Merge branch 'devel' into main

Author: gbr1

examples/firmware_01/firmware_01.ino

@@ -90,7 +90,7 @@ void loop(){
         }
 
         break;
-      
+
       case 'S':
         packeter.unpacketC2B(code,servo_A,servo_B);
         alvik.setServoA(servo_A);

examples/kinematics/kinematics.ino

@@ -31,11 +31,16 @@ void loop() {
   if (millis()-tmotor>20){
     tmotor=millis();
     alvik.updateMotors();
-    alvik.kinematics->updatePose(alvik.motor_control_left->getTravel(), alvik.motor_control_right->getTravel());
+    alvik.kinematics->inverse(alvik.motor_control_left->getRPM(),alvik.motor_control_right->getRPM());
+    alvik.kinematics->updatePose();
     Serial.print("\t");
-    Serial.print(alvik.kinematics->getDeltaX());
+    Serial.print(alvik.kinematics->getLinearVelocity());
     Serial.print("\t");
-    Serial.print(alvik.kinematics->getDeltaY());
+    Serial.print(alvik.kinematics->getAngularVelocity());
+    Serial.print("\t");
+    Serial.print(alvik.kinematics->getX());
+    Serial.print("\t");
+    Serial.print(alvik.kinematics->getY());
     Serial.print("\t");
     Serial.print(alvik.kinematics->getTheta());
     Serial.print("\n");
@@ -45,16 +50,16 @@ void loop() {
     ttask=millis();
     switch (task){
       case 0:
-        alvik.drive(50,0);
+        alvik.rotate(90);
         break;
       case 1:
-        alvik.drive(0,0);
+        alvik.drive(40,0);
         break;
       case 2:
-        alvik.drive(0,-90);
+        alvik.rotate(-90);
         break;
       case 3:
-        alvik.drive(0,0);
+        alvik.drive(-40,0);
         break;
     }
     task++;

examples/position/position.ino

@@ -0,0 +1,83 @@
+/*
+    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_AlvikCarrier.h"
+
+Arduino_AlvikCarrier alvik;
+
+unsigned long tmotor=0;
+unsigned long ttask=0;
+uint8_t task=0;
+float reference;
+
+void setup() {
+  Serial.begin(115200);
+  alvik.begin();
+  task = 0;
+  reference = 0;
+  ttask = millis();
+  tmotor = millis();
+}
+
+void loop() {
+  if (millis()-tmotor>20){
+    tmotor = millis();
+    alvik.updateMotors();
+    Serial.print(reference);
+    Serial.print("\t");
+    Serial.print(alvik.getPositionLeft());
+    Serial.print("\n");
+  }
+
+  if (millis()-ttask>5000){
+    ttask = millis();
+    switch (task){
+      case 0:
+        reference = 90;
+        break;
+      case 1:
+        reference = 0;
+        break;
+      case 2:
+        reference = -90;
+        break;
+      case 3:
+        reference = 0;
+        break;
+      case 4:
+        reference = 360;
+        break;
+      case 5:
+        reference = 45;
+        break;
+      case 6:
+        reference = -270;
+        break;
+      case 7:
+        reference = 0;
+        break;
+      case 8:
+        reference = 5;
+        break;
+      case 9:
+        reference = 10;
+        break;
+    }
+    alvik.setPositionLeft(reference);
+    task++;
+    if (task>9){
+      task = 0;
+    }
+  }
+  
+}
+