From 347279437f10ab0a36d11e5540f58d986e821cea Mon Sep 17 00:00:00 2001
From: Thies Lennart Alff <lennart.alff@gmail.com>
Date: Fri, 3 Nov 2023 09:01:10 +0100
Subject: [PATCH] update

---
 code-block-settings.tex | 33 ++++++++++++++++-----------------
 main.tex                | 20 ++++++++++++--------
 2 files changed, 28 insertions(+), 25 deletions(-)

diff --git a/code-block-settings.tex b/code-block-settings.tex
index 85959b7..637d738 100644
--- a/code-block-settings.tex
+++ b/code-block-settings.tex
@@ -4,24 +4,23 @@
 \usepackage{etoolbox}
 \tcbuselibrary{minted,skins,breakable}
 
-\newtcblisting{pythoncode}[2][]{
-	listing engine=minted,
-	listing only,
-	nobeforeafter,
-	minted style=friendly,
-	minted language=python,
-	minted options={escapeinside=||,fontsize=\scriptsize,numbersep=3mm,texcl=true,linenos,#1},
-	left=5mm,enhanced,
-	overlay={
-			\begin{tcbclipinterior}
-				\fill[black!25] (frame.south west) rectangle ([xshift=5mm]frame.north west);
-			\end{tcbclipinterior}
-		},
-	#2,
-}
+\makeatletter
+\renewenvironment{minted@colorbg}[1]{
+\setlength{\fboxsep}{\z@}
+\def\minted@bgcol{#1}
+\noindent
+\begin{lrbox}{\minted@bgbox}
+\begin{minipage}{\linewidth}}
+{\end{minipage}
+\end{lrbox}%
+\colorbox{\minted@bgcol}{\usebox{\minted@bgbox}}}
+\makeatother
+
+\usemintedstyle{friendly}
+\newminted[pythoncode]{python}{frame=single, framesep=2pt, numbersep=1mm, linenos, fontsize=\tiny, escapeinside=||, bgcolor=black!10}
 
 \def\theFancyVerbLine{%
-  \rmfamily\tiny\arabic{FancyVerbLine}%
-  {\tikz[remember picture,overlay]\node(minted-\arabic{FancyVerbLine}){};}%
+	\ttfamily\tiny\arabic{FancyVerbLine}%
+	%{\tikz[remember picture,overlay]\node(minted-\arabic{FancyVerbLine}){};}%
 }
 
diff --git a/main.tex b/main.tex
index 360df5b..15427fe 100644
--- a/main.tex
+++ b/main.tex
@@ -69,15 +69,15 @@
 	\end{tikzpicture}
     \begin{itemize}
         \color{mumgreen}
-        \item these nodes are included in our template for assignment 1 \pause
-        \item communication between them is already set up! 
+        \item<7-> these nodes are included in our template for assignment 1 \pause
+        \item<8-> communication between them is already set up! 
     \end{itemize}
 \end{frame}
 
 \begin{frame}[fragile]
 	\frametitle{Where to Start?}
 	% \begin{noindent}
-    \begin{pythoncode}[fontsize={\tiny}]{}
+    \begin{pythoncode}
 class DepthControlNode(Node):
 
     def __init__(self):
@@ -96,7 +96,7 @@ class DepthControlNode(Node):
 	\end{pythoncode}
     % \end{noindent}
 	\begin{itemize}
-		\item<2-> \color<4->{gray}{implement callbacks (\texttt{on\_setpoint}, \texttt{on\_depth})} \only<4->{\color{mumbluefont}{$\Rightarrow$ already given in our template!}}
+		\item<2-> \color<4->{gray}{implement callbacks (\texttt{on\_setpoint}, \texttt{on\_depth})} \only<4->{\color{mumbluefont}{$\Rightarrow$ given in template!}}
 		\item<3-> \color<5->{red}{implement the control law}
 	\end{itemize}
 \end{frame}
@@ -107,7 +107,7 @@ class DepthControlNode(Node):
 	\textbf{\Large Again, starting point already provided in our template!}
 	\vskip0.5cm
 	% \begin{noindent}
-        \begin{pythoncode}[fontsize={\tiny}]{}
+        \begin{pythoncode}
 class DepthControlNode(Node):
         |\vdots|
 
@@ -124,6 +124,8 @@ class DepthControlNode(Node):
     \begin{equation}
         u = K_{\mathrm{p}} e + K_\mathrm{i} \int_0^{t} e\,\mathrm{d}\tau + K_{\mathrm{d}}\dot{e}
     \end{equation}
+    \pause
+    \centering
     \begin{tikzpicture}[node distance=10mm and 20mm]
        \coordinate (start);
         \coordinate[right=of start] (first_junction);
@@ -152,9 +154,10 @@ class DepthControlNode(Node):
 	\begin{equation}
 		u = \textcolor{red}{K_{\mathrm{p}} e} + K_\mathrm{i} \int_0^{t} e\,\mathrm{d}\tau + K_{\mathrm{d}}\dot{e}
 	\end{equation}
+    \pause
 	\textbf{\Large Code:}\vskip0.25cm
 	% \begin{noindent}
-        \begin{pythoncode}[fontsize={\tiny}]{}
+        \begin{pythoncode}
 class DepthControlNode(Node):
         |\vdots|
 
@@ -172,8 +175,9 @@ class DepthControlNode(Node):
 	\begin{equation}
 		u = K_{\mathrm{p}} e + \textcolor{mumblue}{K_\mathrm{i} \int_0^{t} e\,\mathrm{d}\tau} + K_{\mathrm{d}}\dot{e}
 	\end{equation}
+    \pause
 	% \begin{noindent}
-        \begin{pythoncode}[fontsize={\tiny}]{}
+        \begin{pythoncode}
 class DepthControlNode(Node):
     def __init__(self):
         self.error_integral = 0.0
@@ -207,7 +211,7 @@ class DepthControlNode(Node):
 	}{}
 	\pause
 	% \begin{noindent}
-        \begin{pythoncode}[fontsize={\tiny}]{}
+        \begin{pythoncode}
 class DepthControlNode(Node):
     def __init__(self):
         self.error_integral = 0.0