feat: delays on rotate move and reset_pose

Author: eigen-value

arduino_alvik.py

@@ -102,6 +102,7 @@ def rotate(self, angle: float):
         :param angle:
         :return:
         """
+        sleep_ms(200)
         self.packeter.packetC1F(ord('R'), angle)
         uart.write(self.packeter.msg[0:self.packeter.msg_size])
 
@@ -111,6 +112,7 @@ def move(self, distance: float):
         :param distance:
         :return:
         """
+        sleep_ms(200)
         self.packeter.packetC1F(ord('G'), distance)
         uart.write(self.packeter.msg[0:self.packeter.msg_size])
 
@@ -229,6 +231,7 @@ def reset_pose(self, x: float, y: float, theta: float):
         """
         self.packeter.packetC3F(ord('Z'), x, y, theta)
         uart.write(self.packeter.msg[0:self.packeter.msg_size])
+        sleep_ms(1000)
 
     def get_pose(self) -> (float, float, float):
         """

pinout_definitions.py

@@ -3,7 +3,15 @@
 # NANO to STM32 PINS
 D2 = 5                                          # ESP32 pin5 -> nano D2
 D3 = 6                                          # ESP32 pin6 -> nano D3
+D4 = 7                                          # ESP32 pin7 -> nano D4
+
+A4 = 11                                         # ESP32 pin11 SDA -> nano A4
+A5 = 12                                         # ESP32 pin12 SCL -> nano A5
 A6 = 13                                         # ESP32 pin13 -> nano A6/D23
+
 BOOT0_STM32 = Pin(D2, Pin.OUT)                  # nano D2 -> STM32 Boot0
-RESET_STM32 = Pin(D3, Pin.OUT)                  # nano D2 -> STM32 NRST
+RESET_STM32 = Pin(D3, Pin.OUT)                  # nano D3 -> STM32 NRST
+NANO_CHK = Pin(D4, Pin.OUT)                     # nano D3 -> STM32 NRST
 CHECK_STM32 = Pin(A6, Pin.IN, Pin.PULL_UP)      # nano A6/D23 -> STM32 ROBOT_CHK
+ESP32_SDA = Pin(A4, Pin.OUT)
+ESP32_SCL = Pin(A5, Pin.OUT)