Merge pull request #7 from arduino/dev

0.1.0
arduino · Feb 2, 2024 · a8ca070 · a8ca070
2 parents 3ccb00c + a271be5
commit a8ca070
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Showing 16 changed files with 642 additions and 116 deletions.
diff --git a/arduino_alvik.py b/arduino_alvik.py
diff --git a/examples/led_setting.py → examples/leds_setting.py b/examples/led_setting.py → examples/leds_setting.py
@@ -3,17 +3,10 @@
 import sys
 
 alvik = ArduinoAlvik()
-
-alvik.run()
-sleep_ms(100)
-alvik.reset_hw()
+alvik.begin()
 
 while True:
     try:
-        #alvik._set_leds(0xff)
-        #sleep_ms(1000)
-        #alvik._set_leds(0x00)
-        #sleep_ms(1000)
         alvik.set_builtin_led(1)
         sleep_ms(1000)
         alvik.set_illuminator(1)
@@ -22,18 +15,23 @@
         sleep_ms(1000)
         alvik.set_illuminator(0)
         sleep_ms(1000)
-        alvik.set_left_led_color(0,0,1)
+        alvik.left_led.set_color(0, 0, 1)
+        sleep_ms(1000)
+        alvik.left_led.set_color(0, 1, 0)
+        sleep_ms(1000)
+        alvik.left_led.set_color(1, 0, 0)
         sleep_ms(1000)
-        alvik.set_right_led_color(0,0,1)
+        alvik.left_led.set_color(1, 1, 1)
         sleep_ms(1000)
-        alvik.set_left_led_color(0,1,0)
+        alvik.right_led.set_color(0, 0, 1)
         sleep_ms(1000)
-        alvik.set_right_led_color(0,1,0)
+        alvik.right_led.set_color(0, 1, 0)
         sleep_ms(1000)
-        alvik.set_left_led_color(1,0,0)
+        alvik.right_led.set_color(1, 0, 0)
         sleep_ms(1000)
-        alvik.set_right_led_color(1,0,0)
+        alvik.right_led.set_color(1, 1, 1)
         sleep_ms(1000)
     except KeyboardInterrupt as e:
         print('over')
+        alvik.stop()
         sys.exit()
diff --git a/examples/message_reader.py b/examples/message_reader.py
@@ -3,26 +3,27 @@
 import sys
 
 alvik = ArduinoAlvik()
+if alvik.begin() < 0:
+    sys.exit()
 
-alvik.run()
-sleep_ms(100)
-alvik.reset_hw()
 speed = 0
 
 while True:
     try:
         print(f'VER: {alvik.version}')
-        print(f'LSP: {alvik.l_speed}')
-        print(f'RSP: {alvik.r_speed}')
+        print(f'LSP: {alvik.left_wheel.get_speed()}')
+        print(f'RSP: {alvik.right_wheel.get_speed()}')
+        print(f'LPOS: {alvik.left_wheel.get_position()}')
+        print(f'RPOS: {alvik.right_wheel.get_position()}')
         print(f'TOUCH: {alvik.touch_bits}')
         print(f'RGB: {alvik.red} {alvik.green} {alvik.blue}')
         print(f'LINE: {alvik.left_line} {alvik.center_line} {alvik.right_line}')
 
-        alvik.set_speeds(speed, speed)
+        alvik.set_wheels_speed(speed, speed)
         speed = (speed + 1) % 60
         sleep_ms(1000)
     except KeyboardInterrupt as e:
         print('over')
-        alvik.set_speeds(0, 0)
-        break
-sys.exit()
+        alvik.stop()
+        sys.exit()
+
diff --git a/examples/move_wheels.py b/examples/move_wheels.py
@@ -0,0 +1,36 @@
+from arduino_alvik import ArduinoAlvik
+from time import sleep_ms
+import sys
+
+alvik = ArduinoAlvik()
+alvik.begin()
+
+while True:
+    try:
+        alvik.left_wheel.set_speed(10)
+        sleep_ms(1000)
+        print(f'LSP: {alvik.left_wheel.get_speed()}')
+        print(f'RSP: {alvik.right_wheel.get_speed()}')
+
+        alvik.right_wheel.set_speed(10)
+        sleep_ms(1000)
+
+        print(f'LSP: {alvik.left_wheel.get_speed()}')
+        print(f'RSP: {alvik.right_wheel.get_speed()}')
+
+        alvik.left_wheel.set_speed(20)
+        sleep_ms(1000)
+
+        print(f'LSP: {alvik.left_wheel.get_speed()}')
+        print(f'RSP: {alvik.right_wheel.get_speed()}')
+
+        alvik.right_wheel.set_speed(20)
+        sleep_ms(1000)
+
+        print(f'LSP: {alvik.left_wheel.get_speed()}')
+        print(f'RSP: {alvik.right_wheel.get_speed()}')
+
+    except KeyboardInterrupt as e:
+        print('over')
+        alvik.stop()
+        sys.exit()
diff --git a/examples/pose_example.py b/examples/pose_example.py
@@ -0,0 +1,69 @@
+from arduino_alvik import ArduinoAlvik
+from time import sleep_ms
+import sys
+
+alvik = ArduinoAlvik()
+alvik.begin()
+
+while True:
+    try:
+
+        alvik.move(100.0)
+        print("on target after move")
+
+        alvik.move(50.0)
+        print("on target after move")
+
+        alvik.rotate(90.0)
+        print("on target after rotation")
+
+        alvik.rotate(-45.00)
+        print("on target after rotation")
+
+        x, y, theta = alvik.get_pose()
+        print(f'Current pose is x={x}, y={y} ,theta={theta}')
+
+        alvik.reset_pose(0, 0, 0)
+
+        x, y, theta = alvik.get_pose()
+        print(f'Updated pose is x={x}, y={y} ,theta={theta}')
+        sleep_ms(500)
+
+        print("___________NON-BLOCKING__________________")
+
+        alvik.move(50.0, blocking=False)
+        while not alvik.is_target_reached():
+            print(f"Not yet on target received:{alvik.last_ack}")
+        print("on target after move")
+
+        alvik.rotate(45.0, blocking=False)
+        while not alvik.is_target_reached():
+            print(f"Not yet on target received:{alvik.last_ack}")
+        print("on target after rotation")
+
+        alvik.move(100.0, blocking=False)
+        while not alvik.is_target_reached():
+            print(f"Not yet on target received:{alvik.last_ack}")
+        print("on target after move")
+
+        alvik.rotate(-90.00, blocking=False)
+        while not alvik.is_target_reached():
+            print(f"Not yet on target received:{alvik.last_ack}")
+        print("on target after rotation")
+
+        x, y, theta = alvik.get_pose()
+        print(f'Current pose is x={x}, y={y} ,theta={theta}')
+
+        alvik.reset_pose(0, 0, 0)
+
+        x, y, theta = alvik.get_pose()
+        print(f'Updated pose is x={x}, y={y} ,theta={theta}')
+        sleep_ms(500)
+
+        alvik.stop()
+        sys.exit()
+
+    except KeyboardInterrupt as e:
+        print('over')
+        alvik.stop()
+        sys.exit()
diff --git a/examples/read_color_sensor.py b/examples/read_color_sensor.py
@@ -3,18 +3,15 @@
 import sys
 
 alvik = ArduinoAlvik()
-
-alvik.run()
-sleep_ms(1000)
-alvik.reset_hw()
+alvik.begin()
 speed = 0
 
 while True:
     try:
-        r, g, b = alvik.get_color()
+        r, g, b = alvik.get_color_raw()
         print(f'RED: {r}, Green: {g}, Blue: {b}')
         sleep_ms(100)
     except KeyboardInterrupt as e:
         print('over')
-        break
-sys.exit()
+        alvik.stop()
+        sys.exit()
diff --git a/examples/read_imu.py b/examples/read_imu.py
@@ -0,0 +1,18 @@
+from arduino_alvik import ArduinoAlvik
+from time import sleep_ms
+import sys
+
+alvik = ArduinoAlvik()
+alvik.begin()
+speed = 0
+
+while True:
+    try:
+        ax, ay, az = alvik.get_accelerations()
+        gx, gy, gz = alvik.get_gyros()
+        print(f'ax: {ax}, ay: {ay}, az: {az}, gx: {gx}, gy: {gy}, gz: {gz}')
+        sleep_ms(100)
+    except KeyboardInterrupt as e:
+        print('over')
+        alvik.stop()
+        sys.exit()
diff --git a/examples/read_touch.py b/examples/read_touch.py
@@ -3,10 +3,7 @@
 import sys
 
 alvik = ArduinoAlvik()
-
-alvik.run()
-sleep_ms(1000)
-alvik.reset_hw()
+alvik.begin()
 speed = 0
 
 while True:
@@ -30,5 +27,5 @@
         sleep_ms(100)
     except KeyboardInterrupt as e:
         print('over')
-        break
-sys.exit()
+        alvik.stop()
+        sys.exit()
diff --git a/examples/set_pid.py b/examples/set_pid.py
@@ -3,19 +3,16 @@
 import sys
 
 alvik = ArduinoAlvik()
-
-alvik.run()
-sleep_ms(1000)
-alvik.reset_hw()
+alvik.begin()
 speed = 0
 
 while True:
     try:
-        alvik.set_pid('L', 10.0, 1.3, 4.2)
+        alvik.left_wheel.set_pid_gains(10.0, 1.3, 4.2)
         sleep_ms(100)
-        alvik.set_pid('R', 4.0, 13, 1.9)
+        alvik.right_wheel.set_pid_gains(4.0, 13, 1.9)
         sleep_ms(100)
     except KeyboardInterrupt as e:
         print('over')
-        break
-sys.exit()
+        alvik.stop()
+        sys.exit()
diff --git a/examples/wheels_servo.py b/examples/wheels_servo.py
@@ -0,0 +1,36 @@
+from arduino_alvik import ArduinoAlvik
+from time import sleep
+import sys
+
+alvik = ArduinoAlvik()
+alvik.begin()
+
+alvik.left_wheel.reset()
+alvik.right_wheel.reset()
+
+while True:
+    try:
+        alvik.left_wheel.set_position(30)
+        sleep(2)
+        print(f'Left wheel degs: {alvik.left_wheel.get_position()}')
+        print(f'Right wheel degs: {alvik.right_wheel.get_position()}')
+
+        alvik.right_wheel.set_position(10)
+        sleep(2)
+        print(f'Left wheel degs: {alvik.left_wheel.get_position()}')
+        print(f'Right wheel degs: {alvik.right_wheel.get_position()}')
+
+        alvik.left_wheel.set_position(180)
+        sleep(2)
+        print(f'Left wheel degs: {alvik.left_wheel.get_position()}')
+        print(f'Right wheel degs: {alvik.right_wheel.get_position()}')
+
+        alvik.right_wheel.set_position(270)
+        sleep(2)
+        print(f'Left wheel degs: {alvik.left_wheel.get_position()}')
+        print(f'Right wheel degs: {alvik.right_wheel.get_position()}')
+
+    except KeyboardInterrupt as e:
+        print('over')
+        alvik.stop()
+        sys.exit()
diff --git a/examples/move_example.py → examples/wheels_speed.py b/examples/move_example.py → examples/wheels_speed.py
@@ -3,23 +3,19 @@
 import sys
 
 alvik = ArduinoAlvik()
-
-alvik.run()
-sleep_ms(100)
-alvik.reset_hw()
-
+alvik.begin()
 
 while True:
     try:
-        alvik.set_speeds(10, 10)
+        alvik.set_wheels_speed(10, 10)
         sleep_ms(1000)
 
-        alvik.set_speeds(30, 60)
+        alvik.set_wheels_speed(30, 60)
         sleep_ms(1000)
 
-        alvik.set_speeds(60, 30)
+        alvik.set_wheels_speed(60, 30)
         sleep_ms(1000)
     except KeyboardInterrupt as e:
         print('over')
-        alvik.set_speeds(0, 0)
+        alvik.stop()
         sys.exit()
diff --git a/install.bat b/install.bat
@@ -19,11 +19,13 @@ if /i "%1"=="-h" (
 python -m mpremote %port_string% fs rm :arduino_alvik.py
 python -m mpremote %port_string% fs rm :constants.py
 python -m mpremote %port_string% fs rm :pinout_definitions.py
+python -m mpremote %port_string% fs rm :robot_definitions.py
 python -m mpremote %port_string% fs rm :uart.py
 
 python -m mpremote %port_string% fs cp arduino_alvik.py :arduino_alvik.py
 python -m mpremote %port_string% fs cp constants.py :constants.py
 python -m mpremote %port_string% fs cp pinout_definitions.py :pinout_definitions.py
+python -m mpremote %port_string% fs cp robot_definitions.py :robot_definitions.py
 python -m mpremote %port_string% fs cp uart.py :uart.py
 
 echo Installing dependencies

diff --git a/install.sh b/install.sh
@@ -45,11 +45,13 @@ fi
 $python_command -m mpremote $connect_string fs rm :arduino_alvik.py
 $python_command -m mpremote $connect_string fs rm :constants.py
 $python_command -m mpremote $connect_string fs rm :pinout_definitions.py
+$python_command -m mpremote $connect_string fs rm :robot_definitions.py
 $python_command -m mpremote $connect_string fs rm :uart.py
 
 $python_command -m mpremote $connect_string fs cp arduino_alvik.py :arduino_alvik.py
 $python_command -m mpremote $connect_string fs cp constants.py :constants.py
 $python_command -m mpremote $connect_string fs cp pinout_definitions.py :pinout_definitions.py
+$python_command -m mpremote $connect_string fs cp robot_definitions.py :robot_definitions.py
 $python_command -m mpremote $connect_string fs cp uart.py :uart.py
 
 echo "Installing dependencies"

diff --git a/package.json b/package.json
@@ -3,5 +3,5 @@
     ],
     "deps": [
     ],
-    "version": "0.0.7"
+    "version": "0.1.0"
 }