From 386e8b7bdb4f1e35152c3c3bf0d70d413676165f Mon Sep 17 00:00:00 2001
From: BradenMeyers <bjz-github@spwiz.com>
Date: Thu, 14 Nov 2024 18:24:25 -0700
Subject: [PATCH 01/43] todo

---
 setup.sh | 1 +
 1 file changed, 1 insertion(+)

diff --git a/setup.sh b/setup.sh
index 522b59e..02e3467 100755
--- a/setup.sh
+++ b/setup.sh
@@ -69,6 +69,7 @@ else
   sudo apt install -y vim tmux git
 
   # Set up volumes
+  # TODO is there anyway we can setup to not override the current configuration?
   mkdir bag
   mkdir config
   cp -r templates/* config/

From f82bf66f1066b72b1a97da68f082d04c67f4c616 Mon Sep 17 00:00:00 2001
From: bradenMeyers <braden@themeyers.net>
Date: Fri, 15 Nov 2024 16:45:00 -0700
Subject: [PATCH 02/43] FEAT: Setup with workspace env variable There will be
 some places we can use this

---
 docker/docker-compose-dev.yaml |  2 +-
 setup.sh                       | 33 +++++++++++++++++++++++++++++++++
 templates/bash_vars.sh         |  4 +++-
 3 files changed, 37 insertions(+), 2 deletions(-)

diff --git a/docker/docker-compose-dev.yaml b/docker/docker-compose-dev.yaml
index 6926260..f96a020 100755
--- a/docker/docker-compose-dev.yaml
+++ b/docker/docker-compose-dev.yaml
@@ -24,7 +24,7 @@ services:
       - ../cougars-gpio:/home/frostlab/gpio
       - /etc/localtime:/etc/localtime:ro # Syncs the container's time with the host
       - /tmp/.X11-unix:/tmp/.X11-unix # Required for GUI applications
-          command: /bin/bash
+    command: /bin/bash
     stdin_open: true  # Equivalent to -it in docker run
     tty: true  # Equivalent to -it in docker run
     restart: always  # Optional: Keeps the container running after exit unless you want it to be removed like with --rm
\ No newline at end of file
diff --git a/setup.sh b/setup.sh
index 522b59e..a49b6c1 100755
--- a/setup.sh
+++ b/setup.sh
@@ -17,6 +17,17 @@ function printWarning {
 function printError {
   echo -e "\033[0m\033[31m[ERROR] $1\033[0m"
 }
+function printSuccess {
+  echo -e "\033[0m\033[32m[SUCCESS] $1\033[0m"
+}
+
+function printFailure {
+  echo -e "\033[0m\033[31m[FAIL] $1\033[0m"
+}
+
+printWarning "This script should be run in the CoUGARS directory"
+
+#TODO make this script so that it can have a case that just runs the setup of the config 
 
 if [ "$(uname -m)" == "aarch64" ]; then
 
@@ -81,7 +92,29 @@ else
   git clone https://github.com/BYU-FRoSt-Lab/cougars-teensy.git
   git clone https://github.com/BYU-FRoSt-Lab/cougars-gpio.git
   git clone https://github.com/BYU-FRoSt-Lab/cougars-docs.git
+  git clone https://github.com/BYU-FRoSt-Lab/cougars_base_station.git
+
+fi
 
+current_dir=$(pwd)
+source_file="$current_dir/config/bash_vars.sh"
+
+# Ensure the config directory exists
+mkdir -p "$current_dir/config"
+
+if ! grep -q "export COUG_WORKSPACE_DIR=" "$source_file"; then
+    echo "export COUG_WORKSPACE_DIR=\"$current_dir\"" >> "$source_file"
+    printSuccess "Added export statement to $source_file"
+else
+    printInfo "Bash variable statement already exists in $source_file"
+fi
+
+# Append the source command to .bashrc
+if ! grep -q "source $source_file" ~/.bashrc; then
+    echo "source $source_file" >> ~/.bashrc
+    printSuccess "Added CoUGARS workspace bash variables to .bashrc"
+else
+    printInfo "CoUGARS workspace bash variables already exists in .bashrc"
 fi
 
 printWarning "Make sure to update the vehicle-specific configuration files in "config" now"
diff --git a/templates/bash_vars.sh b/templates/bash_vars.sh
index 8dd504c..2d7d7d8 100755
--- a/templates/bash_vars.sh
+++ b/templates/bash_vars.sh
@@ -11,4 +11,6 @@ export VEHICLE_PARAMS_FILE=/home/frostlab/config/vehicle_params.yaml # ex. /home
 export GPIO_CHIP=/dev/gpiochip0 # ex. /dev/gpiochip0
 
 # Run "ifconfig eth0 | grep 'inet ' | awk '{print $2}'" from OUTSIDE THE DOCKER CONTAINER and copy that number (ex. "192.168.194.59") here
-export STATIC_IP=0
\ No newline at end of file
+export STATIC_IP=0
+
+# Workspace directory of CoUGARS repository Should be sent to the local file when run on setup 

From 8906b776e85e34dd2c819c13f051b97fe93e77d6 Mon Sep 17 00:00:00 2001
From: Matthew McMurray <mmcmurray123@gmail.com>
Date: Mon, 18 Nov 2024 10:41:30 -0700
Subject: [PATCH 03/43] test

---
 cougars_base_station |  1 +
 setup.sh             | 10 +++++-----
 2 files changed, 6 insertions(+), 5 deletions(-)
 create mode 160000 cougars_base_station

diff --git a/cougars_base_station b/cougars_base_station
new file mode 160000
index 0000000..144880e
--- /dev/null
+++ b/cougars_base_station
@@ -0,0 +1 @@
+Subproject commit 144880ea1a3690f291e28dc75dda53d151265bab
diff --git a/setup.sh b/setup.sh
index a49b6c1..b0d467e 100755
--- a/setup.sh
+++ b/setup.sh
@@ -88,11 +88,11 @@ else
   sudo ln -s config/local/.tmux.conf ~/.tmux.conf
 
   # Copy repos from GitHub
-  git clone https://github.com/BYU-FRoSt-Lab/cougars-ros2.git
-  git clone https://github.com/BYU-FRoSt-Lab/cougars-teensy.git
-  git clone https://github.com/BYU-FRoSt-Lab/cougars-gpio.git
-  git clone https://github.com/BYU-FRoSt-Lab/cougars-docs.git
-  git clone https://github.com/BYU-FRoSt-Lab/cougars_base_station.git
+  git clone git@github.com:BYU-FRoSt-Lab/cougars-ros2.git
+  git clone git@github.com:BYU-FRoSt-Lab/cougars-teensy.git
+  git clone git@github.com:BYU-FRoSt-Lab/cougars-gpio.git
+  git clone git@github.com:BYU-FRoSt-Lab/cougars-docs.git
+  git clone git@github.com:BYU-FRoSt-Lab/cougars_base_station.git
 
 fi
 

From b52606ee53d3b50cf978c015b63af0d96b923ad6 Mon Sep 17 00:00:00 2001
From: Matthew McMurray <mmcmurray123@gmail.com>
Date: Mon, 18 Nov 2024 10:42:42 -0700
Subject: [PATCH 04/43] test

---
 test.file | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 test.file

diff --git a/test.file b/test.file
new file mode 100644
index 0000000..e69de29

From 9ef54e23af3a352a5b6c4b824435915c8381a9ea Mon Sep 17 00:00:00 2001
From: Matthew McMurray <mmcmurray123@gmail.com>
Date: Mon, 18 Nov 2024 10:43:15 -0700
Subject: [PATCH 05/43] delete test

---
 test.file | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 test.file

diff --git a/test.file b/test.file
deleted file mode 100644
index e69de29..0000000

From f1f323b004b5df5453235f017b3077e6abd4e3a1 Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Wed, 20 Nov 2024 09:16:37 -0700
Subject: [PATCH 06/43] added ssh script to CoUGARs

---
 coug_ssh.sh | 66 +++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 66 insertions(+)
 create mode 100644 coug_ssh.sh

diff --git a/coug_ssh.sh b/coug_ssh.sh
new file mode 100644
index 0000000..6d8b08c
--- /dev/null
+++ b/coug_ssh.sh
@@ -0,0 +1,66 @@
+#!/bin/bash
+# Created by Brighton Anderson, NOV 2024
+
+# Make sure the router is powered on before running this script
+
+# Check if sshpass is installed, and install it if it isn't
+if ! command -v sshpass &> /dev/null; then
+    echo "sshpass could not be found, installing..."
+    sudo apt update
+    sudo apt install -y sshpass
+fi
+
+# Define device variables
+declare -A DEVICES=(
+    [1]="coug1.local"
+    [2]="coug2.local"
+    [3]="coug3.local"
+    [4]="coug4.local"
+    [5]="coug5.local"
+)
+
+# Define username and password
+declare -A CREDENTIALS=(
+    [1]="frostlab:frostlab"
+    [2]="frostlab:frostlab"
+    [3]="frostlab:frostlab"
+    [4]="frostlab:frostlab"
+    [5]="frostlab:frostlab"
+)
+
+# Function to display menu
+display_menu() {
+    echo "Select a device to SSH into:"
+    echo "1. Coug1"
+    echo "2. Coug2"
+    echo "3. Coug3"
+    echo "4. Coug4"
+    echo "5. Coug5"
+    echo "Enter your choice (1-5):"
+}
+
+# Main script
+# Display the menu
+display_menu
+
+# Read user input
+read -r choice
+
+# Validate input
+if [[ ! "$choice" =~ ^[1-5]$ ]]; then
+    echo "Invalid input. Please enter a number between 1 and 5."
+    exit 1
+fi
+
+# Split credentials
+IFS=':' read -r USERNAME PASSWORD <<< "${CREDENTIALS[$choice]}"
+
+# Get the selected device IP
+DEVICE_IP="${DEVICES[$choice]}"
+
+# Define the command to execute
+COMMAND="bash -i"
+
+# Connect to the selected device
+echo "Connecting to ${DEVICE_IP}..."
+sshpass -p "$PASSWORD" ssh -t -o StrictHostKeyChecking=no "$USERNAME@$DEVICE_IP" "$COMMAND"
\ No newline at end of file

From f1232e2802d7a36a705a8c2361bce77317504eb1 Mon Sep 17 00:00:00 2001
From: ClaytonSmith314 <claytonsmith3.14@gmail.com>
Date: Wed, 20 Nov 2024 09:30:59 -0700
Subject: [PATCH 07/43] fix

---
 cougars_base_station | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cougars_base_station b/cougars_base_station
index 144880e..c0e99d8 160000
--- a/cougars_base_station
+++ b/cougars_base_station
@@ -1 +1 @@
-Subproject commit 144880ea1a3690f291e28dc75dda53d151265bab
+Subproject commit c0e99d8042ce00774b422de62848094d60e5d6c6

From bb6000df67605b7ec7ae179a7380434f25893036 Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Wed, 20 Nov 2024 11:17:21 -0700
Subject: [PATCH 08/43] added to tmux.sh to include all mission prereqs

---
 tmux.sh | 24 ++++++++++++++++++++++--
 1 file changed, 22 insertions(+), 2 deletions(-)

diff --git a/tmux.sh b/tmux.sh
index 21b473a..fcd21ca 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -45,13 +45,26 @@ case $1 in
       tmux send-keys -t cougars:0.3 "bash compose.sh" ENTER
       tmux send-keys -t cougars:0.3 "clear" ENTER
 
+      # 
+      tmux send-keys -t cougars:0.0 "cd ~/gpio" ENTER
+      tmux send-keys -t cougars:0.0 "bash permission_fix.sh" ENTER
+      tmux send-keys -t cougars:0.0 "cd ~/ros2_ws/dvl_tools" ENTER
+      tmux send-keys -t cougars:0.0 "bash calibrate_gyro.sh" ENTER
       tmux send-keys -t cougars:0.0 "cd ~/ros2_ws" ENTER
+      tmux send-keys -t cougars:0.0 "colcon build" ENTER
+      tmux send-keys -t cougars:0.0 "sudo systemctl restart chrony" ENTER
+      tmux send-keys -t cougars:0.0 "date" ENTER
       tmux send-keys -t cougars:0.0 "ls" ENTER
-      tmux send-keys -t cougars:0.0 "bash launch.sh" # Don't start just yet
+      tmux send-keys -t cougars:0.0 "bash launch.sh <put param here>" # Don't start just yet
+
       tmux send-keys -t cougars:0.1 "cd ~/ros2_ws" ENTER
-      tmux send-keys -t cougars:0.1 "bash test.sh" # Don't start just yet
+      tmux send-keys -t cougars:0.1 "colcon build" ENTER
+      tmux send-keys -t cougars:0.1 "bash test.sh <put param here>" # Don't start just yet
+
       tmux send-keys -t cougars:0.2 "cd ~/ros2_ws" ENTER
+      tmux send-keys -t cougars:0.2 "colcon build" ENTER
       tmux send-keys -t cougars:0.2 "bash record.sh" # Don't start just yet
+
       tmux send-keys -t cougars:0.3 "cd ~/config" ENTER
       tmux send-keys -t cougars:0.3 "cat vehicle_params.yaml" ENTER
 
@@ -63,3 +76,10 @@ case $1 in
     tmux attach-session -t cougars
     ;;
 esac
+
+
+#TODO: - figure out how to edit vehicle_params and moos.bhv for the mission
+#      - talk with matthew about what moos stuff needs to be included before the pAntler timeout command
+#      - check with Braden, and Nelson to see if everything else is good to go
+#      - how to implement plot juggler
+#      - see if any other commands need to be added to the tmux script from new map waypoint stuff
\ No newline at end of file

From 6eef4d4294a8dae0f76659d7c45303b60e232676 Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Wed, 20 Nov 2024 14:44:31 -0700
Subject: [PATCH 09/43] edits to ssh and tmux

---
 coug_ssh.sh | 4 +++-
 tmux.sh     | 4 ++--
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/coug_ssh.sh b/coug_ssh.sh
index 6d8b08c..497f9c7 100644
--- a/coug_ssh.sh
+++ b/coug_ssh.sh
@@ -59,7 +59,9 @@ IFS=':' read -r USERNAME PASSWORD <<< "${CREDENTIALS[$choice]}"
 DEVICE_IP="${DEVICES[$choice]}"
 
 # Define the command to execute
-COMMAND="bash -i"
+COMMAND="cd ~/CoUGARs
+         bash -i"
+
 
 # Connect to the selected device
 echo "Connecting to ${DEVICE_IP}..."
diff --git a/tmux.sh b/tmux.sh
index fcd21ca..749aa05 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -52,7 +52,7 @@ case $1 in
       tmux send-keys -t cougars:0.0 "bash calibrate_gyro.sh" ENTER
       tmux send-keys -t cougars:0.0 "cd ~/ros2_ws" ENTER
       tmux send-keys -t cougars:0.0 "colcon build" ENTER
-      tmux send-keys -t cougars:0.0 "sudo systemctl restart chrony" ENTER
+      tmux send-keys -t cougars:0.0 "sudo systemctl restart chrony" ENTER #correct spot to put this?
       tmux send-keys -t cougars:0.0 "date" ENTER
       tmux send-keys -t cougars:0.0 "ls" ENTER
       tmux send-keys -t cougars:0.0 "bash launch.sh <put param here>" # Don't start just yet
@@ -79,7 +79,7 @@ esac
 
 
 #TODO: - figure out how to edit vehicle_params and moos.bhv for the mission
-#      - talk with matthew about what moos stuff needs to be included before the pAntler timeout command
+#      - add in the mission_deploy.sh the pAntler timeout command
 #      - check with Braden, and Nelson to see if everything else is good to go
 #      - how to implement plot juggler
 #      - see if any other commands need to be added to the tmux script from new map waypoint stuff
\ No newline at end of file

From ded13e2900154eac5693cf61d87dbf6dd30cfb0a Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Wed, 20 Nov 2024 15:18:13 -0700
Subject: [PATCH 10/43] edits to tmux

---
 tmux.sh | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/tmux.sh b/tmux.sh
index 749aa05..2c472e7 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -33,6 +33,8 @@ case $1 in
       tmux split-window -v -t cougars
       tmux select-pane -t cougars:0.0
       tmux split-window -v -t cougars
+      tmux select-pane -t cougars:0.2
+      tmux split-window -h -t cougars
       tmux select-pane -t cougars:0.0
 
       # Send commands to the tmux session
@@ -44,6 +46,11 @@ case $1 in
       tmux send-keys -t cougars:0.2 "clear" ENTER
       tmux send-keys -t cougars:0.3 "bash compose.sh" ENTER
       tmux send-keys -t cougars:0.3 "clear" ENTER
+      # tmux send-keys -t cougars:0.4 "bash compose.sh" ENTER
+      # tmux send-keys -t cougars:0.4 "clear" ENTER
+      
+
+      
 
       # 
       tmux send-keys -t cougars:0.0 "cd ~/gpio" ENTER
@@ -59,6 +66,8 @@ case $1 in
 
       tmux send-keys -t cougars:0.1 "cd ~/ros2_ws" ENTER
       tmux send-keys -t cougars:0.1 "colcon build" ENTER
+      tmux send-keys -t cougars:0.1 "cd ~/ros2_ws/moos_tools" ENTER
+      tmux send-keys -t cougars:0.1 "bash mission_deploy.sh" # is this the best place for mission_deploy?
       tmux send-keys -t cougars:0.1 "bash test.sh <put param here>" # Don't start just yet
 
       tmux send-keys -t cougars:0.2 "cd ~/ros2_ws" ENTER
@@ -68,6 +77,10 @@ case $1 in
       tmux send-keys -t cougars:0.3 "cd ~/config" ENTER
       tmux send-keys -t cougars:0.3 "cat vehicle_params.yaml" ENTER
 
+      # tmux send-keys -t cougars:0.4 "cd ~/ros2_ws/moos_tools" ENTER
+      # tmux send-keys -t cougars:0.4 "bash mission_start.sh" # Don't start just yet
+      tmux new-window -t cougars -n moos_mission_start 'bash ~/ros2_ws/moos_tools/mission_start.sh' # New window or split terminal again?
+
     else
       printInfo "Attaching to the tmux session..."
     fi

From 31f8afc8d9186a9de38651123f7973adee957600 Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Wed, 20 Nov 2024 15:27:14 -0700
Subject: [PATCH 11/43] you can now launch everything before sshing into the
 coug

---
 coug_ssh.sh => coug_launch_mission.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)
 rename coug_ssh.sh => coug_launch_mission.sh (98%)

diff --git a/coug_ssh.sh b/coug_launch_mission.sh
similarity index 98%
rename from coug_ssh.sh
rename to coug_launch_mission.sh
index 497f9c7..2d0c757 100644
--- a/coug_ssh.sh
+++ b/coug_launch_mission.sh
@@ -60,7 +60,7 @@ DEVICE_IP="${DEVICES[$choice]}"
 
 # Define the command to execute
 COMMAND="cd ~/CoUGARs
-         bash -i"
+         bash tmux.sh -i"
 
 
 # Connect to the selected device

From 76a239e366e3270aad646c00b7d818feb463ffe1 Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Wed, 20 Nov 2024 15:47:59 -0700
Subject: [PATCH 12/43] made a moos dedicated window

---
 tmux.sh | 21 ++++++++++++---------
 1 file changed, 12 insertions(+), 9 deletions(-)

diff --git a/tmux.sh b/tmux.sh
index 2c472e7..e9290d3 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -55,23 +55,21 @@ case $1 in
       # 
       tmux send-keys -t cougars:0.0 "cd ~/gpio" ENTER
       tmux send-keys -t cougars:0.0 "bash permission_fix.sh" ENTER
-      tmux send-keys -t cougars:0.0 "cd ~/ros2_ws/dvl_tools" ENTER
-      tmux send-keys -t cougars:0.0 "bash calibrate_gyro.sh" ENTER
-      tmux send-keys -t cougars:0.0 "cd ~/ros2_ws" ENTER
-      tmux send-keys -t cougars:0.0 "colcon build" ENTER
+      # tmux send-keys -t cougars:0.0 "cd ~/ros2_ws/dvl_tools" ENTER
+      # tmux send-keys -t cougars:0.0 "bash calibrate_gyro.sh" ENTER
+      # tmux send-keys -t cougars:0.0 "cd ~/ros2_ws" ENTER
+      # tmux send-keys -t cougars:0.0 "colcon build" ENTER
       tmux send-keys -t cougars:0.0 "sudo systemctl restart chrony" ENTER #correct spot to put this?
       tmux send-keys -t cougars:0.0 "date" ENTER
       tmux send-keys -t cougars:0.0 "ls" ENTER
       tmux send-keys -t cougars:0.0 "bash launch.sh <put param here>" # Don't start just yet
 
       tmux send-keys -t cougars:0.1 "cd ~/ros2_ws" ENTER
-      tmux send-keys -t cougars:0.1 "colcon build" ENTER
-      tmux send-keys -t cougars:0.1 "cd ~/ros2_ws/moos_tools" ENTER
-      tmux send-keys -t cougars:0.1 "bash mission_deploy.sh" # is this the best place for mission_deploy?
+      # tmux send-keys -t cougars:0.1 "colcon build" ENTER
       tmux send-keys -t cougars:0.1 "bash test.sh <put param here>" # Don't start just yet
 
       tmux send-keys -t cougars:0.2 "cd ~/ros2_ws" ENTER
-      tmux send-keys -t cougars:0.2 "colcon build" ENTER
+      # tmux send-keys -t cougars:0.2 "colcon build" ENTER
       tmux send-keys -t cougars:0.2 "bash record.sh" # Don't start just yet
 
       tmux send-keys -t cougars:0.3 "cd ~/config" ENTER
@@ -79,7 +77,12 @@ case $1 in
 
       # tmux send-keys -t cougars:0.4 "cd ~/ros2_ws/moos_tools" ENTER
       # tmux send-keys -t cougars:0.4 "bash mission_start.sh" # Don't start just yet
-      tmux new-window -t cougars -n moos_mission_start 'bash ~/ros2_ws/moos_tools/mission_start.sh' # New window or split terminal again?
+      tmux new-window -t cougars -n moos 'bash ~/ros2_ws/moos_tools/mission_start.sh' # New window or split terminal again?
+      tmux split-window -v -t moos
+      tmux select-pane -t moos:0.1
+      tmux send-keys -t moos:0.1 "bash ~/ros2_ws/moos_tools/mission_deploy.sh" ENTER
+      tmux send-keys -t moos:0.1 "cat ~/ros2_ws/moos_tools/coug.bhv" ENTER
+
 
     else
       printInfo "Attaching to the tmux session..."

From ed529bdbf346a43fb52c79f50aadb464436769ad Mon Sep 17 00:00:00 2001
From: Nelson Durrant <snelsondurrant@gmail.com>
Date: Wed, 20 Nov 2024 15:49:52 -0700
Subject: [PATCH 13/43] Fix for git tracking

---
 .gitignore           |  3 ++-
 cougars_base_station |  1 -
 setup.sh             | 10 +++++-----
 3 files changed, 7 insertions(+), 7 deletions(-)
 delete mode 160000 cougars_base_station

diff --git a/.gitignore b/.gitignore
index 14027d8..8267f81 100755
--- a/.gitignore
+++ b/.gitignore
@@ -4,4 +4,5 @@ config
 cougars-ros2
 cougars-teensy
 cougars-gpio
-cougars-docs
\ No newline at end of file
+cougars-docs
+cougars_base_station
\ No newline at end of file
diff --git a/cougars_base_station b/cougars_base_station
deleted file mode 160000
index c0e99d8..0000000
--- a/cougars_base_station
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit c0e99d8042ce00774b422de62848094d60e5d6c6
diff --git a/setup.sh b/setup.sh
index b0d467e..a49b6c1 100755
--- a/setup.sh
+++ b/setup.sh
@@ -88,11 +88,11 @@ else
   sudo ln -s config/local/.tmux.conf ~/.tmux.conf
 
   # Copy repos from GitHub
-  git clone git@github.com:BYU-FRoSt-Lab/cougars-ros2.git
-  git clone git@github.com:BYU-FRoSt-Lab/cougars-teensy.git
-  git clone git@github.com:BYU-FRoSt-Lab/cougars-gpio.git
-  git clone git@github.com:BYU-FRoSt-Lab/cougars-docs.git
-  git clone git@github.com:BYU-FRoSt-Lab/cougars_base_station.git
+  git clone https://github.com/BYU-FRoSt-Lab/cougars-ros2.git
+  git clone https://github.com/BYU-FRoSt-Lab/cougars-teensy.git
+  git clone https://github.com/BYU-FRoSt-Lab/cougars-gpio.git
+  git clone https://github.com/BYU-FRoSt-Lab/cougars-docs.git
+  git clone https://github.com/BYU-FRoSt-Lab/cougars_base_station.git
 
 fi
 

From d2fc357f0c53124e4d34f11f1dc8dae83defe7aa Mon Sep 17 00:00:00 2001
From: Nelson Durrant <snelsondurrant@gmail.com>
Date: Wed, 20 Nov 2024 16:08:52 -0700
Subject: [PATCH 14/43] Updates to documentation, renamed to
 cougars-base-station

---
 .gitignore                     |  1 +
 compose.sh                     |  2 ++
 coug_ssh.sh                    | 66 ----------------------------------
 docker/docker-compose-dev.yaml |  2 ++
 setup.sh                       | 29 ++++++---------
 update.sh                      | 17 +++++++++
 6 files changed, 32 insertions(+), 85 deletions(-)
 delete mode 100644 coug_ssh.sh

diff --git a/.gitignore b/.gitignore
index 8267f81..f56ebec 100755
--- a/.gitignore
+++ b/.gitignore
@@ -5,4 +5,5 @@ cougars-ros2
 cougars-teensy
 cougars-gpio
 cougars-docs
+cougars-base-station
 cougars_base_station
\ No newline at end of file
diff --git a/compose.sh b/compose.sh
index 4f77be4..d8a19c0 100755
--- a/compose.sh
+++ b/compose.sh
@@ -19,6 +19,8 @@ function printError {
   echo -e "\033[0m\033[31m[ERROR] $1\033[0m"
 }
 
+printWarning "This script should be run from the root of the CoUGARS directory"
+
 case $1 in
   "down")
     # Check the system architecture
diff --git a/coug_ssh.sh b/coug_ssh.sh
deleted file mode 100644
index 6d8b08c..0000000
--- a/coug_ssh.sh
+++ /dev/null
@@ -1,66 +0,0 @@
-#!/bin/bash
-# Created by Brighton Anderson, NOV 2024
-
-# Make sure the router is powered on before running this script
-
-# Check if sshpass is installed, and install it if it isn't
-if ! command -v sshpass &> /dev/null; then
-    echo "sshpass could not be found, installing..."
-    sudo apt update
-    sudo apt install -y sshpass
-fi
-
-# Define device variables
-declare -A DEVICES=(
-    [1]="coug1.local"
-    [2]="coug2.local"
-    [3]="coug3.local"
-    [4]="coug4.local"
-    [5]="coug5.local"
-)
-
-# Define username and password
-declare -A CREDENTIALS=(
-    [1]="frostlab:frostlab"
-    [2]="frostlab:frostlab"
-    [3]="frostlab:frostlab"
-    [4]="frostlab:frostlab"
-    [5]="frostlab:frostlab"
-)
-
-# Function to display menu
-display_menu() {
-    echo "Select a device to SSH into:"
-    echo "1. Coug1"
-    echo "2. Coug2"
-    echo "3. Coug3"
-    echo "4. Coug4"
-    echo "5. Coug5"
-    echo "Enter your choice (1-5):"
-}
-
-# Main script
-# Display the menu
-display_menu
-
-# Read user input
-read -r choice
-
-# Validate input
-if [[ ! "$choice" =~ ^[1-5]$ ]]; then
-    echo "Invalid input. Please enter a number between 1 and 5."
-    exit 1
-fi
-
-# Split credentials
-IFS=':' read -r USERNAME PASSWORD <<< "${CREDENTIALS[$choice]}"
-
-# Get the selected device IP
-DEVICE_IP="${DEVICES[$choice]}"
-
-# Define the command to execute
-COMMAND="bash -i"
-
-# Connect to the selected device
-echo "Connecting to ${DEVICE_IP}..."
-sshpass -p "$PASSWORD" ssh -t -o StrictHostKeyChecking=no "$USERNAME@$DEVICE_IP" "$COMMAND"
\ No newline at end of file
diff --git a/docker/docker-compose-dev.yaml b/docker/docker-compose-dev.yaml
index f96a020..d118783 100755
--- a/docker/docker-compose-dev.yaml
+++ b/docker/docker-compose-dev.yaml
@@ -22,6 +22,8 @@ services:
       - ../cougars-ros2:/home/frostlab/ros2_ws
       - ../cougars-teensy:/home/frostlab/teensy_ws
       - ../cougars-gpio:/home/frostlab/gpio
+      - ../cougars-docs:/home/frostlab/docs
+      - ../cougars-base-station:/home/frostlab/base_station
       - /etc/localtime:/etc/localtime:ro # Syncs the container's time with the host
       - /tmp/.X11-unix:/tmp/.X11-unix # Required for GUI applications
     command: /bin/bash
diff --git a/setup.sh b/setup.sh
index a49b6c1..9104c5b 100755
--- a/setup.sh
+++ b/setup.sh
@@ -17,17 +17,8 @@ function printWarning {
 function printError {
   echo -e "\033[0m\033[31m[ERROR] $1\033[0m"
 }
-function printSuccess {
-  echo -e "\033[0m\033[32m[SUCCESS] $1\033[0m"
-}
-
-function printFailure {
-  echo -e "\033[0m\033[31m[FAIL] $1\033[0m"
-}
 
-printWarning "This script should be run in the CoUGARS directory"
-
-#TODO make this script so that it can have a case that just runs the setup of the config 
+printWarning "This script should be run from the root of the CoUGARS directory"
 
 if [ "$(uname -m)" == "aarch64" ]; then
 
@@ -92,29 +83,29 @@ else
   git clone https://github.com/BYU-FRoSt-Lab/cougars-teensy.git
   git clone https://github.com/BYU-FRoSt-Lab/cougars-gpio.git
   git clone https://github.com/BYU-FRoSt-Lab/cougars-docs.git
-  git clone https://github.com/BYU-FRoSt-Lab/cougars_base_station.git
+  git clone https://github.com/BYU-FRoSt-Lab/cougars-base-station.git
 
 fi
 
+### Record the directory location and set up bash variable sourcing ###
+
 current_dir=$(pwd)
 source_file="$current_dir/config/bash_vars.sh"
 
-# Ensure the config directory exists
-mkdir -p "$current_dir/config"
-
+# Attempt to add the current workspace directory to the source file
 if ! grep -q "export COUG_WORKSPACE_DIR=" "$source_file"; then
     echo "export COUG_WORKSPACE_DIR=\"$current_dir\"" >> "$source_file"
-    printSuccess "Added export statement to $source_file"
+    printInfo "Saved the CoUGARs workspace path to $source_file"
 else
-    printInfo "Bash variable statement already exists in $source_file"
+    printWarning "The CoUGARs workspace path already exists in $source_file"
 fi
 
-# Append the source command to .bashrc
+# Attempt to add the source file to the local user's .bashrc
 if ! grep -q "source $source_file" ~/.bashrc; then
     echo "source $source_file" >> ~/.bashrc
-    printSuccess "Added CoUGARS workspace bash variables to .bashrc"
+    printInfo "Added automatic sourcing of bash variables to .bashrc"
 else
-    printInfo "CoUGARS workspace bash variables already exists in .bashrc"
+    printWarning "Automatic sourcing of bash variables is already set up in .bashrc"
 fi
 
 printWarning "Make sure to update the vehicle-specific configuration files in "config" now"
diff --git a/update.sh b/update.sh
index 84f85b1..e07b36d 100755
--- a/update.sh
+++ b/update.sh
@@ -4,6 +4,20 @@
 # Simply pulls all avaliable updates
 # - Make sure you run this from the root of the top-level repo
 
+function printInfo {
+  echo -e "\033[0m\033[36m[INFO] $1\033[0m"
+}
+
+function printWarning {
+  echo -e "\033[0m\033[33m[WARNING] $1\033[0m"
+}
+
+function printError {
+  echo -e "\033[0m\033[31m[ERROR] $1\033[0m"
+}
+
+printWarning "This script should be run from the root of the CoUGARS directory"
+
 # Docker updates
 docker pull frostlab/cougars:latest
 
@@ -21,3 +35,6 @@ git pull
 
 cd ../cougars-docs
 git pull
+
+cd ../cougars-base-station
+git pull

From 7792c3a4d9ebcaa400aff6b526e8b899b9c627a2 Mon Sep 17 00:00:00 2001
From: Nelson Durrant <snelsondurrant@gmail.com>
Date: Wed, 20 Nov 2024 17:02:54 -0700
Subject: [PATCH 15/43] Lots of changes to setup, added bash sourcing to docker
 image

---
 docker/Dockerfile      |   2 +
 setup.sh               | 129 ++++++++++++++++++++++++++---------------
 templates/bash_vars.sh |   3 +-
 3 files changed, 86 insertions(+), 48 deletions(-)

diff --git a/docker/Dockerfile b/docker/Dockerfile
index f713f7c..9e3b027 100755
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -196,3 +196,5 @@ RUN echo "export PATH=$PATH:/home/${LABNAME}/.local/bin:/home/${LABNAME}/moos-iv
 USER root
 RUN apt update && apt upgrade -y
 USER ${LABNAME}
+
+RUN echo "source /home/${LABNAME}/config/bash_vars.sh" >> ~/.bashrc
diff --git a/setup.sh b/setup.sh
index 9104c5b..666ee6e 100755
--- a/setup.sh
+++ b/setup.sh
@@ -22,6 +22,8 @@ printWarning "This script should be run from the root of the CoUGARS directory"
 
 if [ "$(uname -m)" == "aarch64" ]; then
 
+  ### START RT-SPECIFIC SETUP ###
+
   printInfo "Setting up CoUGARs on a Raspberry Pi 5"
             
   # Install Docker if not already installed
@@ -39,73 +41,106 @@ if [ "$(uname -m)" == "aarch64" ]; then
   sudo apt upgrade -y
   sudo apt install -y vim tmux chrony git mosh
 
-  # Set up volumes
-  mkdir bag
-  mkdir config
-  cp -r templates/* config/
-
-  # Set up udev rules
-  sudo ln -s config/local/00-teensy.rules /etc/udev/rules.d/00-teensy.rules
-  sudo udevadm control --reload-rules
-  sudo udevadm trigger
-
-  # Quick GPIO permission fix (one of the two should work)
-  sudo chmod 777 /dev/gpiochip4
-  sudo chmod 777 /dev/gpiochip0
-
-  # Set up config files
-  sudo ln -s config/local/chrony.conf /etc/chrony/chrony.conf
-  sudo ln -s config/local/.tmux.conf ~/.tmux.conf
-
-  # Copy repos from GitHub
-  git clone https://github.com/BYU-FRoSt-Lab/cougars-ros2.git
-  git clone https://github.com/BYU-FRoSt-Lab/cougars-teensy.git
-  git clone https://github.com/BYU-FRoSt-Lab/cougars-gpio.git
+  ### END RT-SPECIFIC SETUP ###
 
 else
 
+  ### START DEV-SPECIFIC SETUP ###
+
   printInfo "Setting up CoUGARs on a development machine"
 
   # Install dependencies
   sudo apt update
-  sudo apt install -y vim tmux git
+  sudo apt install -y vim tmux git mosh
 
-  # Set up volumes
-  mkdir bag
-  mkdir config
-  cp -r templates/* config/
+  ### END DEV-SPECIFIC SETUP ###
 
-  # Set up config files
-  sudo ln -s config/local/.tmux.conf ~/.tmux.conf
+fi
 
-  # Copy repos from GitHub
-  git clone https://github.com/BYU-FRoSt-Lab/cougars-ros2.git
-  git clone https://github.com/BYU-FRoSt-Lab/cougars-teensy.git
-  git clone https://github.com/BYU-FRoSt-Lab/cougars-gpio.git
-  git clone https://github.com/BYU-FRoSt-Lab/cougars-docs.git
-  git clone https://github.com/BYU-FRoSt-Lab/cougars-base-station.git
+# Install dependencies
+sudo apt update
+sudo apt upgrade -y
+sudo apt install -y vim tmux chrony git mosh
+
+# Set up bag directory
+if [ -d "bag" ]; then
+    printWarning "The bag directory already exists"
+else
+    mkdir bag
+fi
+
+# Set up config directory
+if [ -d "config" ]; then
+    printWarning "The config directory already exists -- skipping copying templates"
+else
+    mkdir config
+    cp -r templates/* config/
+fi
 
+# Set up tmux config file
+if [ -f ~/.tmux.conf ]; then
+    printWarning "The tmux config symlink already exists"
+else
+  sudo ln -s config/local/.tmux.conf ~/.tmux.conf
 fi
 
-### Record the directory location and set up bash variable sourcing ###
+if [ "$(uname -m)" == "aarch64" ]; then
+
+  ### START RT-SPECIFIC SETUP ###
 
-current_dir=$(pwd)
-source_file="$current_dir/config/bash_vars.sh"
+  # Set up chrony config file
+  if [ -f /etc/chrony/chrony.conf ]; then
+      printWarning "The chrony config symlink already exists"
+  else
+      sudo ln -s config/local/chrony.conf /etc/chrony/chrony.conf
+  fi
+
+  # Set up udev rules
+  if [ -f /etc/udev/rules.d/00-teensy.rules ]; then
+      printWarning "The udev rules symlink already exists"
+  else
+      sudo ln -s config/local/00-teensy.rules /etc/udev/rules.d/00-teensy.rules
+      sudo udevadm control --reload-rules
+      sudo udevadm trigger
+  fi
 
-# Attempt to add the current workspace directory to the source file
-if ! grep -q "export COUG_WORKSPACE_DIR=" "$source_file"; then
-    echo "export COUG_WORKSPACE_DIR=\"$current_dir\"" >> "$source_file"
+  ### END RT-SPECIFIC SETUP ###
+
+else 
+
+  ### START DEV-SPECIFIC SETUP ###
+
+  # Get the CoUGARs workspace location on the development machine
+  current_dir=$(pwd)
+  source_file=$current_dir/config/bash_vars.sh
+
+  # Attempt to add the current workspace directory to the source file
+  if ! grep -q "COUG_WORKSPACE_DIR" $source_file; then
+    echo "export COUG_WORKSPACE_DIR=$current_dir" >> $source_file
     printInfo "Saved the CoUGARs workspace path to $source_file"
-else
+  else
     printWarning "The CoUGARs workspace path already exists in $source_file"
-fi
+  fi
 
-# Attempt to add the source file to the local user's .bashrc
-if ! grep -q "source $source_file" ~/.bashrc; then
+  # Attempt to add the source file to the local user's .bashrc
+  if ! grep -q "source $source_file" ~/.bashrc; then
     echo "source $source_file" >> ~/.bashrc
     printInfo "Added automatic sourcing of bash variables to .bashrc"
-else
+  else
     printWarning "Automatic sourcing of bash variables is already set up in .bashrc"
+  fi
+
+  # Copy repos from GitHub
+  git clone https://github.com/BYU-FRoSt-Lab/cougars-docs.git
+  git clone https://github.com/BYU-FRoSt-Lab/cougars-base-station.git
+
+  ### END DEV-SPECIFIC SETUP ###
+
 fi
 
-printWarning "Make sure to update the vehicle-specific configuration files in "config" now"
+# Copy repos from GitHub
+git clone https://github.com/BYU-FRoSt-Lab/cougars-ros2.git
+git clone https://github.com/BYU-FRoSt-Lab/cougars-teensy.git
+git clone https://github.com/BYU-FRoSt-Lab/cougars-gpio.git
+
+printInfo "Make sure to update the vehicle-specific configuration files in "config" now"
diff --git a/templates/bash_vars.sh b/templates/bash_vars.sh
index 2d7d7d8..4f73e5c 100755
--- a/templates/bash_vars.sh
+++ b/templates/bash_vars.sh
@@ -13,4 +13,5 @@ export GPIO_CHIP=/dev/gpiochip0 # ex. /dev/gpiochip0
 # Run "ifconfig eth0 | grep 'inet ' | awk '{print $2}'" from OUTSIDE THE DOCKER CONTAINER and copy that number (ex. "192.168.194.59") here
 export STATIC_IP=0
 
-# Workspace directory of CoUGARS repository Should be sent to the local file when run on setup 
+# Workspace directory of CoUGARS repository on a development machine
+# This should be automatically set by 'setup.sh' to the root of the CoUGARS repository if not running on a CougUV

From 3acd05b01f20881a17a2dfa8215905e30918a495 Mon Sep 17 00:00:00 2001
From: Nelson Durrant <snelsondurrant@gmail.com>
Date: Wed, 20 Nov 2024 17:07:46 -0700
Subject: [PATCH 16/43] More changes to the setup file

---
 setup.sh | 8 +-------
 1 file changed, 1 insertion(+), 7 deletions(-)

diff --git a/setup.sh b/setup.sh
index 666ee6e..0f59efc 100755
--- a/setup.sh
+++ b/setup.sh
@@ -36,7 +36,7 @@ if [ "$(uname -m)" == "aarch64" ]; then
       printWarning "Docker is already installed"
   fi
 
-  # Install dependencies
+  # Update and install dependencies
   sudo apt update
   sudo apt upgrade -y
   sudo apt install -y vim tmux chrony git mosh
@@ -50,18 +50,12 @@ else
   printInfo "Setting up CoUGARs on a development machine"
 
   # Install dependencies
-  sudo apt update
   sudo apt install -y vim tmux git mosh
 
   ### END DEV-SPECIFIC SETUP ###
 
 fi
 
-# Install dependencies
-sudo apt update
-sudo apt upgrade -y
-sudo apt install -y vim tmux chrony git mosh
-
 # Set up bag directory
 if [ -d "bag" ]; then
     printWarning "The bag directory already exists"

From 2ae60eadc533d96fbf18d6474c58ab0c95dafb3e Mon Sep 17 00:00:00 2001
From: Nelson Durrant <snelsondurrant@gmail.com>
Date: Wed, 20 Nov 2024 17:09:32 -0700
Subject: [PATCH 17/43] Documentation updates

---
 setup.sh | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/setup.sh b/setup.sh
index 0f59efc..646f3d4 100755
--- a/setup.sh
+++ b/setup.sh
@@ -25,6 +25,10 @@ if [ "$(uname -m)" == "aarch64" ]; then
   ### START RT-SPECIFIC SETUP ###
 
   printInfo "Setting up CoUGARs on a Raspberry Pi 5"
+
+  # Update and upgrade the system
+  sudo apt update
+  sudo apt upgrade -y
             
   # Install Docker if not already installed
   if ! [ -x "$(command -v docker)" ]; then
@@ -36,9 +40,7 @@ if [ "$(uname -m)" == "aarch64" ]; then
       printWarning "Docker is already installed"
   fi
 
-  # Update and install dependencies
-  sudo apt update
-  sudo apt upgrade -y
+  # Install dependencies
   sudo apt install -y vim tmux chrony git mosh
 
   ### END RT-SPECIFIC SETUP ###

From e7703570c0e034a7b352d33094aaa046f4f63b2c Mon Sep 17 00:00:00 2001
From: Nelson Durrant <snelsondurrant@gmail.com>
Date: Wed, 20 Nov 2024 17:15:53 -0700
Subject: [PATCH 18/43] Changed from chip 4 to chip 0

---
 templates/gpio_def.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/templates/gpio_def.py b/templates/gpio_def.py
index 50a5ef7..bfd4c3c 100755
--- a/templates/gpio_def.py
+++ b/templates/gpio_def.py
@@ -13,4 +13,4 @@
 STROBE_PIN = 15 # 15
 STROBE_RATE = 1 # seconds
 
-GPIO_CHIP = '/dev/gpiochip4' # ex. '/dev/gpiochip4'
+GPIO_CHIP = '/dev/gpiochip0' # ex. '/dev/gpiochip0'

From fa17cffb4db0e1044b56b386113e0a2665d0c75b Mon Sep 17 00:00:00 2001
From: Nelson Durrant <snelsondurrant@gmail.com>
Date: Wed, 20 Nov 2024 17:43:37 -0700
Subject: [PATCH 19/43] Permission fix updates

---
 compose.sh | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/compose.sh b/compose.sh
index d8a19c0..6e0de18 100755
--- a/compose.sh
+++ b/compose.sh
@@ -19,6 +19,8 @@ function printError {
   echo -e "\033[0m\033[31m[ERROR] $1\033[0m"
 }
 
+source config/bash_vars.sh
+
 printWarning "This script should be run from the root of the CoUGARS directory"
 
 case $1 in
@@ -41,6 +43,7 @@ case $1 in
       printInfo "Loading the development image..."
       docker compose -f docker/docker-compose-dev.yaml up -d
     fi
+    docker exec --user root cougars bash -c "bash /home/frostlab/gpio/permission_fix.sh $GPIO_CHIP"
     docker exec -it cougars bash
   ;;
 esac

From 3f702b1ed90a448d49051d734e3dc3aacfe7f215 Mon Sep 17 00:00:00 2001
From: Nelson Durrant <snelsondurrant@gmail.com>
Date: Wed, 20 Nov 2024 17:44:21 -0700
Subject: [PATCH 20/43] Documentation updates

---
 compose.sh | 1 +
 1 file changed, 1 insertion(+)

diff --git a/compose.sh b/compose.sh
index 6e0de18..2db035a 100755
--- a/compose.sh
+++ b/compose.sh
@@ -43,6 +43,7 @@ case $1 in
       printInfo "Loading the development image..."
       docker compose -f docker/docker-compose-dev.yaml up -d
     fi
+    # Quick permission fix for GPIO access in the container
     docker exec --user root cougars bash -c "bash /home/frostlab/gpio/permission_fix.sh $GPIO_CHIP"
     docker exec -it cougars bash
   ;;

From 9d8caa0c82022cdf0a60c1b3fc838a715dd67a65 Mon Sep 17 00:00:00 2001
From: Nelson Durrant <snelsondurrant@gmail.com>
Date: Wed, 20 Nov 2024 17:45:36 -0700
Subject: [PATCH 21/43] Documentation updates

---
 docker/Dockerfile | 1 +
 1 file changed, 1 insertion(+)

diff --git a/docker/Dockerfile b/docker/Dockerfile
index 9e3b027..7d6250a 100755
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -197,4 +197,5 @@ USER root
 RUN apt update && apt upgrade -y
 USER ${LABNAME}
 
+# Set up bash variable sourcing (Make sure this exists as a volume when you run the container!)
 RUN echo "source /home/${LABNAME}/config/bash_vars.sh" >> ~/.bashrc

From 1ba1bfbc52f92c46d4775351eed9eb7722cca593 Mon Sep 17 00:00:00 2001
From: Nelson Durrant <snelsondurrant@gmail.com>
Date: Wed, 20 Nov 2024 17:47:12 -0700
Subject: [PATCH 22/43] Documentation updates

---
 setup.sh               | 1 +
 templates/bash_vars.sh | 1 +
 2 files changed, 2 insertions(+)

diff --git a/setup.sh b/setup.sh
index 646f3d4..4dc8b40 100755
--- a/setup.sh
+++ b/setup.sh
@@ -106,6 +106,7 @@ else
 
   ### START DEV-SPECIFIC SETUP ###
 
+  # TODO: Maybe not needed if we do all the work in the Docker image?
   # Get the CoUGARs workspace location on the development machine
   current_dir=$(pwd)
   source_file=$current_dir/config/bash_vars.sh
diff --git a/templates/bash_vars.sh b/templates/bash_vars.sh
index 4f73e5c..86f9943 100755
--- a/templates/bash_vars.sh
+++ b/templates/bash_vars.sh
@@ -13,5 +13,6 @@ export GPIO_CHIP=/dev/gpiochip0 # ex. /dev/gpiochip0
 # Run "ifconfig eth0 | grep 'inet ' | awk '{print $2}'" from OUTSIDE THE DOCKER CONTAINER and copy that number (ex. "192.168.194.59") here
 export STATIC_IP=0
 
+# TODO: Maybe not needed if we do all the work in the Docker image?
 # Workspace directory of CoUGARS repository on a development machine
 # This should be automatically set by 'setup.sh' to the root of the CoUGARS repository if not running on a CougUV

From f5dff0faf16fe55910231ebe1ef9321cc805c0f5 Mon Sep 17 00:00:00 2001
From: Nelson Durrant <snelsondurrant@gmail.com>
Date: Wed, 20 Nov 2024 18:06:26 -0700
Subject: [PATCH 23/43] Fixed extra git pulls

---
 update.sh | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/update.sh b/update.sh
index e07b36d..e094527 100755
--- a/update.sh
+++ b/update.sh
@@ -33,8 +33,12 @@ git pull
 cd ../cougars-gpio
 git pull
 
-cd ../cougars-docs
-git pull
+if [ ! "$(uname -m)" == "aarch64" ]; then
 
-cd ../cougars-base-station
-git pull
+  cd ../cougars-docs
+  git pull
+
+  cd ../cougars-base-station
+  git pull
+
+fi

From b6a8e3badcb59ea1dda87b1938eee746e338ea04 Mon Sep 17 00:00:00 2001
From: Nelson Durrant <snelsondurrant@gmail.com>
Date: Wed, 20 Nov 2024 18:09:08 -0700
Subject: [PATCH 24/43] Documentation updates

---
 templates/sim_params.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/templates/sim_params.yaml b/templates/sim_params.yaml
index 5f3c072..539b652 100755
--- a/templates/sim_params.yaml
+++ b/templates/sim_params.yaml
@@ -6,7 +6,7 @@
 
 /**:
   ros__parameters:
-    water_salinity_ppt: 0.0 # 0 for fresh water, 35 for salt water
+    water_salinity_ppt: 0.0 # 0.0 for fresh water, 35.0 for salt water
     magnetic_declination: 10.7 # E is positive, W is negative, 10.70° E for Utah Lake
     # https://www.ngdc.noaa.gov/geomag/calculators/magcalc.shtml?
 

From d03fa19e2040116b67df0b07602a35ea0b93c2be Mon Sep 17 00:00:00 2001
From: Nelson Durrant <snelsondurrant@gmail.com>
Date: Wed, 20 Nov 2024 18:11:26 -0700
Subject: [PATCH 25/43] Code cleanup

---
 compose.sh | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/compose.sh b/compose.sh
index 2db035a..c8a04b6 100755
--- a/compose.sh
+++ b/compose.sh
@@ -43,8 +43,10 @@ case $1 in
       printInfo "Loading the development image..."
       docker compose -f docker/docker-compose-dev.yaml up -d
     fi
+
     # Quick permission fix for GPIO access in the container
     docker exec --user root cougars bash -c "bash /home/frostlab/gpio/permission_fix.sh $GPIO_CHIP"
+    
     docker exec -it cougars bash
   ;;
 esac

From 59e745ce46e5579cbe5a94ad0f620fbf91cb6b28 Mon Sep 17 00:00:00 2001
From: Nelson Durrant <snelsondurrant@gmail.com>
Date: Wed, 20 Nov 2024 18:13:02 -0700
Subject: [PATCH 26/43] Code cleanup

---
 compose.sh | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/compose.sh b/compose.sh
index c8a04b6..1dcaa33 100755
--- a/compose.sh
+++ b/compose.sh
@@ -7,6 +7,8 @@
 # - This can also be used to open a new bash terminal in an already running container
 # - Make sure you run this from the root of the top-level repo
 
+source config/bash_vars.sh
+
 function printInfo {
   echo -e "\033[0m\033[36m[INFO] $1\033[0m"
 }
@@ -19,8 +21,6 @@ function printError {
   echo -e "\033[0m\033[31m[ERROR] $1\033[0m"
 }
 
-source config/bash_vars.sh
-
 printWarning "This script should be run from the root of the CoUGARS directory"
 
 case $1 in
@@ -46,7 +46,7 @@ case $1 in
 
     # Quick permission fix for GPIO access in the container
     docker exec --user root cougars bash -c "bash /home/frostlab/gpio/permission_fix.sh $GPIO_CHIP"
-    
+
     docker exec -it cougars bash
   ;;
 esac

From 03942f564c9fe4d5007b490daf944bc23a218d66 Mon Sep 17 00:00:00 2001
From: Nelson Durrant <snelsondurrant@gmail.com>
Date: Wed, 20 Nov 2024 18:13:49 -0700
Subject: [PATCH 27/43] Code cleanup

---
 compose.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/compose.sh b/compose.sh
index 1dcaa33..95c86a9 100755
--- a/compose.sh
+++ b/compose.sh
@@ -48,5 +48,5 @@ case $1 in
     docker exec --user root cougars bash -c "bash /home/frostlab/gpio/permission_fix.sh $GPIO_CHIP"
 
     docker exec -it cougars bash
-  ;;
+    ;;
 esac

From daa61417601b07dd37fc204f72d13090b49c2562 Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Thu, 21 Nov 2024 09:17:25 -0700
Subject: [PATCH 28/43] added pAntler timeout

---
 tmux.sh | 43 +++++++++++++++++--------------------------
 1 file changed, 17 insertions(+), 26 deletions(-)

diff --git a/tmux.sh b/tmux.sh
index e9290d3..dd7cc97 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -27,14 +27,14 @@ case $1 in
 
       printInfo "Starting the tmux session..."
 
+      ### FIRST WINDOW - ROS SCRIPTS ###
+
       # Start the tmux session
       tmux new-session -d -s cougars
       tmux split-window -h -t cougars
       tmux split-window -v -t cougars
       tmux select-pane -t cougars:0.0
       tmux split-window -v -t cougars
-      tmux select-pane -t cougars:0.2
-      tmux split-window -h -t cougars
       tmux select-pane -t cougars:0.0
 
       # Send commands to the tmux session
@@ -46,42 +46,32 @@ case $1 in
       tmux send-keys -t cougars:0.2 "clear" ENTER
       tmux send-keys -t cougars:0.3 "bash compose.sh" ENTER
       tmux send-keys -t cougars:0.3 "clear" ENTER
-      # tmux send-keys -t cougars:0.4 "bash compose.sh" ENTER
-      # tmux send-keys -t cougars:0.4 "clear" ENTER
-      
-
-      
-
-      # 
-      tmux send-keys -t cougars:0.0 "cd ~/gpio" ENTER
-      tmux send-keys -t cougars:0.0 "bash permission_fix.sh" ENTER
-      # tmux send-keys -t cougars:0.0 "cd ~/ros2_ws/dvl_tools" ENTER
-      # tmux send-keys -t cougars:0.0 "bash calibrate_gyro.sh" ENTER
-      # tmux send-keys -t cougars:0.0 "cd ~/ros2_ws" ENTER
-      # tmux send-keys -t cougars:0.0 "colcon build" ENTER
-      tmux send-keys -t cougars:0.0 "sudo systemctl restart chrony" ENTER #correct spot to put this?
+
+      tmux send-keys -t cougars:0.0 "sudo systemctl restart chrony" ENTER 
       tmux send-keys -t cougars:0.0 "date" ENTER
-      tmux send-keys -t cougars:0.0 "ls" ENTER
-      tmux send-keys -t cougars:0.0 "bash launch.sh <put param here>" # Don't start just yet
+      tmux send-keys -t cougars:0.0 "bash launch.sh <mission_type>" # Don't start just yet
 
       tmux send-keys -t cougars:0.1 "cd ~/ros2_ws" ENTER
-      # tmux send-keys -t cougars:0.1 "colcon build" ENTER
-      tmux send-keys -t cougars:0.1 "bash test.sh <put param here>" # Don't start just yet
+      tmux send-keys -t cougars:0.1 "bash test.sh <acoustics>" # Don't start just yet
 
       tmux send-keys -t cougars:0.2 "cd ~/ros2_ws" ENTER
-      # tmux send-keys -t cougars:0.2 "colcon build" ENTER
-      tmux send-keys -t cougars:0.2 "bash record.sh" # Don't start just yet
+      tmux send-keys -t cougars:0.2 "bash record.sh <acoustics>" # Don't start just yet
 
       tmux send-keys -t cougars:0.3 "cd ~/config" ENTER
       tmux send-keys -t cougars:0.3 "cat vehicle_params.yaml" ENTER
 
-      # tmux send-keys -t cougars:0.4 "cd ~/ros2_ws/moos_tools" ENTER
-      # tmux send-keys -t cougars:0.4 "bash mission_start.sh" # Don't start just yet
+      ### SECOND WINDOW - MOOS SCRIPTS ###
+
       tmux new-window -t cougars -n moos 'bash ~/ros2_ws/moos_tools/mission_start.sh' # New window or split terminal again?
       tmux split-window -v -t moos
       tmux select-pane -t moos:0.1
+      tmux split-window -h -t moos
       tmux send-keys -t moos:0.1 "bash ~/ros2_ws/moos_tools/mission_deploy.sh" ENTER
       tmux send-keys -t moos:0.1 "cat ~/ros2_ws/moos_tools/coug.bhv" ENTER
+      tmux send-keys -t moos:0.2 "pAntler timeout 5 <command>" # Don't start just yet
+
+      # TODO: Add more terminals, etc
+      # I bet Matthew has some good ideas
 
 
     else
@@ -93,9 +83,10 @@ case $1 in
     ;;
 esac
 
+# I added some comments -Nelson
 
-#TODO: - figure out how to edit vehicle_params and moos.bhv for the mission
-#      - add in the mission_deploy.sh the pAntler timeout command
+#TODO: - figure out how to edit vehicle_params and moos.bhv for the mission (I think just cat the file so we can see it in the terminal, and we can change it using vim if needed)
+#      - add in the mission_deploy.sh the pAntler timeout command ('timeout 5 <command>' should work -- number is in seconds)
 #      - check with Braden, and Nelson to see if everything else is good to go
 #      - how to implement plot juggler
 #      - see if any other commands need to be added to the tmux script from new map waypoint stuff
\ No newline at end of file

From 057404eafba2481a9d8cbc28d41394d424bf0967 Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Thu, 21 Nov 2024 10:05:12 -0700
Subject: [PATCH 29/43] edits

---
 tmux.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tmux.sh b/tmux.sh
index dd7cc97..5709c48 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -62,7 +62,7 @@ case $1 in
 
       ### SECOND WINDOW - MOOS SCRIPTS ###
 
-      tmux new-window -t cougars -n moos 'bash ~/ros2_ws/moos_tools/mission_start.sh' # New window or split terminal again?
+      tmux new-window -t cougars -n moos 'cd ~/ros2_ws/moos_tools' # New window or split terminal again?
       tmux split-window -v -t moos
       tmux select-pane -t moos:0.1
       tmux split-window -h -t moos

From 5b7d9059ae7a95cc2891e1d992cfe663d9854f03 Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Thu, 21 Nov 2024 10:08:17 -0700
Subject: [PATCH 30/43] edits to moos window

---
 tmux.sh | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tmux.sh b/tmux.sh
index 5709c48..055dded 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -62,7 +62,7 @@ case $1 in
 
       ### SECOND WINDOW - MOOS SCRIPTS ###
 
-      tmux new-window -t cougars -n moos 'cd ~/ros2_ws/moos_tools' # New window or split terminal again?
+      tmux new-window -n "moos" # New window or split terminal again?
       tmux split-window -v -t moos
       tmux select-pane -t moos:0.1
       tmux split-window -h -t moos
@@ -72,7 +72,7 @@ case $1 in
 
       # TODO: Add more terminals, etc
       # I bet Matthew has some good ideas
-
+tmux new-window -n "My New Window"
 
     else
       printInfo "Attaching to the tmux session..."

From b64865f870731330b226e4790c0fa241f02d9bf9 Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Thu, 21 Nov 2024 10:10:45 -0700
Subject: [PATCH 31/43] fix tmux

---
 tmux.sh | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/tmux.sh b/tmux.sh
index 055dded..d56e5d2 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -66,9 +66,11 @@ case $1 in
       tmux split-window -v -t moos
       tmux select-pane -t moos:0.1
       tmux split-window -h -t moos
-      tmux send-keys -t moos:0.1 "bash ~/ros2_ws/moos_tools/mission_deploy.sh" ENTER
       tmux send-keys -t moos:0.1 "cat ~/ros2_ws/moos_tools/coug.bhv" ENTER
-      tmux send-keys -t moos:0.2 "pAntler timeout 5 <command>" # Don't start just yet
+      tmux send-keys -t moos:0.1 "bash ~/ros2_ws/moos_tools/mission_deploy.sh" # Don't start just yet
+      
+      tmux send-keys -t moos:0.2 "cd ~/ros2_ws/moos_tools" ENTER
+      tmux send-keys -t moos:0.2 "timeout 5s pAntler coug.moos" # Don't start just yet
 
       # TODO: Add more terminals, etc
       # I bet Matthew has some good ideas

From ebb39cbca3f97bf49122a293b1b55de74707265c Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Thu, 21 Nov 2024 10:14:01 -0700
Subject: [PATCH 32/43] fix

---
 tmux.sh | 1 -
 1 file changed, 1 deletion(-)

diff --git a/tmux.sh b/tmux.sh
index d56e5d2..359231f 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -74,7 +74,6 @@ case $1 in
 
       # TODO: Add more terminals, etc
       # I bet Matthew has some good ideas
-tmux new-window -n "My New Window"
 
     else
       printInfo "Attaching to the tmux session..."

From 66cb8bfd304c56869a2ad47b53e789fcb84f0885 Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Thu, 21 Nov 2024 10:16:15 -0700
Subject: [PATCH 33/43] restart chrony outside container

---
 tmux.sh | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/tmux.sh b/tmux.sh
index 359231f..f67fd77 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -38,6 +38,8 @@ case $1 in
       tmux select-pane -t cougars:0.0
 
       # Send commands to the tmux session
+      tmux send-keys -t cougars:0.0 "sudo systemctl restart chrony" ENTER
+      tmux send-keys -t cougars:0.0 "date" ENTER 
       tmux send-keys -t cougars:0.0 "bash compose.sh" ENTER
       tmux send-keys -t cougars:0.0 "clear" ENTER
       tmux send-keys -t cougars:0.1 "bash compose.sh" ENTER
@@ -47,8 +49,8 @@ case $1 in
       tmux send-keys -t cougars:0.3 "bash compose.sh" ENTER
       tmux send-keys -t cougars:0.3 "clear" ENTER
 
-      tmux send-keys -t cougars:0.0 "sudo systemctl restart chrony" ENTER 
-      tmux send-keys -t cougars:0.0 "date" ENTER
+     
+      
       tmux send-keys -t cougars:0.0 "bash launch.sh <mission_type>" # Don't start just yet
 
       tmux send-keys -t cougars:0.1 "cd ~/ros2_ws" ENTER

From 6290069d6214fbadb1f8483e13e964726994f083 Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Thu, 21 Nov 2024 10:20:44 -0700
Subject: [PATCH 34/43] edits

---
 tmux.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tmux.sh b/tmux.sh
index f67fd77..e8946a6 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -38,7 +38,7 @@ case $1 in
       tmux select-pane -t cougars:0.0
 
       # Send commands to the tmux session
-      tmux send-keys -t cougars:0.0 "sudo systemctl restart chrony" ENTER
+      tmux send-keys -t cougars:0.0 "echo -e "frostlab\n" | sudo systemctl restart chrony" ENTER
       tmux send-keys -t cougars:0.0 "date" ENTER 
       tmux send-keys -t cougars:0.0 "bash compose.sh" ENTER
       tmux send-keys -t cougars:0.0 "clear" ENTER

From d3c34a774f353c02c015ddc277d9baafe72ce8ac Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Thu, 21 Nov 2024 10:22:56 -0700
Subject: [PATCH 35/43] edits

---
 tmux.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tmux.sh b/tmux.sh
index e8946a6..9b410c8 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -38,7 +38,7 @@ case $1 in
       tmux select-pane -t cougars:0.0
 
       # Send commands to the tmux session
-      tmux send-keys -t cougars:0.0 "echo -e "frostlab\n" | sudo systemctl restart chrony" ENTER
+      tmux send-keys -t cougars:0.0 "echo -e "frostlab" | sudo systemctl restart chrony" ENTER
       tmux send-keys -t cougars:0.0 "date" ENTER 
       tmux send-keys -t cougars:0.0 "bash compose.sh" ENTER
       tmux send-keys -t cougars:0.0 "clear" ENTER

From a503f046cd1ff35437a3ab2c23cb93c6347dc42b Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Thu, 21 Nov 2024 10:28:29 -0700
Subject: [PATCH 36/43] test

---
 tmux.sh | 15 +++++++++++----
 1 file changed, 11 insertions(+), 4 deletions(-)

diff --git a/tmux.sh b/tmux.sh
index 9b410c8..e436d52 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -38,8 +38,8 @@ case $1 in
       tmux select-pane -t cougars:0.0
 
       # Send commands to the tmux session
-      tmux send-keys -t cougars:0.0 "echo -e "frostlab" | sudo systemctl restart chrony" ENTER
-      tmux send-keys -t cougars:0.0 "date" ENTER 
+      # tmux send-keys -t cougars:0.0 "echo -e "frostlab" | sudo systemctl restart chrony" ENTER
+
       tmux send-keys -t cougars:0.0 "bash compose.sh" ENTER
       tmux send-keys -t cougars:0.0 "clear" ENTER
       tmux send-keys -t cougars:0.1 "bash compose.sh" ENTER
@@ -49,8 +49,8 @@ case $1 in
       tmux send-keys -t cougars:0.3 "bash compose.sh" ENTER
       tmux send-keys -t cougars:0.3 "clear" ENTER
 
-     
-      
+      tmux send-keys -t cougars:0.0 "cd ~/ros2_ws" ENTER
+      tmux send-keys -t cougars:0.0 "date" ENTER 
       tmux send-keys -t cougars:0.0 "bash launch.sh <mission_type>" # Don't start just yet
 
       tmux send-keys -t cougars:0.1 "cd ~/ros2_ws" ENTER
@@ -68,9 +68,16 @@ case $1 in
       tmux split-window -v -t moos
       tmux select-pane -t moos:0.1
       tmux split-window -h -t moos
+      tmux send-keys -t moos:0.0 "bash compose.sh" ENTER
+      tmux send-keys -t moos:0.0 "clear" ENTER
+      tmux send-keys -t moos:0.1 "bash compose.sh" ENTER
+      tmux send-keys -t moos:0.1 "clear" ENTER
+      tmux send-keys -t moos:0.2 "bash compose.sh" ENTER
+      tmux send-keys -t moos:0.2 "clear" ENTER
       tmux send-keys -t moos:0.1 "cat ~/ros2_ws/moos_tools/coug.bhv" ENTER
       tmux send-keys -t moos:0.1 "bash ~/ros2_ws/moos_tools/mission_deploy.sh" # Don't start just yet
       
+
       tmux send-keys -t moos:0.2 "cd ~/ros2_ws/moos_tools" ENTER
       tmux send-keys -t moos:0.2 "timeout 5s pAntler coug.moos" # Don't start just yet
 

From 9a1b444baf2a1182a30760b4fb10d22d95f2d18b Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Thu, 21 Nov 2024 14:52:00 -0700
Subject: [PATCH 37/43] testing

---
 tmux.sh | 31 ++++++++++++++++---------------
 1 file changed, 16 insertions(+), 15 deletions(-)

diff --git a/tmux.sh b/tmux.sh
index e436d52..8d75775 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -30,7 +30,7 @@ case $1 in
       ### FIRST WINDOW - ROS SCRIPTS ###
 
       # Start the tmux session
-      tmux new-session -d -s cougars
+      tmux new-session -d -s cougars -n "moos"
       tmux split-window -h -t cougars
       tmux split-window -v -t cougars
       tmux select-pane -t cougars:0.0
@@ -64,22 +64,23 @@ case $1 in
 
       ### SECOND WINDOW - MOOS SCRIPTS ###
 
-      tmux new-window -n "moos" # New window or split terminal again?
-      tmux split-window -v -t moos
-      tmux select-pane -t moos:0.1
-      tmux split-window -h -t moos
-      tmux send-keys -t moos:0.0 "bash compose.sh" ENTER
-      tmux send-keys -t moos:0.0 "clear" ENTER
-      tmux send-keys -t moos:0.1 "bash compose.sh" ENTER
-      tmux send-keys -t moos:0.1 "clear" ENTER
-      tmux send-keys -t moos:0.2 "bash compose.sh" ENTER
-      tmux send-keys -t moos:0.2 "clear" ENTER
-      tmux send-keys -t moos:0.1 "cat ~/ros2_ws/moos_tools/coug.bhv" ENTER
-      tmux send-keys -t moos:0.1 "bash ~/ros2_ws/moos_tools/mission_deploy.sh" # Don't start just yet
+      # tmux new-window -n "moos" # New window or split terminal again?
+      # tmux split-window -h -t moos
+      # tmux select-pane -t moos:0.1
+      # tmux split-window -v -t moos
+
+      # tmux send-keys -t moos:0.0 "bash compose.sh" ENTER
+      # tmux send-keys -t moos:0.0 "clear" ENTER
+      # tmux send-keys -t moos:0.1 "bash compose.sh" ENTER
+      # tmux send-keys -t moos:0.1 "clear" ENTER
+      # tmux send-keys -t moos:0.2 "bash compose.sh" ENTER
+      # tmux send-keys -t moos:0.2 "clear" ENTER
+      # tmux send-keys -t moos:0.1 "cat ~/ros2_ws/moos_tools/coug.bhv" ENTER
+      # tmux send-keys -t moos:0.1 "bash ~/ros2_ws/moos_tools/mission_deploy.sh" # Don't start just yet
       
 
-      tmux send-keys -t moos:0.2 "cd ~/ros2_ws/moos_tools" ENTER
-      tmux send-keys -t moos:0.2 "timeout 5s pAntler coug.moos" # Don't start just yet
+      # tmux send-keys -t moos:0.2 "cd ~/ros2_ws/moos_tools" ENTER
+      # tmux send-keys -t moos:0.2 "timeout 5s pAntler coug.moos" # Don't start just yet
 
       # TODO: Add more terminals, etc
       # I bet Matthew has some good ideas

From ba36835c4a1eaf357c721e3cc8a0ca587c5b3306 Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Thu, 21 Nov 2024 15:02:24 -0700
Subject: [PATCH 38/43] test

---
 tmux.sh | 32 ++++++++++++++++----------------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/tmux.sh b/tmux.sh
index 8d75775..4a4a626 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -30,7 +30,7 @@ case $1 in
       ### FIRST WINDOW - ROS SCRIPTS ###
 
       # Start the tmux session
-      tmux new-session -d -s cougars -n "moos"
+      tmux new-session -d -s cougars -n "coug"
       tmux split-window -h -t cougars
       tmux split-window -v -t cougars
       tmux select-pane -t cougars:0.0
@@ -64,23 +64,23 @@ case $1 in
 
       ### SECOND WINDOW - MOOS SCRIPTS ###
 
-      # tmux new-window -n "moos" # New window or split terminal again?
-      # tmux split-window -h -t moos
-      # tmux select-pane -t moos:0.1
-      # tmux split-window -v -t moos
-
-      # tmux send-keys -t moos:0.0 "bash compose.sh" ENTER
-      # tmux send-keys -t moos:0.0 "clear" ENTER
-      # tmux send-keys -t moos:0.1 "bash compose.sh" ENTER
-      # tmux send-keys -t moos:0.1 "clear" ENTER
-      # tmux send-keys -t moos:0.2 "bash compose.sh" ENTER
-      # tmux send-keys -t moos:0.2 "clear" ENTER
-      # tmux send-keys -t moos:0.1 "cat ~/ros2_ws/moos_tools/coug.bhv" ENTER
-      # tmux send-keys -t moos:0.1 "bash ~/ros2_ws/moos_tools/mission_deploy.sh" # Don't start just yet
+      tmux new-window -t cougars -n "moos" # New window or split terminal again?
+      tmux split-window -h -t cougars:moos
+      tmux select-pane -t cougars:moos:0.1
+      tmux split-window -v -t cougars:moos:0.1
+
+      tmux send-keys -t cougars:moos:0.0 "bash compose.sh" ENTER
+      tmux send-keys -t cougars:moos:0.0 "clear" ENTER
+      tmux send-keys -t cougars:moos:0.1 "bash compose.sh" ENTER
+      tmux send-keys -t cougars:moos:0.1 "clear" ENTER
+      tmux send-keys -t cougars:moos:0.2 "bash compose.sh" ENTER
+      tmux send-keys -t cougars:moos:0.2 "clear" ENTER
+      tmux send-keys -t cougars:moos:0.1 "cat ~/ros2_ws/moos_tools/coug.bhv" ENTER
+      tmux send-keys -t cougars:moos:0.1 "bash ~/ros2_ws/moos_tools/mission_deploy.sh" # Don't start just yet
       
 
-      # tmux send-keys -t moos:0.2 "cd ~/ros2_ws/moos_tools" ENTER
-      # tmux send-keys -t moos:0.2 "timeout 5s pAntler coug.moos" # Don't start just yet
+      tmux send-keys -t cougars:moos:0.2 "cd ~/ros2_ws/moos_tools" ENTER
+      tmux send-keys -t cougars:moos:0.2 "timeout 5s pAntler coug.moos" # Don't start just yet
 
       # TODO: Add more terminals, etc
       # I bet Matthew has some good ideas

From 006652bec999443be78e10558d6e73b7fac62db0 Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Thu, 21 Nov 2024 15:11:28 -0700
Subject: [PATCH 39/43] testing

---
 tmux.sh | 64 ++++++++++++++++++++++++++++-----------------------------
 1 file changed, 32 insertions(+), 32 deletions(-)

diff --git a/tmux.sh b/tmux.sh
index 4a4a626..7ee111f 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -33,54 +33,54 @@ case $1 in
       tmux new-session -d -s cougars -n "coug"
       tmux split-window -h -t cougars
       tmux split-window -v -t cougars
-      tmux select-pane -t cougars:0.0
+      tmux select-pane -t cougars:coug.0
       tmux split-window -v -t cougars
-      tmux select-pane -t cougars:0.0
+      tmux select-pane -t cougars:coug.0
 
       # Send commands to the tmux session
       # tmux send-keys -t cougars:0.0 "echo -e "frostlab" | sudo systemctl restart chrony" ENTER
 
-      tmux send-keys -t cougars:0.0 "bash compose.sh" ENTER
-      tmux send-keys -t cougars:0.0 "clear" ENTER
-      tmux send-keys -t cougars:0.1 "bash compose.sh" ENTER
-      tmux send-keys -t cougars:0.1 "clear" ENTER
-      tmux send-keys -t cougars:0.2 "bash compose.sh" ENTER
-      tmux send-keys -t cougars:0.2 "clear" ENTER
-      tmux send-keys -t cougars:0.3 "bash compose.sh" ENTER
-      tmux send-keys -t cougars:0.3 "clear" ENTER
+      tmux send-keys -t cougars:coug.0 "bash compose.sh" ENTER
+      tmux send-keys -t cougars:coug.0 "clear" ENTER
+      tmux send-keys -t cougars:coug.1 "bash compose.sh" ENTER
+      tmux send-keys -t cougars:coug.1 "clear" ENTER
+      tmux send-keys -t cougars:coug.2 "bash compose.sh" ENTER
+      tmux send-keys -t cougars:coug.2 "clear" ENTER
+      tmux send-keys -t cougars:coug.3 "bash compose.sh" ENTER
+      tmux send-keys -t cougars:coug.3 "clear" ENTER
 
-      tmux send-keys -t cougars:0.0 "cd ~/ros2_ws" ENTER
-      tmux send-keys -t cougars:0.0 "date" ENTER 
-      tmux send-keys -t cougars:0.0 "bash launch.sh <mission_type>" # Don't start just yet
+      tmux send-keys -t cougars:coug.0 "cd ~/ros2_ws" ENTER
+      tmux send-keys -t cougars:coug.0 "date" ENTER 
+      tmux send-keys -t cougars:coug.0 "bash launch.sh <mission_type>" # Don't start just yet
 
-      tmux send-keys -t cougars:0.1 "cd ~/ros2_ws" ENTER
-      tmux send-keys -t cougars:0.1 "bash test.sh <acoustics>" # Don't start just yet
+      tmux send-keys -t cougars:coug.1 "cd ~/ros2_ws" ENTER
+      tmux send-keys -t cougars:coug.1 "bash test.sh <acoustics>" # Don't start just yet
 
-      tmux send-keys -t cougars:0.2 "cd ~/ros2_ws" ENTER
-      tmux send-keys -t cougars:0.2 "bash record.sh <acoustics>" # Don't start just yet
+      tmux send-keys -t cougars:coug.2 "cd ~/ros2_ws" ENTER
+      tmux send-keys -t cougars:coug.2 "bash record.sh <acoustics>" # Don't start just yet
 
-      tmux send-keys -t cougars:0.3 "cd ~/config" ENTER
-      tmux send-keys -t cougars:0.3 "cat vehicle_params.yaml" ENTER
+      tmux send-keys -t cougars:coug.3 "cd ~/config" ENTER
+      tmux send-keys -t cougars:coug.3 "cat vehicle_params.yaml" ENTER
 
       ### SECOND WINDOW - MOOS SCRIPTS ###
 
       tmux new-window -t cougars -n "moos" # New window or split terminal again?
       tmux split-window -h -t cougars:moos
-      tmux select-pane -t cougars:moos:0.1
-      tmux split-window -v -t cougars:moos:0.1
-
-      tmux send-keys -t cougars:moos:0.0 "bash compose.sh" ENTER
-      tmux send-keys -t cougars:moos:0.0 "clear" ENTER
-      tmux send-keys -t cougars:moos:0.1 "bash compose.sh" ENTER
-      tmux send-keys -t cougars:moos:0.1 "clear" ENTER
-      tmux send-keys -t cougars:moos:0.2 "bash compose.sh" ENTER
-      tmux send-keys -t cougars:moos:0.2 "clear" ENTER
-      tmux send-keys -t cougars:moos:0.1 "cat ~/ros2_ws/moos_tools/coug.bhv" ENTER
-      tmux send-keys -t cougars:moos:0.1 "bash ~/ros2_ws/moos_tools/mission_deploy.sh" # Don't start just yet
+      tmux select-pane -t cougars:moos.0
+      tmux split-window -v -t cougars:moos.0
+
+      tmux send-keys -t cougars:moos.0 "bash compose.sh" ENTER
+      tmux send-keys -t cougars:moos.0 "clear" ENTER
+      tmux send-keys -t cougars:moos.1 "bash compose.sh" ENTER
+      tmux send-keys -t cougars:moos.1 "clear" ENTER
+      tmux send-keys -t cougars:moos.2 "bash compose.sh" ENTER
+      tmux send-keys -t cougars:moos.2 "clear" ENTER
+      tmux send-keys -t cougars:moos.1 "cat ~/ros2_ws/moos_tools/coug.bhv" ENTER
+      tmux send-keys -t cougars:moos.1 "bash ~/ros2_ws/moos_tools/mission_deploy.sh" # Don't start just yet
       
 
-      tmux send-keys -t cougars:moos:0.2 "cd ~/ros2_ws/moos_tools" ENTER
-      tmux send-keys -t cougars:moos:0.2 "timeout 5s pAntler coug.moos" # Don't start just yet
+      tmux send-keys -t cougars:moos.2 "cd ~/ros2_ws/moos_tools" ENTER
+      tmux send-keys -t cougars:moos.2 "timeout 5s pAntler coug.moos" # Don't start just yet
 
       # TODO: Add more terminals, etc
       # I bet Matthew has some good ideas

From 2acd479ef3d76519ed05f701b3cf6885e46cf6bd Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Thu, 21 Nov 2024 15:16:23 -0700
Subject: [PATCH 40/43] testing chrony restart

---
 tmux.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tmux.sh b/tmux.sh
index 7ee111f..a59da4c 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -38,7 +38,7 @@ case $1 in
       tmux select-pane -t cougars:coug.0
 
       # Send commands to the tmux session
-      # tmux send-keys -t cougars:0.0 "echo -e "frostlab" | sudo systemctl restart chrony" ENTER
+      tmux send-keys -t cougars:coug.0 "echo 'frostlab' | sudo -S systemctl restart chrony" ENTER
 
       tmux send-keys -t cougars:coug.0 "bash compose.sh" ENTER
       tmux send-keys -t cougars:coug.0 "clear" ENTER

From c83bc8fff242ce7ecb81f0eb2402647a62cedcae Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Thu, 21 Nov 2024 15:19:20 -0700
Subject: [PATCH 41/43] edit

---
 tmux.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tmux.sh b/tmux.sh
index a59da4c..fc051c4 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -50,7 +50,7 @@ case $1 in
       tmux send-keys -t cougars:coug.3 "clear" ENTER
 
       tmux send-keys -t cougars:coug.0 "cd ~/ros2_ws" ENTER
-      tmux send-keys -t cougars:coug.0 "date" ENTER 
+      tmux send-keys -t cougars:coug.0 "date" C-m 
       tmux send-keys -t cougars:coug.0 "bash launch.sh <mission_type>" # Don't start just yet
 
       tmux send-keys -t cougars:coug.1 "cd ~/ros2_ws" ENTER

From 81afbb644c6eeb41a79e4ca093ec406ff2ab06e7 Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Thu, 21 Nov 2024 15:22:07 -0700
Subject: [PATCH 42/43] fixed

---
 tmux.sh | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tmux.sh b/tmux.sh
index fc051c4..2c071ff 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -50,10 +50,10 @@ case $1 in
       tmux send-keys -t cougars:coug.3 "clear" ENTER
 
       tmux send-keys -t cougars:coug.0 "cd ~/ros2_ws" ENTER
-      tmux send-keys -t cougars:coug.0 "date" C-m 
       tmux send-keys -t cougars:coug.0 "bash launch.sh <mission_type>" # Don't start just yet
 
       tmux send-keys -t cougars:coug.1 "cd ~/ros2_ws" ENTER
+      tmux send-keys -t cougars:coug.1 "date" ENTER
       tmux send-keys -t cougars:coug.1 "bash test.sh <acoustics>" # Don't start just yet
 
       tmux send-keys -t cougars:coug.2 "cd ~/ros2_ws" ENTER
@@ -80,7 +80,7 @@ case $1 in
       
 
       tmux send-keys -t cougars:moos.2 "cd ~/ros2_ws/moos_tools" ENTER
-      tmux send-keys -t cougars:moos.2 "timeout 5s pAntler coug.moos" # Don't start just yet
+      tmux send-keys -t cougars:moos.2 "timeout 120s pAntler coug.moos" # Don't start just yet
 
       # TODO: Add more terminals, etc
       # I bet Matthew has some good ideas

From edd74f482a29f190b0f40a760f55eebb8db19ede Mon Sep 17 00:00:00 2001
From: Brighton Anderson <bja1701@byu.edu>
Date: Thu, 21 Nov 2024 15:27:10 -0700
Subject: [PATCH 43/43] edit

---
 tmux.sh | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/tmux.sh b/tmux.sh
index 2c071ff..dc16ea2 100755
--- a/tmux.sh
+++ b/tmux.sh
@@ -53,7 +53,6 @@ case $1 in
       tmux send-keys -t cougars:coug.0 "bash launch.sh <mission_type>" # Don't start just yet
 
       tmux send-keys -t cougars:coug.1 "cd ~/ros2_ws" ENTER
-      tmux send-keys -t cougars:coug.1 "date" ENTER
       tmux send-keys -t cougars:coug.1 "bash test.sh <acoustics>" # Don't start just yet
 
       tmux send-keys -t cougars:coug.2 "cd ~/ros2_ws" ENTER
@@ -75,6 +74,9 @@ case $1 in
       tmux send-keys -t cougars:moos.1 "clear" ENTER
       tmux send-keys -t cougars:moos.2 "bash compose.sh" ENTER
       tmux send-keys -t cougars:moos.2 "clear" ENTER
+
+      tmux send-keys -t cougars:moos.0 "date" ENTER
+
       tmux send-keys -t cougars:moos.1 "cat ~/ros2_ws/moos_tools/coug.bhv" ENTER
       tmux send-keys -t cougars:moos.1 "bash ~/ros2_ws/moos_tools/mission_deploy.sh" # Don't start just yet