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Merge pull request #1 from arduino/api_update
Api update
2 parents 3ccb00c + bfbbffd commit aa24aca

10 files changed

+342
-84
lines changed

‎arduino_alvik.py

Lines changed: 263 additions & 38 deletions
Large diffs are not rendered by default.

‎examples/led_setting.py renamed to ‎examples/leds_setting.py

Lines changed: 15 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -3,17 +3,14 @@
33
import sys
44

55
alvik = ArduinoAlvik()
6-
7-
alvik.run()
8-
sleep_ms(100)
9-
alvik.reset_hw()
6+
alvik.begin()
107

118
while True:
129
try:
13-
#alvik._set_leds(0xff)
14-
#sleep_ms(1000)
15-
#alvik._set_leds(0x00)
16-
#sleep_ms(1000)
10+
alvik._set_leds(0xff)
11+
sleep_ms(1000)
12+
alvik._set_leds(0x00)
13+
sleep_ms(1000)
1714
alvik.set_builtin_led(1)
1815
sleep_ms(1000)
1916
alvik.set_illuminator(1)
@@ -22,17 +19,21 @@
2219
sleep_ms(1000)
2320
alvik.set_illuminator(0)
2421
sleep_ms(1000)
25-
alvik.set_left_led_color(0,0,1)
22+
alvik.left_led.set_color(0, 0, 1)
23+
sleep_ms(1000)
24+
alvik.left_led.set_color(0, 1, 0)
25+
sleep_ms(1000)
26+
alvik.left_led.set_color(1, 0, 0)
2627
sleep_ms(1000)
27-
alvik.set_right_led_color(0,0,1)
28+
alvik.left_led.set_color(1, 1, 1)
2829
sleep_ms(1000)
29-
alvik.set_left_led_color(0,1,0)
30+
alvik.right_led.set_color(0, 0, 1)
3031
sleep_ms(1000)
31-
alvik.set_right_led_color(0,1,0)
32+
alvik.right_led.set_color(0, 1, 0)
3233
sleep_ms(1000)
33-
alvik.set_left_led_color(1,0,0)
34+
alvik.right_led.set_color(1, 0, 0)
3435
sleep_ms(1000)
35-
alvik.set_right_led_color(1,0,0)
36+
alvik.right_led.set_color(1, 1, 1)
3637
sleep_ms(1000)
3738
except KeyboardInterrupt as e:
3839
print('over')

‎examples/message_reader.py

Lines changed: 6 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -3,26 +3,25 @@
33
import sys
44

55
alvik = ArduinoAlvik()
6+
if alvik.begin() < 0:
7+
sys.exit()
68

7-
alvik.run()
8-
sleep_ms(100)
9-
alvik.reset_hw()
109
speed = 0
1110

1211
while True:
1312
try:
1413
print(f'VER: {alvik.version}')
15-
print(f'LSP: {alvik.l_speed}')
16-
print(f'RSP: {alvik.r_speed}')
14+
print(f'LSP: {alvik.left_wheel.get_speed()}')
15+
print(f'RSP: {alvik.left_wheel.get_speed()}')
1716
print(f'TOUCH: {alvik.touch_bits}')
1817
print(f'RGB: {alvik.red} {alvik.green} {alvik.blue}')
1918
print(f'LINE: {alvik.left_line} {alvik.center_line} {alvik.right_line}')
2019

21-
alvik.set_speeds(speed, speed)
20+
alvik.set_wheels_speed(speed, speed)
2221
speed = (speed + 1) % 60
2322
sleep_ms(1000)
2423
except KeyboardInterrupt as e:
2524
print('over')
26-
alvik.set_speeds(0, 0)
25+
alvik.stop()
2726
break
2827
sys.exit()

‎examples/move_example.py

Lines changed: 5 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -3,23 +3,19 @@
33
import sys
44

55
alvik = ArduinoAlvik()
6-
7-
alvik.run()
8-
sleep_ms(100)
9-
alvik.reset_hw()
10-
6+
alvik.begin()
117

128
while True:
139
try:
14-
alvik.set_speeds(10, 10)
10+
alvik.set_wheels_speed(10, 10)
1511
sleep_ms(1000)
1612

17-
alvik.set_speeds(30, 60)
13+
alvik.set_wheels_speed(30, 60)
1814
sleep_ms(1000)
1915

20-
alvik.set_speeds(60, 30)
16+
alvik.set_wheels_speed(60, 30)
2117
sleep_ms(1000)
2218
except KeyboardInterrupt as e:
2319
print('over')
24-
alvik.set_speeds(0, 0)
20+
alvik.stop()
2521
sys.exit()

‎examples/move_wheels.py

Lines changed: 36 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,36 @@
1+
from arduino_alvik import ArduinoAlvik
2+
from time import sleep_ms
3+
import sys
4+
5+
alvik = ArduinoAlvik()
6+
alvik.begin()
7+
8+
while True:
9+
try:
10+
alvik.left_wheel.set_speed(10)
11+
sleep_ms(1000)
12+
print(f'LSP: {alvik.left_wheel.get_speed()}')
13+
print(f'RSP: {alvik.right_wheel.get_speed()}')
14+
15+
alvik.right_wheel.set_speed(10)
16+
sleep_ms(1000)
17+
18+
print(f'LSP: {alvik.left_wheel.get_speed()}')
19+
print(f'RSP: {alvik.right_wheel.get_speed()}')
20+
21+
alvik.left_wheel.set_speed(20)
22+
sleep_ms(1000)
23+
24+
print(f'LSP: {alvik.left_wheel.get_speed()}')
25+
print(f'RSP: {alvik.right_wheel.get_speed()}')
26+
27+
alvik.right_wheel.set_speed(20)
28+
sleep_ms(1000)
29+
30+
print(f'LSP: {alvik.left_wheel.get_speed()}')
31+
print(f'RSP: {alvik.right_wheel.get_speed()}')
32+
33+
except KeyboardInterrupt as e:
34+
print('over')
35+
alvik.stop()
36+
sys.exit()

‎examples/read_color_sensor.py

Lines changed: 1 addition & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -3,10 +3,7 @@
33
import sys
44

55
alvik = ArduinoAlvik()
6-
7-
alvik.run()
8-
sleep_ms(1000)
9-
alvik.reset_hw()
6+
alvik.begin()
107
speed = 0
118

129
while True:

‎examples/read_touch.py

Lines changed: 1 addition & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -3,10 +3,7 @@
33
import sys
44

55
alvik = ArduinoAlvik()
6-
7-
alvik.run()
8-
sleep_ms(1000)
9-
alvik.reset_hw()
6+
alvik.begin()
107
speed = 0
118

129
while True:

‎examples/set_pid.py

Lines changed: 1 addition & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -3,10 +3,7 @@
33
import sys
44

55
alvik = ArduinoAlvik()
6-
7-
alvik.run()
8-
sleep_ms(1000)
9-
alvik.reset_hw()
6+
alvik.begin()
107
speed = 0
118

129
while True:

‎pinout_definitions.py

Lines changed: 6 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,9 @@
11
from machine import Pin
22

33
# NANO to STM32 PINS
4-
D2 = 5 # ESP32 pin5 -> nano D2
5-
D3 = 6 # ESP32 pin6 -> nano D3
6-
BOOT0_STM32 = Pin(D2, Pin.OUT) # nano D2 -> STM32 Boot0
7-
RESET_STM32 = Pin(D3, Pin.OUT) # nano D2 -> STM32 NRST
4+
D2 = 5 # ESP32 pin5 -> nano D2
5+
D3 = 6 # ESP32 pin6 -> nano D3
6+
A6 = 13 # ESP32 pin13 -> nano A6/D23
7+
BOOT0_STM32 = Pin(D2, Pin.OUT) # nano D2 -> STM32 Boot0
8+
RESET_STM32 = Pin(D3, Pin.OUT) # nano D2 -> STM32 NRST
9+
CHECK_STM32 = Pin(A6, Pin.IN, Pin.PULL_UP) # nano A6/D23 -> STM32 ROBOT_CHK

‎robot_definitions.py

Lines changed: 8 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,8 @@
1+
# Motor control and mechanical parameters
2+
MOTOR_KP_DEFAULT = 32.0
3+
MOTOR_KI_DEFAULT = 450.0
4+
MOTOR_KD_DEFAULT = 0.0
5+
MOTOR_MAX_RPM = 70
6+
7+
# Wheels parameters
8+
WHEEL_DIAMETER_MM = 34

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