i am the only one who reads there anyways so why do i bother

imagen there is a butifull commit message here

 _____________________________________
/ Nothing so needs reforming as other \
| people's habits.                    |
|                                     |
\ -- Mark Twain                       /
 -------------------------------------
        \   ^__^
         \  (oo)\_______
            (__)\       )\/\
                ||----w |
                ||     ||

4 files changed, 176 insertions, 0 deletions

diff --git a/code/debug/IR/IR-ONLY/IR-ONLY.ino b/code/debug/IR/IR-ONLY/IR-ONLY.ino
new file mode 100644
index 0000000..31fb80b
--- /dev/null
+++ b/code/debug/IR/IR-ONLY/IR-ONLY.ino
@@ -0,0 +1,72 @@
+//set pins
+
+int ir1 = 0;
+int ir2 = 1;
+int ir3 = 9;
+int ir4 = 2;
+int ir5 = 3;
+int ir6 = 4;
+int ir7 = 5;
+int ir8 = 8;
+
+//arrays cus typing a lot is hard even with auto complete
+int pins[8] = {ir1, ir2, ir3, ir4, ir5, ir6, ir7, ir8};
+volatile unsigned long startTime[8];
+volatile unsigned long pulseWidth[8];
+
+void ISR0();
+void ISR1();
+void ISR2();
+void ISR3();
+void ISR4();
+void ISR5();
+void ISR6();
+void ISR7();
+
+void setup() {
+  Serial.begin(9600);
+
+  //pins setup
+  for (int i = 0; i < 8; i++) {
+    pinMode(pins[i], INPUT);
+  }
+  //attach interpts
+  attachInterrupt(digitalPinToInterrupt(ir1), ISR0, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir2), ISR1, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir3), ISR2, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir4), ISR3, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir5), ISR4, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir6), ISR5, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir7), ISR6, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir8), ISR7, CHANGE);
+}
+
+void loop() {
+  noInterrupts();
+  for (int i = 0; i < 8; i++) {
+    Serial.print("ir"); Serial.print(i + 1);
+    Serial.print(": "); Serial.print(pulseWidth[i]); Serial.print("  ");
+  }
+  Serial.println();
+  interrupts();
+  delay(200);
+}
+
+//calc pulsewidth
+void handlePWM(int idx) {
+  if (digitalRead(pins[idx]) == HIGH) {
+    startTime[idx] = micros();
+  } else {
+    pulseWidth[idx] = micros() - startTime[idx];
+  }
+}
+
+//interupts
+void ISR0() { handlePWM(0); }
+void ISR1() { handlePWM(1); }
+void ISR2() { handlePWM(2); }
+void ISR3() { handlePWM(3); }
+void ISR4() { handlePWM(4); }
+void ISR5() { handlePWM(5); }
+void ISR6() { handlePWM(6); }
+void ISR7() { handlePWM(7); }
diff --git a/code/debug/IR/XIAO/XIAO.ino b/code/debug/IR/XIAO/XIAO.ino
new file mode 100644
index 0000000..67d27c4
--- /dev/null
+++ b/code/debug/IR/XIAO/XIAO.ino
@@ -0,0 +1,74 @@
+
+//set pins
+int ir1 = 0;
+int ir2 = 1;
+int ir3 = 9;
+int ir4 = 2;
+int ir5 = 3;
+int ir6 = 4;
+int ir7 = 5;
+int ir8 = 8;
+
+//arrays cus typing a lot is hard even with auto complete
+int pins[8] = {ir1, ir2, ir3, ir4, ir5, ir6, ir7, ir8};
+volatile unsigned long startTime[8];
+volatile unsigned long pulseWidth[8];
+
+void ISR0();
+void ISR1();
+void ISR2();
+void ISR3();
+void ISR4();
+void ISR5();
+void ISR6();
+void ISR7();
+
+void setup() {
+  Serial.begin(9600);
+  Serial1.begin(75);
+
+  //pins setup
+  for (int i = 0; i < 8; i++) {
+    pinMode(pins[i], INPUT);
+  }
+  //attach interpts
+  attachInterrupt(digitalPinToInterrupt(ir1), ISR0, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir2), ISR1, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir3), ISR2, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir4), ISR3, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir5), ISR4, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir6), ISR5, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir7), ISR6, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir8), ISR7, CHANGE);
+}
+
+void loop() {
+  noInterrupts();
+  //for (int i = 0; i < 8; i++) {
+  //  Serial.print("ir"); Serial.print(i + 1);
+  //  Serial.print(": "); Serial.print(pulseWidth[i]); Serial.print("  ");
+  //}
+  //Serial.println();
+  Serial1.println(pulseWidth[8]);
+  interrupts();
+  delay(200);
+}
+
+//calc pulsewidth
+void handlePWM(int idx) {
+  if (digitalRead(pins[idx]) == HIGH) {
+    startTime[idx] = micros();
+  } else {
+    pulseWidth[idx] = micros() - startTime[idx];
+  }
+}
+
+//interupts
+void ISR0() { handlePWM(0); }
+void ISR1() { handlePWM(1); }
+void ISR2() { handlePWM(2); }
+void ISR3() { handlePWM(3); }
+void ISR4() { handlePWM(4); }
+void ISR5() { handlePWM(5); }
+void ISR6() { handlePWM(6); }
+void ISR7() { handlePWM(7); }
diff --git a/code/debug/IR/cheapRCJ05sensors-RobotDemos09.pdf b/code/debug/IR/cheapRCJ05sensors-RobotDemos09.pdf
new file mode 100644
index 0000000..3eed27d
--- /dev/null
+++ b/code/debug/IR/cheapRCJ05sensors-RobotDemos09.pdf
diff --git a/code/debug/IR/teensy-read/teensy-read.ino b/code/debug/IR/teensy-read/teensy-read.ino
new file mode 100644
index 0000000..6ce767b
--- /dev/null
+++ b/code/debug/IR/teensy-read/teensy-read.ino
@@ -0,0 +1,30 @@
+int incomingByte = 0; // for incoming serial data
+
+void setup() {
+  Serial.begin(9600);
+  Serial1.begin(75);
+  Serial2.begin(75);
+
+}
+
+//  _________________________________________
+// / fucking mixes the signal and prints but \
+// | dont know recieve format yet so keeping |
+// \ it here                                 /
+//  -----------------------------------------
+//      \   ^__^
+//       \  (oo)\_______
+//          (__)\       )\/\
+//               ||----w |
+//               ||     ||
+
+void loop() {
+  if (Serial1.available() > 0) {
+    incomingByte = Serial.read();
+    Serial.println(incomingByte, DEC);
+  }
+  if (Serial2.available() > 0) {
+    incomingByte = Serial.read();
+    Serial.println(incomingByte, DEC);
+  }
+}
\ No newline at end of file