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>

7 files changed, 133 insertions, 104 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";
+    };
+
+};
+
diff --git a/code/main/teensy_player/player.yaml b/code/main/teensy_player/player.yaml
deleted file mode 100644
index df8f963..0000000
--- a/code/main/teensy_player/player.yaml
+++ /dev/null
@@ -1,46 +0,0 @@
-sample:
-  name: Blinky Sample
-tests:
-  sample.basic.blinky:
-    tags:
-      - LED
-      - gpio
-    filter: dt_enabled_alias_with_parent_compat("led0", "gpio-leds")
-    depends_on: gpio
-    harness: led
-    integration_platforms:
-      - frdm_k64f
-
-manifest:
-  remotes:
-    # short names for project URLs
-  projects:
-    # a list of projects managed by west
-  defaults:
-    # default project attributes
-  self:
-    # configuration related to the manifest repository itself,
-    # i.e. the repository containing west.yml
-  version: "<schema-version>"
-  group-filter:
-    # a list of project groups to enable or disable
-  remotes:
-    - name: remote1
-      url-base: https://git.example.com/base1
-    - name: remote2
-      url-base: https://git.example.com/base2
-  projects:
-    - name: proj1
-      description: the first example project
-      remote: remote1
-      path: extra/project-1
-    - name: proj2
-      description: |
-        A multi-line description of the second example
-        project.
-      repo-path: my-path
-      remote: remote2
-      revision: v1.3
-    - name: proj3
-      url: https://github.com/user/project-three
-      revision: abcde413a111
diff --git a/code/main/teensy_player/prj.conf b/code/main/teensy_player/prj.conf
index 456b0fc..db01a00 100644
--- a/code/main/teensy_player/prj.conf
+++ b/code/main/teensy_player/prj.conf
@@ -3,3 +3,4 @@ CONFIG_USB_DEVICE_INITIALIZE_AT_BOOT=y
 CONFIG_PRINTK=y
 CONFIG_SERIAL=y
 CONFIG_UART_INTERRUPT_DRIVEN=y
+CONFIG_PWM=y
diff --git a/code/main/teensy_player/src/main.c b/code/main/teensy_player/src/main.c
index 5b04ac2..3f84f88 100644
--- a/code/main/teensy_player/src/main.c
+++ b/code/main/teensy_player/src/main.c
@@ -7,8 +7,10 @@
 #include <zephyr/drivers/pwm.h>
 #include <string.h>
 
-/* size of stack area used by each thread */
-#define GEN_THRESD_STACKSIZE 1024
+/* Stack sizes (now only one size)*/
+/* To figure out how much is necessary: */
+/* https://zephyr-docs.listenai.com/guides/debug_tools/thread-analyzer.html */
+#define GENERAL_THREAD_STACKSIZE 1024
 
 /*the pinout configuration*/
 /*https://docs.zephyrproject.org/latest/boards/pjrc/teensy4/doc/index.html*/
@@ -18,23 +20,21 @@
 #define m1pwm1 DT_ALIAS(GPIO4_6)    /*pin 4*/
 #define m1pwm2 DT_ALIAS(GPIO4_5)    /*pin 3*/
 /*encoder pins*/
-#define m1encoA 32  /*pin 32*//*encoder number 1*/
-#define Nm1encoA INT_TO_POINTER(0)    /*gives encoder number N*/
-#define m1encoB 31  /*pin 31*//*encoder number 2*/
-#define Nm1encoB INT_TO_POINTER(1)    /*gives encoder number N*/
-
+#define m1encoA 32  /*pin 32   &&   encoder number 0*/
+#define Nm1encoA INT_TO_POINTER(0)
+#define m1encoB 31  /*pin 31   &&   encoder number 1*/
+#define Nm1encoB INT_TO_POINTER(1)
 
 /*set priorities*/
-#define ENC_ISR_PRIO 1 /* set encoder interrupt service routine*/
-
+#define ENC_ISR_PRIO 1
 
-/*variables*/
 /*encoders/PWM/PID*/
 #define NUM_ENCODERS 2     /*how many encoder pins there are*/
-volatile int encCount[NUM_ENCODERS] = {0};  /*sets all encoder counts to 0 changes of state*/
+volatile int encCount[NUM_ENCODERS] = {0};
 
 /*misc*/
-#define MY_IRQ_FLAGS 0       /*no IRQ flags*/
+#define NO_IRQ_FLAGS 0
+#define PWM_PERIOD_µS 1600   /*The lengt of an full PWM cycle in microseconds*/
 
 void ENCO_ISR(void *encN){
     /*adds one to the encoder where a change of state is detected*/
@@ -46,9 +46,9 @@ void ENCO_ISR(void *encN){
 }
 
 void ENC_ISR_installer(void){
-    /*sets up the interupts for the encoder at same priority, need to configure FIFO in case of simultaneous call*/
-    IRQ_CONNECT(m1encoA, ENC_ISR_PRIO, ENCO_ISR, '0', MY_IRQ_FLAGS);
-    IRQ_CONNECT(m1encoB, ENC_ISR_PRIO, ENCO_ISR, '1', MY_IRQ_FLAGS);
+    /*sets up the interrupts for the encoder at same priority, need to configure FIFO in case of simultaneous call*/
+    IRQ_CONNECT(m1encoA, ENC_ISR_PRIO, ENCO_ISR, '0', NO_IRQ_FLAGS);
+    IRQ_CONNECT(m1encoB, ENC_ISR_PRIO, ENCO_ISR, '1', NO_IRQ_FLAGS);
 }
 
 int main(void){}