recenltly removed three commit becouse it included files that shouldn't be included.

Did reset hard,
localy unstaged commits, deleted files and recommited the good files.
think this is all i did since,
-changed extra PCB name to bave and _ instead of a space so i dont have to use ""
-added button and led to teensy41 goaly overlay
-started on PWM, not complete

Abel Tim <git@abeltim.com>

4 files changed, 117 insertions, 43 deletions

diff --git a/code/main/teensy_goalie/CMakeLists.txt b/code/main/teensy_goalie/CMakeLists.txt
new file mode 100644
index 0000000..27e5715
--- /dev/null
+++ b/code/main/teensy_goalie/CMakeLists.txt
@@ -0,0 +1,38 @@
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(
+    player
+    VERSION 1.0
+    DESCRIPTION "The code for the soccer player robot. https://github.com/mendelcollege-robotics/robotica"
+    LANGUAGES C
+)
+
+#[===[
+# Create a static library target named "my_lib"
+add_library(my_lib
+    STATIC
+    src/my_lib.c
+)
+target_include_directories(
+    my_lib
+    PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+)
+
+# Create an executable target with the same name as the project name
+add_executable(
+    ${PROJECT_NAME}
+    src/main.c
+)
+
+# Link the library to the executable. PRIVATE means that the library is not
+# exposed to targets that depend on this target.
+target_link_libraries(
+    ${PROJECT_NAME}
+    PRIVATE
+    my_lib
+)
+]===]
+target_sources(app PRIVATE src/main.c)
diff --git a/code/main/teensy_goalie/prj.conf b/code/main/teensy_goalie/prj.conf
new file mode 100644
index 0000000..8379fac
--- /dev/null
+++ b/code/main/teensy_goalie/prj.conf
@@ -0,0 +1,9 @@
+CONFIG_GPIO=y
+CONFIG_USB_DEVICE_INITIALIZE_AT_BOOT=y
+CONFIG_PRINTK=y
+CONFIG_SERIAL=y
+CONFIG_UART_INTERRUPT_DRIVEN=y
+CONFIG_PWM=y
+CONFIG_LOG=y
+CONFIG_LOG_MODE_IMMEDIATE=y
+CONFIG_PWM_LOG_LEVEL_DBG=y
diff --git a/code/main/teensy_goalie/src/main.c b/code/main/teensy_goalie/src/main.c
index f8aff35..137e898 100644
--- a/code/main/teensy_goalie/src/main.c
+++ b/code/main/teensy_goalie/src/main.c
@@ -1,48 +1,17 @@
-/*
- * Copyright (c) 2016 Intel Corporation
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
 #include <stdio.h>
 #include <zephyr/kernel.h>
+#include <zephyr/sys/printk.h>
+#include <zephyr/device.h>
+#include <zephyr/drivers/pwm.h>
+#include <zephyr/devicetree.h>
 #include <zephyr/drivers/gpio.h>
 
-/* 1000 msec = 1 sec */
-#define SLEEP_TIME_MS   1000
-
-/* The devicetree node identifier for the "led0" alias. */
-#define LED0_NODE DT_ALIAS(led0)
-
-/*
- * A build error on this line means your board is unsupported.
- * See the sample documentation for information on how to fix this.
- */
-static const struct gpio_dt_spec led = GPIO_DT_SPEC_GET(LED0_NODE, gpios);
-
-int main(void)
-{
-    int ret;
-    bool led_state = true;
-
-    if (!gpio_is_ready_dt(&led)) {
-        return 0;
-    }
-
-    ret = gpio_pin_configure_dt(&led, GPIO_OUTPUT_ACTIVE);
-    if (ret < 0) {
-        return 0;
-    }
-
-    while (1) {
-        ret = gpio_pin_toggle_dt(&led);
-        if (ret < 0) {
-            return 0;
-        }
+// Settings
+#define PWM_PERIOD_NS 20000000
+#define PWM_PULSE_WIDTH 1400000
+static const int32_t sleep_time_ms = 100;
+static const struct gpio_dt_spec btn = GPIO_DT_SPEC_GET(DT_ALIAS(powerswitch), gpios);
+static const struct gpio_dt_spec led = GPIO_DT_SPEC_GET(DT_ALIAS(redled), gpios);
 
-        led_state = !led_state;
-        printf("LED state: %s\n", led_state ? "ON" : "OFF");
-        k_msleep(SLEEP_TIME_MS);
-    }
-    return 0;
-}
+#define LED0_NODE DT_ALIAS(redled)
+#define PWM_LED0 DT_ALIAS(en3a)
diff --git a/code/main/teensy_goalie/teensy41.overlay b/code/main/teensy_goalie/teensy41.overlay
new file mode 100644
index 0000000..3b023e3
--- /dev/null
+++ b/code/main/teensy_goalie/teensy41.overlay
@@ -0,0 +1,58 @@
+/*
+ *
+ * This is the overlay  device tree file for the teensy 4.1 in the robosoccer mendelcollege robot.
+ *
+ * For more information on overlay files see
+ * https://docs.zephyrproject.org/latest/build/dts/howtos.html#set-devicetree-overlays
+ * https://www.digikey.be/en/maker/tutorials/2025/introduction-to-zephyr-part-4-devicetree-tutorial
+ *
+ */
+/ {
+    aliases {
+        powerswitch = &soft_power_switch;
+        redled = &red_led;
+        greenled = &green_led;
+        bueled = &blue_led;
+        en3a = &pwm_dev0;
+    };
+
+    buttons {
+        compatible = "gpio-keys";
+        debounce-interval-ms = <50>;
+        polling-mode;
+
+        soft_power_switch: d5 {
+            gpios = <&gpio4 4 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>;
+        };
+    };
+    leds {
+        compatible = "gpio-leds";
+        red_led: red-led {
+            gpios = <&gpio2 29 GPIO_ACTIVE_HIGH>;
+            label = "LED Pin 34 --> RED";
+        };
+        green_led: green-led {
+            gpios = <&gpio2 7 GPIO_ACTIVE_HIGH>;
+            label = "LED Pin 33 --> GREEN";
+        };
+        blue_led: blue-led {
+            gpios = <&gpio1 23 GPIO_ACTIVE_HIGH>;
+            label = "LED Pin 16 --> BLUE";
+        };
+    };
+    pwmdevs {
+        compatible = "imx-pwm";
+        pwm_dev0: pwm_dev_0 {
+            pwms = <&gpio2 10>;
+        };
+    };
+
+};
+&flexpwm1 {
+    status = "ok";
+    flexpwm1_pwm0: flexpwm1_pwm0 {
+        status = "ok";
+    };
+
+};
+