Api update

examples/led_setting.py → examples/leds_setting.py

@@ -3,17 +3,14 @@
 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_leds(0xff)
+        sleep_ms(1000)
+        alvik._set_leds(0x00)
+        sleep_ms(1000)
         alvik.set_builtin_led(1)
         sleep_ms(1000)
         alvik.set_illuminator(1)
@@ -22,17 +19,21 @@
         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')

examples/message_reader.py

@@ -3,26 +3,25 @@
 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.left_wheel.get_speed()}')
         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)
+        alvik.stop()
         break
 sys.exit()

examples/move_example.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()

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()

examples/read_color_sensor.py

@@ -3,10 +3,7 @@
 import sys
 
 alvik = ArduinoAlvik()
-
-alvik.run()
-sleep_ms(1000)
-alvik.reset_hw()
+alvik.begin()
 speed = 0
 
 while True:

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:

examples/set_pid.py

@@ -3,10 +3,7 @@
 import sys
 
 alvik = ArduinoAlvik()
-
-alvik.run()
-sleep_ms(1000)
-alvik.reset_hw()
+alvik.begin()
 speed = 0
 
 while True:

pinout_definitions.py

@@ -1,7 +1,9 @@
 from machine import Pin
 
 # NANO to STM32 PINS
-D2 = 5                              # ESP32 pin5 -> nano D2
-D3 = 6                              # ESP32 pin6 -> nano D3
-BOOT0_STM32 = Pin(D2, Pin.OUT)      # nano D2 -> STM32 Boot0
-RESET_STM32 = Pin(D3, Pin.OUT)      # nano D2 -> STM32 NRST
+D2 = 5                                          # ESP32 pin5 -> nano D2
+D3 = 6                                          # ESP32 pin6 -> nano D3
+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
+CHECK_STM32 = Pin(A6, Pin.IN, Pin.PULL_UP)      # nano A6/D23 -> STM32 ROBOT_CHK

robot_definitions.py

@@ -0,0 +1,8 @@
+# Motor control and mechanical parameters
+MOTOR_KP_DEFAULT = 32.0
+MOTOR_KI_DEFAULT = 450.0
+MOTOR_KD_DEFAULT = 0.0
+MOTOR_MAX_RPM = 70
+
+# Wheels parameters
+WHEEL_DIAMETER_MM = 34