRead; i++) {
+      if (Wire.available()) {
+        uint8_t val = Wire.read();
+        registers[regAddr + i] = val;
+        Serial.print("Reg ");
+        Serial.print(regAddr + i);
+        Serial.print(" written with ");
+        Serial.println(val);
+      }
+    }
+
+    // Update min/max registers als 0x21 of 0x22 is gewijzigd
+    if (regAddr == 0x21 || regAddr == 0x22) {
+      uint8_t a = registers[0x21];
+      uint8_t b = registers[0x22];
+      registers[0x23] = (a < b) ? a : b; // MIN
+      registers[0x24] = (a > b) ? a : b; // MAX
+
+      Serial.print("Updated MIN (0x23): ");
+      Serial.println(registers[0x23]);
+      Serial.print("Updated MAX (0x24): ");
+      Serial.println(registers[0x24]);
+    }
+  }
+  // else alleen registeradres ontvangen, niks schrijven (read setup)
+}
+
+// Master vraagt data op (read)
+void requestEvent() {
+  uint8_t val = registers[regAddr];
+  Wire.write(val);
+
+  Serial.print("Sent reg ");
+  Serial.print(regAddr, HEX);
+  Serial.print(": ");
+  Serial.println(val);
+}
--- a/I2C/ES
+++ b/I2C/ES
--- a/I2C/assignment-C/Master.cpp
+++ b/I2C/assignment-C/Master.cpp
@@ -0,0 +1,60 @@
+#include <Arduino.h>
+#include <Wire.h>
+
+#define DEVICE_ADDRESS 0x50
+
+// Virtual hardware registers
+uint8_t reg_INA = 0;
+uint8_t reg_INB = 0;
+uint8_t reg_pointer = 0;  // acts as address register for reads
+
+
+
+// Called when master writes data
+void receiveEvent(int howMany) {
+  if (howMany < 1) return;
+
+  // First byte is always register address
+  reg_pointer = Wire.read();
+  howMany--;
+
+  if (howMany == 1) {
+    // Second byte is data to write
+    uint8_t value = Wire.read();
+    if (reg_pointer == 0x21) {
+      reg_INA = value;
+      Serial.println("INA set");
+    } else if (reg_pointer == 0x22) {
+      reg_INB = value;
+      Serial.println("INB set");
+    } else {
+      // Writes to read-only registers are ignored
+      Serial.println("Write to read-only register ignored");
+    }
+  }
+}
+
+// Called when master reads data
+void requestEvent() {
+  uint8_t value = 0;
+
+  switch (reg_pointer) {
+    case 0x21: value = reg_INA; break;
+    case 0x22: value = reg_INB; break;
+    case 0x23: value = min(reg_INA, reg_INB); break;
+    case 0x24: value = max(reg_INA, reg_INB); break;
+    default: value = 0xFF; break; // undefined register
+  }
+
+  Wire.write(value);
+}
+
+void setup() {
+  Wire.begin(DEVICE_ADDRESS);
+  Wire.onReceive(receiveEvent);
+  Wire.onRequest(requestEvent);
+  Serial.begin(9600);
+}
+
+void loop() {
+}
--- a/I2C/assignment-C/Slave.cpp
+++ b/I2C/assignment-C/Slave.cpp
@@ -0,0 +1,65 @@
+#include <Arduino.h>
+#include <Wire.h>
+
+#define SLAVE_ADDRESS 0x77
+
+uint8_t registers[256] = {0}; // Simuleer registermap
+uint8_t regAddr = 0;           // Registeradres voor read/write
+
+void setup() {
+  Wire.begin(SLAVE_ADDRESS);
+  Wire.onReceive(receiveEvent);
+  Wire.onRequest(requestEvent);
+  Serial.begin(9600);
+  Serial.println("Slave ready.");
+}
+
+void loop() {
+}
+
+// Ontvangen van master (write)
+void receiveEvent(int howMany) {
+  if (howMany < 1) return;
+
+  regAddr = Wire.read(); // Eerste byte is altijd registeradres
+
+  if (howMany > 1) {
+    // Daarna komen data bytes
+    int bytesToRead = howMany - 1;
+    for (int i = 0; i < bytesToRead; i++) {
+      if (Wire.available()) {
+        uint8_t val = Wire.read();
+        registers[regAddr + i] = val;
+        Serial.print("Reg ");
+        Serial.print(regAddr + i);
+        Serial.print(" written with ");
+        Serial.println(val);
+      }
+    }
+
+    // Update min/max registers als 0x21 of 0x22 is gewijzigd
+    if (regAddr == 0x21 || regAddr == 0x22) {
+      uint8_t a = registers[0x21];
+      uint8_t b = registers[0x22];
+      registers[0x23] = (a < b) ? a : b; // MIN
+      registers[0x24] = (a > b) ? a : b; // MAX
+
+      Serial.print("Updated MIN (0x23): ");
+      Serial.println(registers[0x23]);
+      Serial.print("Updated MAX (0x24): ");
+      Serial.println(registers[0x24]);
+    }
+  }
+  // else alleen registeradres ontvangen, niks schrijven (read setup)
+}
+
+// Master vraagt data op (read)
+void requestEvent() {
+  uint8_t val = registers[regAddr];
+  Wire.write(val);
+
+  Serial.print("Sent reg ");
+  Serial.print(regAddr, HEX);
+  Serial.print(": ");
+  Serial.println(val);
+}
--- a/I2C/include/README
+++ b/I2C/include/README
@@ -0,0 +1,37 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the convention is to give header files names that end with `.h'.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
--- a/I2C/lib/README
+++ b/I2C/lib/README
@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into the executable file.
+
+The source code of each library should be placed in a separate directory
+("lib/your_library_name/[Code]").
+
+For example, see the structure of the following example libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+Example contents of `src/main.c` using Foo and Bar:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+The PlatformIO Library Dependency Finder will find automatically dependent
+libraries by scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html
--- a/I2C/platformio.ini
+++ b/I2C/platformio.ini
@@ -0,0 +1,15 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:uno]
+platform = atmelavr
+board = uno
+framework = arduino
+lib_deps = adafruit/Adafruit BusIO@^1.17.1
--- a/I2C/test/README
+++ b/I2C/test/README
@@ -0,0 +1,11 @@
+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html
--- a/5/Assignment-A/main.cpp
+++ b/5/Assignment-A/main.cpp
@@ -0,0 +1,71 @@
+#include <Arduino.h>
+#define DEBOUNCE_DELAY 50      
+#define BLINK_INTERVAL 500     
+
+unsigned long lastBlinkTime = 0;
+bool blinkState = false;
+
+bool isPressed(uint8_t pinMask, volatile uint8_t* pinReg) {
+  static unsigned long lastDebounceTime[8] = {0};   
+  static bool lastStableState[8] = {true};          
+  static bool lastReadState[8] = {true};            
+
+  uint8_t pinIndex = 0;
+  while ((pinMask >> pinIndex) != 1) pinIndex++;    // bepaalt welk bit van toepassing is
+
+  bool reading = (*pinReg & pinMask);               // leest huidige status van de pin
+
+  if (reading != lastReadState[pinIndex]) {
+    lastDebounceTime[pinIndex] = millis();          // bij verandering: debounce timer starten
+    lastReadState[pinIndex] = reading;
+  }
+
+  if ((millis() - lastDebounceTime[pinIndex]) > DEBOUNCE_DELAY) {
+    lastStableState[pinIndex] = reading;            // status pas bijwerken na stabiele periode
+  }
+
+  return lastStableState[pinIndex];                 
+}
+
+void setup() {
+  DDRD |= _BV(DDD5) | _BV(DDD6);
+  Serial.begin(9600);   
+}
+
+void loop() {
+  // Knopstatussen uitlezen met debounce
+  bool Button1Pressed = isPressed(_BV(PINB2), &PINB);   // D10
+  bool Button2Pressed = isPressed(_BV(PINB3), &PINB);   // D11
+
+  if (Button1Pressed && !Button2Pressed) {
+    // Alleen Button1 ingedrukt: LED D5 aan, D6 uit
+    PORTD |= _BV(PORTD5);
+    PORTD &= ~_BV(PORTD6);
+  } else if (!Button1Pressed && Button2Pressed) {
+    // Alleen Button2 ingedrukt: LED D6 aan, D5 uit en "Hello World!" printen
+    PORTD &= ~_BV(PORTD5);
+    PORTD |= _BV(PORTD6);
+    static unsigned long lastHelloTime = 0;
+    if (millis() - lastHelloTime > 100) {
+      Serial.println("Hello World!\n");
+      lastHelloTime = millis();
+    }
+  } else if (Button1Pressed && Button2Pressed) {
+    // Beide knoppen ingedrukt: LEDs knipperen om en om
+    if (millis() - lastBlinkTime >= BLINK_INTERVAL) {
+      blinkState = !blinkState;
+      lastBlinkTime = millis();
+    }
+
+    if (blinkState) {
+      PORTD |= _BV(PORTD5);
+      PORTD &= ~_BV(PORTD6);
+    } else {
+      PORTD &= ~_BV(PORTD5);
+      PORTD |= _BV(PORTD6);
+    }
+  } else {
+    // Geen knop ingedrukt: beide LEDs uit
+    PORTD &= ~(_BV(PORTD5) | _BV(PORTD6));
+  }
+}
--- a/5/Assignment-B/main.cpp
+++ b/5/Assignment-B/main.cpp
@@ -0,0 +1,88 @@
+#include <Arduino.h>
+
+#define BLINK_INTERVAL 500
+#define DEBOUNCE_DELAY 50
+
+volatile bool Button1 = false;
+volatile bool Button2 = false;
+
+volatile unsigned long lastDebounceTimeButton1 = 0;
+volatile unsigned long lastDebounceTimeButton2 = 0;
+
+bool lastButton1State = true; 
+bool lastButton2State = true;
+
+unsigned long lastBlinkTime = 0;
+bool blinkState = false;
+
+void setup() {
+  // LEDs op D5 en D6 als output
+  DDRD |= _BV(DDD5) | _BV(DDD6);
+
+  // Knoppen D10 (PB2) en D11 (PB3) als input met pull-up
+  DDRB &= ~(_BV(DDB2) | _BV(DDB3));
+  PORTB |= _BV(PORTB2) | _BV(PORTB3);
+
+  // Pin Change Interrupts activeren voor PB2 en PB3
+  PCICR |= _BV(PCIE0); // Enable PCINT[7:0] (PORTB)
+  PCMSK0 |= _BV(PCINT2) | _BV(PCINT3);
+
+  sei();
+
+  Serial.begin(9600);
+}
+
+ISR(PCINT0_vect) {
+  unsigned long now = millis();
+
+  // Lees huidige toestand
+  bool currentButton1 = PINB & _BV(PINB2);
+  bool currentButton2 = PINB & _BV(PINB3);
+
+  // Detecteer falling edge voor button1 (hoog -> laag)
+  if (lastButton1State && !currentButton1 && (now - lastDebounceTimeButton1 > DEBOUNCE_DELAY)) {
+    Button1 = !Button1; // toggle status
+    lastDebounceTimeButton1 = now;
+  }
+
+  // Detecteer falling edge voor button 2
+  if (lastButton2State && !currentButton2 && (now - lastDebounceTimeButton2 > DEBOUNCE_DELAY)) {
+    Button2 = !Button2; // toggle status
+    lastDebounceTimeButton2 = now;
+  }
+
+  // Update vorige staat
+  lastButton1State = currentButton1;
+  lastButton2State = currentButton2;
+}
+
+void loop() {
+  if (Button1 && !Button2) {
+    PORTD |= _BV(PORTD5);
+    PORTD &= ~_BV(PORTD6);
+  } else if (!Button1 && Button2) {
+    PORTD &= ~_BV(PORTD5);
+    PORTD |= _BV(PORTD6);
+
+    static unsigned long lastHelloTime = 0;
+    if (millis() - lastHelloTime > 100) {
+      Serial.println("Hello World!");
+      lastHelloTime = millis();
+    }
+  } else if (Button1 && Button2) {
+    if (millis() - lastBlinkTime >= BLINK_INTERVAL) {
+      blinkState = !blinkState;
+      lastBlinkTime = millis();
+    }
+
+    if (blinkState) {
+      PORTD |= _BV(PORTD5);
+      PORTD &= ~_BV(PORTD6);
+    } else {
+      PORTD &= ~_BV(PORTD5);
+      PORTD |= _BV(PORTD6);
+    }
+  } else {
+    PORTD &= ~(_BV(PORTD5) | _BV(PORTD6));
+  }
+}
--- a/5/Assignment-C/main.cpp
+++ b/5/Assignment-C/main.cpp
@@ -0,0 +1,101 @@
+#include  <Arduino.h>
+
+#define LED0 PORTD5  // D5
+#define LED1 PORTD6  // D6
+#define LED2 PORTB0  // D8
+#define LED3 PORTB1  // D9
+#define BUILTIN_LED PORTB5  // D13
+
+#define BUTTON_SLOW PINB2  // D10
+#define BUTTON_FAST PINB3  // D11
+
+#define COMPARE_MIN 1000
+#define COMPARE_MAX 50000
+
+volatile unsigned char counter = 0;
+volatile unsigned int compareValue = COMPARE_MAX;
+
+void setupIO() {
+  // LEDs output
+  DDRD |= (1 << LED0) | (1 << LED1);
+  DDRB |= (1 << LED2) | (1 << LED3) | (1 << BUILTIN_LED);
+
+  // Buttons input with pull-up
+  DDRB &= ~((1 << BUTTON_SLOW) | (1 << BUTTON_FAST));
+  PORTB |= (1 << BUTTON_SLOW) | (1 << BUTTON_FAST);
+
+  // Pin change interrupt for D10/D11
+  PCICR |= (1 << PCIE0);
+  PCMSK0 |= (1 << PCINT2) | (1 << PCINT3);
+}
+
+// Setup Timer1 with COMPA (counter) and COMPB (1Hz LED)
+void setupTimer1() {
+  TCCR1A = 0;
+  TCCR1B = (1 << WGM12) | (1 << CS11) | (1 << CS10); // CTC, prescaler 64
+
+  OCR1A = compareValue;      // 4-bit counter update speed
+  OCR1B = 249999;            // 1 Hz = (16e6 / 64) / 250000
+  TIMSK1 = (1 << OCIE1A) | (1 << OCIE1B); 
+}
+
+// Show counter value on 4 LEDs
+void updateLEDs(unsigned char val) {
+  if (val & 0x01) PORTD |= (1 << LED0); else PORTD &= ~(1 << LED0);
+  if (val & 0x02) PORTD |= (1 << LED1); else PORTD &= ~(1 << LED1);
+  if (val & 0x04) PORTB |= (1 << LED2); else PORTB &= ~(1 << LED2);
+  if (val & 0x08) PORTB |= (1 << LED3); else PORTB &= ~(1 << LED3);
+}
+
+// Counter interrupt (frequency adjustable)
+ISR(TIMER1_COMPA_vect) {
+  counter = (counter + 1) & 0x0F;
+  updateLEDs(counter);
+}
+
+ISR(TIMER1_COMPB_vect) {
+  PINB |= (1 << BUILTIN_LED); // Toggle built-in LED
+}
+
+// Button interrupt: handle speed control
+ISR(PCINT0_vect) {
+  static unsigned char lastState = 0xFF;
+  unsigned char current = PINB;
+
+  // Falling edge: slow down
+  if (!(current & (1 << BUTTON_SLOW)) && (lastState & (1 << BUTTON_SLOW))) {
+    if (compareValue < COMPARE_MAX) {
+      compareValue <<= 1;
+      if (compareValue > COMPARE_MAX) compareValue = COMPARE_MAX;
+    }
+  }
+
+  // Falling edge: speed up
+  if (!(current & (1 << BUTTON_FAST)) && (lastState & (1 << BUTTON_FAST))) {
+    if (compareValue > COMPARE_MIN) {
+      compareValue >>= 1;
+      if (compareValue < COMPARE_MIN) compareValue = COMPARE_MIN;
+    }
+  }
+
+  lastState = current;
+}
+
+void setup() {
+  cli();
+  setupIO();
+  setupTimer1();
+  sei();
+}
+
+void loop() {
+  static unsigned int lastValue = 0;
+  cli();
+  if (compareValue != lastValue) {
+    TIMSK1 &= ~(1 << OCIE1A);    
+    OCR1A = compareValue;
+    TIMSK1 |= (1 << OCIE1A);
+    lastValue = compareValue;
+}
+sei();
+}
--- a/5.docx
+++ b/5.docx
--- a/5/Rens
+++ b/5/Rens