Merge pull request #17 from gbr1/dev

0.1.0

.gitignore

@@ -0,0 +1,26 @@
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk

README.md

@@ -1,2 +1,4 @@
-# Arduino_Robot_Firmware
-firmware
+# Arduino_AlvikCarrier
+
+
+W.I.P.

examples/blink/blink.ino

@@ -1,29 +1,22 @@
 /*
-  This file is part of the Arduino Alvik library.
-  Copyright (c) 2023 Arduino SA. All rights reserved.
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+    This file is part of the Arduino_AlvikCarrier library.
+
+    Copyright (c) 2023 Arduino SA
+
+    This Source Code Form is subject to the terms of the Mozilla Public
+    License, v. 2.0. If a copy of the MPL was not distributed with this
+    file, You can obtain one at http://mozilla.org/MPL/2.0/.
+    
 */
 
 
+
 // This example makes the rear orange led blink. It is also called LED_BUILTIN
 
-#include "Arduino_Alvik_Firmware.h"
+#include "Arduino_AlvikCarrier.h"
 
 
-Arduino_Alvik_Firmware alvik;
+Arduino_AlvikCarrier alvik;
 
 void setup(){
     alvik.begin();

examples/firmware_01/firmware_01.ino

@@ -1,30 +1,23 @@
 /*
-  This file is part of the Arduino Alvik library.
-  Copyright (c) 2023 Arduino SA. All rights reserved.
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+    This file is part of the Arduino_AlvikCarrier library.
+
+    Copyright (c) 2023 Arduino SA
+
+    This Source Code Form is subject to the terms of the Mozilla Public
+    License, v. 2.0. If a copy of the MPL was not distributed with this
+    file, You can obtain one at http://mozilla.org/MPL/2.0/.
+    
 */
 
-#include "Arduino_Alvik_Firmware.h"
+
+#include "Arduino_AlvikCarrier.h"
 #include "sensor_line.h"
 #include "sensor_tof_matrix.h"
 #include "ucPack.h"
 
-Arduino_Alvik_Firmware robot;
+Arduino_AlvikCarrier alvik;
 SensorLine line(EXT_A2,EXT_A1,EXT_A0);
-SensorTofMatrix tof(robot.wire, EXT_GPIO3, EXT_GPIO2);
+SensorTofMatrix tof(alvik.wire, EXT_GPIO3, EXT_GPIO2);
 
 
 ucPack packeter(200);
@@ -51,17 +44,17 @@ float kp, ki, kd;
 
 void setup(){
   Serial.begin(115200);
-  robot.begin();
-  robot.setLedBuiltin(HIGH);
+  alvik.begin();
+  alvik.setLedBuiltin(HIGH);
   line.begin();
   tof.begin();
 
   uint8_t version[3];
-  robot.getVersion(version[0], version[1], version[2]);
+  alvik.getVersion(version[0], version[1], version[2]);
   msg_size = packeter.packetC3B(0x7E, version[0], version[1], version[2]);
-  robot.serial->write(packeter.msg,msg_size);
+  alvik.serial->write(packeter.msg,msg_size);
 
-  robot.setLedBuiltin(LOW);
+  alvik.setLedBuiltin(LOW);
 
 
   code=0;
@@ -72,33 +65,33 @@ void setup(){
 }
 
 void loop(){
-  while(robot.serial->available() > 0) {
-    packeter.buffer.push(robot.serial->read());
+  while(alvik.serial->available() > 0) {
+    packeter.buffer.push(alvik.serial->read());
   }
   if (packeter.checkPayload()) {
     code = packeter.payloadTop();
     switch (code){
       case 'J':
         packeter.unpacketC2F(code,left,right);
-        robot.setRpm(left, right);
+        alvik.setRpm(left, right);
         break;
       /*
       case 'S':
-        robot.setRpm(0,0);
+        alvik.setRpm(0,0);
         break;
       */
       case 'L':
         packeter.unpacketC1B(code,leds);
-        robot.setAllLeds(leds);
+        alvik.setAllLeds(leds);
         break;
 
       case 'P':
         packeter.unpacketC1B3F(code,pid,kp,ki,kd);
         if (pid=='L'){
-          robot.setKPidLeft(kp,ki,kd);
+          alvik.setKPidLeft(kp,ki,kd);
         }
         if (pid=='R'){
-          robot.setKPidRight(kp,ki,kd);
+          alvik.setKPidRight(kp,ki,kd);
         }
         break;
     }
@@ -110,27 +103,27 @@ void loop(){
       case 0:
         line.update();
         msg_size = packeter.packetC3I('l', line.getLeft(), line.getCenter(), line.getRight());
-        robot.serial->write(packeter.msg,msg_size);
+        alvik.serial->write(packeter.msg,msg_size);
         break;
       case 1:
-        robot.updateTouch();
-        msg_size = packeter.packetC1B('t', robot.getTouchKeys());
-        robot.serial->write(packeter.msg,msg_size);
+        alvik.updateTouch();
+        msg_size = packeter.packetC1B('t', alvik.getTouchKeys());
+        alvik.serial->write(packeter.msg,msg_size);
         break;
       case 2:
-        robot.updateAPDS();
-        msg_size = packeter.packetC3I('c', robot.getRed(), robot.getGreen(), robot.getBlue());
-        robot.serial->write(packeter.msg,msg_size);
+        alvik.updateAPDS();
+        msg_size = packeter.packetC3I('c', alvik.getRed(), alvik.getGreen(), alvik.getBlue());
+        alvik.serial->write(packeter.msg,msg_size);
         break;
       case 3:
         if (tof.update_rois()){
           msg_size = packeter.packetC7I('f', tof.getLeft(), tof.getCenterLeft(), tof.getCenter(), tof.getCenterRight(), tof.getRight(), tof.get_min_range_top_mm(), tof.get_max_range_bottom_mm());
-          robot.serial->write(packeter.msg,msg_size);
+          alvik.serial->write(packeter.msg,msg_size);
         }
         break;
       case 4:
-        msg_size = packeter.packetC3F('q', robot.getRoll(), robot.getPitch(), robot.getYaw());
-        robot.serial->write(packeter.msg,msg_size);
+        msg_size = packeter.packetC3F('q', alvik.getRoll(), alvik.getPitch(), alvik.getYaw());
+        alvik.serial->write(packeter.msg,msg_size);
         break;
     }
     sensor_id++;
@@ -141,17 +134,17 @@ void loop(){
 
   if (millis()-tmotor>20){
     tmotor=millis();
-    robot.updateMotors();
-    robot.updateImu();
-    msg_size = packeter.packetC2F('j', robot.getRpmLeft(),robot.getRpmRight());
-    robot.serial->write(packeter.msg,msg_size);
+    alvik.updateMotors();
+    alvik.updateImu();
+    msg_size = packeter.packetC2F('j', alvik.getRpmLeft(),alvik.getRpmRight());
+    alvik.serial->write(packeter.msg,msg_size);
 
   }
 
   if (millis()-timu>10){
     timu=millis();
-    robot.updateImu();
-    msg_size = packeter.packetC6F('i', robot.getAccelerationX(), robot.getAccelerationY(), robot.getAccelerationZ(), robot.getAngularVelocityX(), robot.getAngularVelocityY(), robot.getAngularVelocityZ());
-    robot.serial->write(packeter.msg,msg_size);
+    alvik.updateImu();
+    msg_size = packeter.packetC6F('i', alvik.getAccelerationX(), alvik.getAccelerationY(), alvik.getAccelerationZ(), alvik.getAngularVelocityX(), alvik.getAngularVelocityY(), alvik.getAngularVelocityZ());
+    alvik.serial->write(packeter.msg,msg_size);
   }
 }

examples/imu/imu.ino

@@ -1,30 +1,23 @@
 /*
-  This file is part of the Arduino Alvik library.
-  Copyright (c) 2023 Arduino SA. All rights reserved.
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+    This file is part of the Arduino_AlvikCarrier library.
+
+    Copyright (c) 2023 Arduino SA
+
+    This Source Code Form is subject to the terms of the Mozilla Public
+    License, v. 2.0. If a copy of the MPL was not distributed with this
+    file, You can obtain one at http://mozilla.org/MPL/2.0/.
+    
 */
 
 
+
 // This example shows IMU data, accelerations are in Gs, angular velocities in deg/s and orientation is in degrees.
 
-#include "Arduino_Alvik_Firmware.h"
+#include "Arduino_AlvikCarrier.h"
 
 unsigned long time_imu_update=0;
 
-Arduino_Alvik_Firmware alvik;
+Arduino_AlvikCarrier alvik;
 
 void setup(){
     Serial.begin(115200);

examples/kinematics/kinematics.ino

@@ -0,0 +1,66 @@
+/*
+    This file is part of the Arduino_AlvikCarrier library.
+
+    Copyright (c) 2023 Arduino SA
+
+    This Source Code Form is subject to the terms of the Mozilla Public
+    License, v. 2.0. If a copy of the MPL was not distributed with this
+    file, You can obtain one at http://mozilla.org/MPL/2.0/.
+    
+*/
+
+// WIP
+
+#include "Arduino_AlvikCarrier.h"
+
+Arduino_AlvikCarrier alvik;
+
+unsigned long tmotor=0;
+unsigned long ttask=0;
+uint8_t task=0;
+
+void setup() {
+  Serial.begin(115200);
+  alvik.begin();
+  ttask=millis();
+  tmotor=millis();
+  task=0;
+}
+
+void loop() {
+  if (millis()-tmotor>20){
+    tmotor=millis();
+    alvik.updateMotors();
+    alvik.kinematics->updatePose(alvik.motor_control_left->getTravel(), alvik.motor_control_right->getTravel());
+    Serial.print("\t");
+    Serial.print(alvik.kinematics->getDeltaX());
+    Serial.print("\t");
+    Serial.print(alvik.kinematics->getDeltaY());
+    Serial.print("\t");
+    Serial.print(alvik.kinematics->getTheta());
+    Serial.print("\n");
+  }
+
+  if (millis()-ttask>2000){
+    ttask=millis();
+    switch (task){
+      case 0:
+        alvik.drive(50,0);
+        break;
+      case 1:
+        alvik.drive(0,0);
+        break;
+      case 2:
+        alvik.drive(0,-90);
+        break;
+      case 3:
+        alvik.drive(0,0);
+        break;
+    }
+    task++;
+    if (task>3){
+      task=0;
+    }
+  }
+
+}