From ff060922caa67ecc6db15333a53293645aaf7154 Mon Sep 17 00:00:00 2001
From: Giovanni Bruno <giovannididio.bruno@gmail.com>
Date: Wed, 24 Jan 2024 10:38:43 +0100
Subject: [PATCH 1/2] added servo

---
 examples/firmware_01/firmware_01.ino | 26 +++++++++++++++++++++-----
 1 file changed, 21 insertions(+), 5 deletions(-)

diff --git a/examples/firmware_01/firmware_01.ino b/examples/firmware_01/firmware_01.ino
index 255b98b..0f8c0ae 100644
--- a/examples/firmware_01/firmware_01.ino
+++ b/examples/firmware_01/firmware_01.ino
@@ -23,15 +23,18 @@ SensorTofMatrix tof(alvik.wire, EXT_GPIO3, EXT_GPIO2);
 ucPack packeter(200);
 
 uint8_t code;
+uint8_t label;
+uint8_t control_type;
 uint8_t msg_size;
 
+
 unsigned long tmotor=0;
 unsigned long tsend=0;
 unsigned long tsensor=0;
 unsigned long timu=0;
 
 
-float left, right;
+float left, right, value;
 uint8_t leds;
 
 uint8_t sensor_id = 0;
@@ -40,6 +43,7 @@ uint8_t sensor_id = 0;
 uint8_t pid;
 float kp, ki, kd;
 
+uint8_t servo_A, servo_B;
 
 
 void setup(){
@@ -75,11 +79,24 @@ void loop(){
         packeter.unpacketC2F(code,left,right);
         alvik.setRpm(left, right);
         break;
-      /*
+      case 'W':
+        packeter.unpacketC2B1F(code,label,control_type,value);
+        if ((label == 'L') && (control_type == 'V')) {
+          alvik.motor_control_left->setRPM(value);
+        }
+        else if ((label == 'R') && (control_type == 'V'))
+        {
+          alvik.motor_control_right->setRPM(value);
+        }
+        
+        break;
+      
       case 'S':
-        alvik.setRpm(0,0);
+        packeter.unpacketC2B(code,servo_A,servo_B);
+        alvik.setServoA(servo_A);
+        alvik.setServoB(servo_B);
         break;
-      */
+      
       case 'L':
         packeter.unpacketC1B(code,leds);
         alvik.setAllLeds(leds);
@@ -135,7 +152,6 @@ void loop(){
   if (millis()-tmotor>20){
     tmotor=millis();
     alvik.updateMotors();
-    alvik.updateImu();
     msg_size = packeter.packetC2F('j', alvik.getRpmLeft(),alvik.getRpmRight());
     alvik.serial->write(packeter.msg,msg_size);
    

From 685d2c09e2f01aec08cda897a91c682bd946585f Mon Sep 17 00:00:00 2001
From: Giovanni Bruno <g.bruno@arduino.cc>
Date: Wed, 24 Jan 2024 10:40:31 +0100
Subject: [PATCH 2/2] Update library.properties

---
 library.properties | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/library.properties b/library.properties
index f53b988..48d1ddc 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=Arduino Alvik Carrier
-version=0.1.0
+version=0.1.1
 author=Arduino, Giovanni di Dio Bruno, Lucio Rossi
 maintainer=Arduino <info@arduino.cc>
 sentence=Library and firmware for Arduino Alvik Carrier board
@@ -8,4 +8,4 @@ category=Robotics
 url=https://github.com/arduino-libraries/Arduino_AlvikCarrier
 architectures=stm32
 includes=Arduino_AlvikCarrier.h
-depends=Arduino_APDS9960, Arduino_MAX17332, STM32duino_LSM6DSO, STM32duino_MotionFX, STM32duino_VL53L7CX, AT42QT, ucPack
\ No newline at end of file
+depends=Arduino_APDS9960, Arduino_MAX17332, STM32duino_LSM6DSO, STM32duino_MotionFX, STM32duino_VL53L7CX, AT42QT, ucPack