Merge branch 'lukas' into master

.gitignore

@@ -0,0 +1 @@
+Arduino/libraries/*

Aufgaben.txt

@@ -6,6 +6,7 @@ Komponente			|	Priorität	|	wird bearbeitet von
 ESC (Motorsteuerung)		|	hoch		|	Yves
 Servo (Lenkung)			|	hoch		|	Yves
 Funkkommunikation		|	hoch		|	Lukas
+Joystickbasiertes lenken (lib)	|	hoch		|	Lukas
 mechanischer Aufbau		|	hoch		|	Yves
 MPPT Solarlader			|	niedrig		|	nicht in Bearbeitung
 Bluetooth Beacon Tracking	|

Code/Joystick/Joystick.ino

@@ -0,0 +1,42 @@
+#include <Steuerung.h>
+//Informationen Joystick 
+Joystick *joystick;
+const uint16_t xAxisPin = 5;
+const uint16_t yAxisPin = 4;
+const int16_t lowestJoystickValue = 0;
+const int16_t highestJoystickValue = 511;
+const int16_t spaceing = 50;
+
+//Informationen linker Motor
+Motor *left;
+const int16_t lowestPWMValueLeftMotor = -255;
+const int16_t highestPWMValueLeftMotor = 255;
+
+//Informationen rechter Motor
+Motor *right;
+const int16_t lowestPWMValueRightMotor = -255;
+const int16_t highestPWMValueRightMotor = 255;
+
+
+Steuerung *steuerung;
+
+void setup() {
+  joystick = new Joystick(xAxisPin, yAxisPin, lowestJoystickValue, highestJoystickValue, spaceing);
+  left = new Motor(lowestPWMValueLeftMotor, highestPWMValueLeftMotor);
+  right = new Motor(lowestPWMValueRightMotor, highestPWMValueRightMotor);
+  steuerung = new Steuerung(joystick, left, right);
+  Serial.begin(9600);
+}
+
+void loop() {
+  steuerung -> updateValues();
+  
+  //DEBUG
+  Serial.print("Left motor PWMValue: ");
+  Serial.println(left -> PWMValue);
+  Serial.print("Right motor PWMValue: ");
+  Serial.println(right -> PWMValue);
+  //SendValues
+  delay(500);
+
+}

Code/libraries/Joystick/Joystick.cpp

@@ -0,0 +1,17 @@
+#include "Joystick.h"
+
+Joystick::Joystick(uint16_t x_pin, uint16_t y_pin, int16_t lowestValue, int16_t highestValue, uint16_t spaceing) {
+  this -> x_pin = x_pin;
+  this -> y_pin = y_pin;
+  this -> lowestValue = lowestValue;
+  this -> highestValue = highestValue;
+  this -> spaceing = spaceing;
+}
+
+void Joystick::checkJoystickInput() {
+  this -> xAxisReading = analogRead(x_pin);
+  this -> yAxisReading = analogRead(y_pin);
+  //9-bit reichen, der ADC schafft bestenfalls 8-bit praezision
+  (this -> xAxisReading) = (this -> xAxisReading) >> 1;
+  (this -> yAxisReading) = (this -> yAxisReading) >> 1;
+}

Code/libraries/Joystick/Joystick.h

@@ -0,0 +1,22 @@
+#ifndef __JOYSTICK__
+#define __JOYSTICK__
+
+#include "Motor.h"
+
+class Joystick {
+    // Pin belegungen
+  private:
+    uint16_t x_pin; // Pin Nummer an dem der X-output des Joysticks angebunden ist.
+    uint16_t y_pin; // Pin Nummer an dem der X-output des Joysticks angebunden ist.
+  public:
+    int16_t lowestValue;
+    int16_t highestValue;
+    uint16_t spaceing; // Abstand vom mittelpunkt um zappeln zu verhindern.
+    int16_t xAxisReading;
+    int16_t yAxisReading;
+
+  public:
+    Joystick(uint16_t x_pin, uint16_t y_pin, int16_t lowestValue, int16_t highestValue, uint16_t spaceing);
+    void checkJoystickInput();
+};
+#endif

Code/libraries/Joystick/Motor.cpp

@@ -0,0 +1,7 @@
+#include "Motor.h"
+
+Motor::Motor(int16_t lowestValue, int16_t highestValue) {
+  this -> highestValue = highestValue;
+  this -> lowestValue = lowestValue;
+  this -> PWMValue = 0;
+}

Code/libraries/Joystick/Motor.h

@@ -0,0 +1,15 @@
+#ifndef __MOTOR__
+#define __MOTOR__
+
+#include <Arduino.h>
+
+class Motor {
+  public:
+    int16_t highestValue;
+    int16_t lowestValue;
+    int16_t PWMValue;
+
+  public:
+    Motor(int16_t lowestValue, int16_t highestValue);
+};
+#endif

Code/libraries/Joystick/Steuerung.cpp

@@ -0,0 +1,67 @@
+#include "Steuerung.h"
+
+Steuerung::Steuerung(Joystick* joystick, Motor* left, Motor* right) {
+  this -> joystick = joystick;
+  this -> left = left;
+  this -> right = right;
+}
+
+void Steuerung::mapReadingsToMatchPWMValues() {
+  (this -> xValue) = map(joystick -> xAxisReading, joystick -> lowestValue, joystick -> highestValue, left -> lowestValue, left -> highestValue);
+  (this -> yValue) = map(joystick -> yAxisReading, joystick -> lowestValue, joystick -> highestValue, right -> highestValue, right -> lowestValue);
+}
+
+void Steuerung::applyPWMValuesDependingOnReadings() {
+  if ((abs(this -> xValue) > (joystick -> spaceing)) || (abs(this -> yValue) > (joystick -> spaceing))) {
+    if (this -> yValue >= 0) {
+      if (this -> xValue >= 0) {
+        //+y , +x
+        (left -> PWMValue) = this -> yValue;
+        (right -> PWMValue) = (this -> yValue) - (this -> xValue);
+        if ((this -> xValue) >= (this -> yValue)) {
+          (left -> PWMValue) = 255;
+          (right -> PWMValue) = -255;
+        }
+      } else {
+        //+y , -x
+        (left -> PWMValue) = this -> yValue;
+        (right -> PWMValue) = (this -> yValue) + (this -> xValue);
+        if (abs(this -> xValue) >= (this -> yValue)) {
+          (left -> PWMValue) = -255;
+          (right -> PWMValue) = 255;
+        }
+      }
+    } else {
+      if (this -> xValue >= 0) {
+        //-y , +x
+        (left -> PWMValue) = this -> yValue;
+        (right -> PWMValue) = (this -> yValue) + (this -> xValue);
+        if (this -> xValue >= abs(this -> yValue)) {
+          (left -> PWMValue) = 255;
+          (right -> PWMValue) = -255;
+        }
+      } else {
+        //-y , -x
+        (left -> PWMValue) = this -> yValue;
+        (right -> PWMValue) = (this -> yValue) - (this -> xValue);
+        if (abs(this -> xValue) >= abs(this -> yValue)) {
+          (left -> PWMValue) = -255;
+          (right -> PWMValue) = 255;
+        }
+      }
+    }
+    if (abs(this -> xValue) < (joystick -> spaceing)) {
+      (left -> PWMValue) = this -> yValue;
+      (right -> PWMValue) = this -> yValue;
+    }
+  } else {
+    (left -> PWMValue) = 0;
+    (right -> PWMValue) = 0;
+  }
+
+}
+void Steuerung::updateValues() {
+  joystick -> checkJoystickInput();
+  mapReadingsToMatchPWMValues();
+  applyPWMValuesDependingOnReadings();
+}

Code/libraries/Joystick/Steuerung.h

@@ -0,0 +1,25 @@
+#ifndef __STEUERUNG__
+#define __STEUERUNG__
+
+#include "Motor.h"
+#include "Joystick.h"
+
+class Steuerung {
+  private:
+    Joystick* joystick;
+    Motor* left;
+    Motor* right;
+    int16_t xValue;
+    int16_t yValue;
+
+  public:
+    Steuerung(Joystick* joystick, Motor* left, Motor* right);
+    void updateValues();
+
+  private:
+    void mapReadingsToMatchPWMValues();
+    void applyPWMValuesDependingOnReadings();
+
+
+};
+#endif

Code/libraries/README.MD

@@ -0,0 +1,4 @@
+Im Ordner libraries befindet sich die Joystick librarie,
+welche in den Ordner ...Arduino/libraries verschoben werden muss.
+Die Joystick.ino enthält eine beispielhafte verwendung der lib,
+sie kann mittels Arduino IDE Compiliert und auf den Arduino geuploaded werden.

Latex/.gitignore

@@ -0,0 +1,276 @@
+## Core latex/pdflatex auxiliary files:
+*.aux
+*.lof
+*.log
+*.lot
+*.fls
+*.out
+*.toc
+*.fmt
+*.fot
+*.cb
+*.cb2
+.*.lb
+
+## Intermediate documents:
+*.dvi
+*.xdv
+*-converted-to.*
+# these rules might exclude image files for figures etc.
+# *.ps
+# *.eps
+# *.pdf
+
+## Generated if empty string is given at "Please type another file name for output:"
+.pdf
+
+## Bibliography auxiliary files (bibtex/biblatex/biber):
+*.bbl
+*.bcf
+*.blg
+*-blx.aux
+*-blx.bib
+*.run.xml
+
+## Build tool auxiliary files:
+*.fdb_latexmk
+*.synctex
+*.synctex(busy)
+*.synctex.gz
+*.synctex.gz(busy)
+*.pdfsync
+
+## Build tool directories for auxiliary files
+# latexrun
+latex.out/
+
+## Auxiliary and intermediate files from other packages:
+# algorithms
+*.alg
+*.loa
+
+# achemso
+acs-*.bib
+
+# amsthm
+*.thm
+
+# beamer
+*.nav
+*.pre
+*.snm
+*.vrb
+
+# changes
+*.soc
+
+# comment
+*.cut
+
+# cprotect
+*.cpt
+
+# elsarticle (documentclass of Elsevier journals)
+*.spl
+
+# endnotes
+*.ent
+
+# fixme
+*.lox
+
+# feynmf/feynmp
+*.mf
+*.mp
+*.t[1-9]
+*.t[1-9][0-9]
+*.tfm
+
+#(r)(e)ledmac/(r)(e)ledpar
+*.end
+*.?end
+*.[1-9]
+*.[1-9][0-9]
+*.[1-9][0-9][0-9]
+*.[1-9]R
+*.[1-9][0-9]R
+*.[1-9][0-9][0-9]R
+*.eledsec[1-9]
+*.eledsec[1-9]R
+*.eledsec[1-9][0-9]
+*.eledsec[1-9][0-9]R
+*.eledsec[1-9][0-9][0-9]
+*.eledsec[1-9][0-9][0-9]R
+
+# glossaries
+*.acn
+*.acr
+*.glg
+*.glo
+*.gls
+*.glsdefs
+*.lzo
+*.lzs
+
+# uncomment this for glossaries-extra (will ignore makeindex's style files!)
+# *.ist
+
+# gnuplottex
+*-gnuplottex-*
+
+# gregoriotex
+*.gaux
+*.gtex
+
+# htlatex
+*.4ct
+*.4tc
+*.idv
+*.lg
+*.trc
+*.xref
+
+# hyperref
+*.brf
+
+# knitr
+*-concordance.tex
+# TODO Comment the next line if you want to keep your tikz graphics files
+*.tikz
+*-tikzDictionary
+
+# listings
+*.lol
+
+# luatexja-ruby
+*.ltjruby
+
+# makeidx
+*.idx
+*.ilg
+*.ind
+
+# minitoc
+*.maf
+*.mlf
+*.mlt
+*.mtc[0-9]*
+*.slf[0-9]*
+*.slt[0-9]*
+*.stc[0-9]*
+
+# minted
+_minted*
+*.pyg
+
+# morewrites
+*.mw
+
+# nomencl
+*.nlg
+*.nlo
+*.nls
+
+# pax
+*.pax
+
+# pdfpcnotes
+*.pdfpc
+
+# sagetex
+*.sagetex.sage
+*.sagetex.py
+*.sagetex.scmd
+
+# scrwfile
+*.wrt
+
+# sympy
+*.sout
+*.sympy
+sympy-plots-for-*.tex/
+
+# pdfcomment
+*.upa
+*.upb
+
+# pythontex
+*.pytxcode
+pythontex-files-*/
+
+# tcolorbox
+*.listing
+
+# thmtools
+*.loe
+
+# TikZ & PGF
+*.dpth
+*.md5
+*.auxlock
+
+# todonotes
+*.tdo
+
+# vhistory
+*.hst
+*.ver
+
+# easy-todo
+*.lod
+
+# xcolor
+*.xcp
+
+# xmpincl
+*.xmpi
+
+# xindy
+*.xdy
+
+# xypic precompiled matrices and outlines
+*.xyc
+*.xyd
+
+# endfloat
+*.ttt
+*.fff
+
+# Latexian
+TSWLatexianTemp*
+
+## Editors:
+# WinEdt
+*.bak
+*.sav
+
+# Texpad
+.texpadtmp
+
+# LyX
+*.lyx~
+
+# Kile
+*.backup
+
+# gummi
+.*.swp
+
+# KBibTeX
+*~[0-9]*
+
+# TeXnicCenter
+*.tps
+
+# auto folder when using emacs and auctex
+./auto/*
+*.el
+
+# expex forward references with \gathertags
+*-tags.tex
+
+# standalone packages
+*.sta
+
+# Makeindex log files
+*.lpz

Latex/main.tex

@@ -0,0 +1,139 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Lachaise Assignment
+% LaTeX Template
+% Version 1.0 (26/6/2018)
+%
+% This template originates from:
+% http://www.LaTeXTemplates.com
+%
+% Authors:
+% Marion Lachaise & François Févotte
+% Vel (vel@LaTeXTemplates.com)
+%
+% License:
+% CC BY-NC-SA 3.0 (http://creativecommons.org/licenses/by-nc-sa/3.0/)
+% 
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%----------------------------------------------------------------------------------------
+%	PACKAGES AND OTHER DOCUMENT CONFIGURATIONS
+%----------------------------------------------------------------------------------------
+
+\documentclass{article}
+
+\input{structure.tex} % Include the file specifying the document structure and custom commands
+
+%----------------------------------------------------------------------------------------
+%	INFORMATION
+%----------------------------------------------------------------------------------------
+
+\title{Open Source Roboter Plattform} % Title
+
+\author{Lukas Reichwein\\ Yves Ehrlich\\ Nick Gnoevoj}
+
+\date{University of Applied Science Fulda --- \today} % University, school and/or department name(s) and a date
+
+%----------------------------------------------------------------------------------------
+
+\begin{document}
+
+\maketitle % Print the title
+\tableofcontents % Inhaltsverzeichniss, Achtung zweimal Compilerien!
+\newpage
+
+%----------------------------------------------------------------------------------------
+%	INTRODUCTION
+%----------------------------------------------------------------------------------------
+
+\section*{Vorwort} % Unnumbered section
+
+	Motivation, Basis, Ziel des Projektes.
+
+\newpage
+%----------------------------------------------------------------------------------------
+%	Latex Beispeiele
+%----------------------------------------------------------------------------------------
+\section{Beispiele für Spezielle LaTeX Strukturen}
+
+\begin{info} % Information block
+	benutze den Info block um wichtige informationen hervorzuheben.
+\end{info}
+
+%----------------------------------------------------------------------------------------
+%	Beispiel für Pseudo Code.
+%----------------------------------------------------------------------------------------
+
+\begin{center}
+	\begin{minipage}{0.5\linewidth} % Adjust the minipage width to accomodate for the length of algorithm lines
+		\begin{algorithm}[H]
+			\KwIn{$(a, b)$, two floating-point numbers}  % Algorithm inputs
+			\KwResult{$(c, d)$, such that $a+b = c + d$} % Algorithm outputs/results
+			\medskip
+			\If{$\vert b\vert > \vert a\vert$}{
+				exchange $a$ and $b$ \;
+			}
+			$c \leftarrow a + b$ \;
+			$z \leftarrow c - a$ \;
+			$d \leftarrow b - z$ \;
+			{\bf return} $(c,d)$ \;
+			\caption{\texttt{FastTwoSum}} % Algorithm name
+			\label{alg:fastTwoSum}   % optional label to refer to
+		\end{algorithm}
+	\end{minipage}
+\end{center}
+
+%----------------------------------------------------------------------------------------
+%	Beispiel für Code Snippets.
+%----------------------------------------------------------------------------------------
+
+% File contents
+\begin{file}[hello.py]
+\begin{lstlisting}[language=Python]
+#! /usr/bin/python
+
+import sys
+sys.stdout.write("Hello World!\n")
+\end{lstlisting}
+\end{file}
+
+%----------------------------------------------------------------------------------------
+%	Example for Console Prints (can also be usefull for displaying Serial monitor)
+%----------------------------------------------------------------------------------------
+
+
+% Command-line "screenshot"
+\begin{commandline}
+	\begin{verbatim}
+		$ chmod +x hello.py
+		$ ./hello.py
+
+		Hello World!S
+	\end{verbatim}
+\end{commandline}
+
+
+% Warning text, with a custom title
+\begin{warn}[Notice:]
+  Warungen könnten auch nützlich sein, immerhin braucht der RF24 3.3V und nicht 5V
+\end{warn}
+
+%----------------------------------------------------------------------------------------
+%	Beispiel für ein Bild.
+%----------------------------------------------------------------------------------------
+
+\begin{figure}[h]
+	\includegraphics[width=8cm]{fish.png}
+	\centering
+\end{figure}
+
+%----------------------------------------------------------------------------------------
+%	BIBLIOGRAPHY
+%----------------------------------------------------------------------------------------
+
+\bibliographystyle{unsrt}
+
+\bibliography{sample.bib}
+
+%----------------------------------------------------------------------------------------
+
+\end{document}

Latex/references.bib

@@ -0,0 +1,19 @@
+@BOOK{Smith:2012qr,
+	title = {{B}ook {T}itle},
+	publisher = {Publisher},
+	author = {Smith, J.~M. and Jones, A.~B.},
+	year = {2012},
+	edition = {7th},
+}
+
+@ARTICLE{Smith:2013jd,
+	author = {Jones, A.~B. and Smith, J.~M.},
+	title = {{A}rticle {T}itle},
+	journal = {Journal title},
+	year = {2013},
+	volume = {13},
+	pages = {123-456},
+	number = {52},
+	month = {March},
+	publisher = {Publisher}
+}

Latex/structure.tex

@@ -0,0 +1,233 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Lachaise Assignment
+% Structure Specification File
+% Version 1.0 (26/6/2018)
+%
+% This template originates from:
+% http://www.LaTeXTemplates.com
+%
+% Authors:
+% Marion Lachaise & François Févotte
+% Vel (vel@LaTeXTemplates.com)
+%
+% License:
+% CC BY-NC-SA 3.0 (http://creativecommons.org/licenses/by-nc-sa/3.0/)
+% 
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%----------------------------------------------------------------------------------------
+%	PACKAGES AND OTHER DOCUMENT CONFIGURATIONS
+%----------------------------------------------------------------------------------------
+
+\usepackage[ngerman]{babel} %UMLAUTE
+
+\usepackage{amsmath,amsfonts,stmaryrd,amssymb} % Math packages
+
+\usepackage{enumerate} % Custom item numbers for enumerations
+
+\usepackage[ruled]{algorithm2e} % Algorithms
+
+\usepackage[framemethod=tikz]{mdframed} % Allows defining custom boxed/framed environments
+
+\usepackage{listings} % File listings, with syntax highlighting
+\lstset{
+	basicstyle=\ttfamily, % Typeset listings in monospace font
+}
+
+\usepackage{graphicx}
+%Path relative to the main .tex file 
+\graphicspath{ {images/} }
+
+%----------------------------------------------------------------------------------------
+%	DOCUMENT MARGINS
+%----------------------------------------------------------------------------------------
+
+\usepackage{geometry} % Required for adjusting page dimensions and margins
+
+\geometry{
+	paper=a4paper, % Paper size, change to letterpaper for US letter size
+	top=2.5cm, % Top margin
+	bottom=3cm, % Bottom margin
+	left=2.5cm, % Left margin
+	right=2.5cm, % Right margin
+	headheight=14pt, % Header height
+	footskip=1.5cm, % Space from the bottom margin to the baseline of the footer
+	headsep=1.2cm, % Space from the top margin to the baseline of the header
+	%showframe, % Uncomment to show how the type block is set on the page
+}
+
+%----------------------------------------------------------------------------------------
+%	FONTS
+%----------------------------------------------------------------------------------------
+
+\usepackage[utf8]{inputenc} % Required for inputting international characters
+\usepackage[T1]{fontenc} % Output font encoding for international characters
+
+\usepackage{XCharter} % Use the XCharter fonts
+
+%----------------------------------------------------------------------------------------
+%	COMMAND LINE ENVIRONMENT
+%----------------------------------------------------------------------------------------
+
+% Usage:
+% \begin{commandline}
+%	\begin{verbatim}
+%		$ ls
+%		
+%		Applications	Desktop	...
+%	\end{verbatim}
+% \end{commandline}
+
+\mdfdefinestyle{commandline}{
+	leftmargin=10pt,
+	rightmargin=10pt,
+	innerleftmargin=15pt,
+	middlelinecolor=black!50!white,
+	middlelinewidth=2pt,
+	frametitlerule=false,
+	backgroundcolor=black!5!white,
+	frametitle={Command Line},
+	frametitlefont={\normalfont\sffamily\color{white}\hspace{-1em}},
+	frametitlebackgroundcolor=black!50!white,
+	nobreak,
+}
+
+% Define a custom environment for command-line snapshots
+\newenvironment{commandline}{
+	\medskip
+	\begin{mdframed}[style=commandline]
+}{
+	\end{mdframed}
+	\medskip
+}
+
+%----------------------------------------------------------------------------------------
+%	FILE CONTENTS ENVIRONMENT
+%----------------------------------------------------------------------------------------
+
+% Usage:
+% \begin{file}[optional filename, defaults to "File"]
+%	File contents, for example, with a listings environment
+% \end{file}
+
+\mdfdefinestyle{file}{
+	innertopmargin=1.6\baselineskip,
+	innerbottommargin=0.8\baselineskip,
+	topline=false, bottomline=false,
+	leftline=false, rightline=false,
+	leftmargin=2cm,
+	rightmargin=2cm,
+	singleextra={%
+		\draw[fill=black!10!white](P)++(0,-1.2em)rectangle(P-|O);
+		\node[anchor=north west]
+		at(P-|O){\ttfamily\mdfilename};
+		%
+		\def\l{3em}
+		\draw(O-|P)++(-\l,0)--++(\l,\l)--(P)--(P-|O)--(O)--cycle;
+		\draw(O-|P)++(-\l,0)--++(0,\l)--++(\l,0);
+	},
+	nobreak,
+}
+
+% Define a custom environment for file contents
+\newenvironment{file}[1][File]{ % Set the default filename to "File"
+	\medskip
+	\newcommand{\mdfilename}{#1}
+	\begin{mdframed}[style=file]
+}{
+	\end{mdframed}
+	\medskip
+}
+
+%----------------------------------------------------------------------------------------
+%	NUMBERED QUESTIONS ENVIRONMENT
+%----------------------------------------------------------------------------------------
+
+% Usage:
+% \begin{question}[optional title]
+%	Question contents
+% \end{question}
+
+\mdfdefinestyle{question}{
+	innertopmargin=1.2\baselineskip,
+	innerbottommargin=0.8\baselineskip,
+	roundcorner=5pt,
+	nobreak,
+	singleextra={%
+		\draw(P-|O)node[xshift=1em,anchor=west,fill=white,draw,rounded corners=5pt]{%
+		Question \theQuestion\questionTitle};
+	},
+}
+
+\newcounter{Question} % Stores the current question number that gets iterated with each new question
+
+% Define a custom environment for numbered questions
+\newenvironment{question}[1][\unskip]{
+	\bigskip
+	\stepcounter{Question}
+	\newcommand{\questionTitle}{~#1}
+	\begin{mdframed}[style=question]
+}{
+	\end{mdframed}
+	\medskip
+}
+
+%----------------------------------------------------------------------------------------
+%	WARNING TEXT ENVIRONMENT
+%----------------------------------------------------------------------------------------
+
+% Usage:
+% \begin{warn}[optional title, defaults to "Warning:"]
+%	Contents
+% \end{warn}
+
+\mdfdefinestyle{warning}{
+	topline=false, bottomline=false,
+	leftline=false, rightline=false,
+	nobreak,
+	singleextra={%
+		\draw(P-|O)++(-0.5em,0)node(tmp1){};
+		\draw(P-|O)++(0.5em,0)node(tmp2){};
+		\fill[black,rotate around={45:(P-|O)}](tmp1)rectangle(tmp2);
+		\node at(P-|O){\color{white}\scriptsize\bf !};
+		\draw[very thick](P-|O)++(0,-1em)--(O);%--(O-|P);
+	}
+}
+
+% Define a custom environment for warning text
+\newenvironment{warn}[1][Warning:]{ % Set the default warning to "Warning:"
+	\medskip
+	\begin{mdframed}[style=warning]
+		\noindent{\textbf{#1}}
+}{
+	\end{mdframed}
+}
+
+%----------------------------------------------------------------------------------------
+%	INFORMATION ENVIRONMENT
+%----------------------------------------------------------------------------------------
+
+% Usage:
+% \begin{info}[optional title, defaults to "Info:"]
+% 	contents
+% 	\end{info}
+
+\mdfdefinestyle{info}{%
+	topline=false, bottomline=false,
+	leftline=false, rightline=false,
+	nobreak,
+	singleextra={%
+		\fill[black](P-|O)circle[radius=0.4em];
+		\node at(P-|O){\color{white}\scriptsize\bf i};
+		\draw[very thick](P-|O)++(0,-0.8em)--(O);%--(O-|P);
+	}
+}
+
+% Define a custom environment for information
+\newenvironment{info}[1][Info:]{ % Set the default title to "Info:"
+	\medskip
+	\begin{mdframed}[style=info]
+		\noindent{\textbf{#1}}
+}{
+	\end{mdframed}
+}