Api update

conversions.py

@@ -9,6 +9,10 @@ def wrapper(*args, **kwargs):
             return func(*args, **kwargs)
         except KeyError:
             raise ConversionError(f'Cannot {func.__name__} from {args[1]} to {args[2]}')
+        except TypeError:
+            return None
+        except Exception as e:
+            raise ConversionError(f'Unexpected error: {e}')
     return wrapper
 
 

examples/message_reader.py

@@ -6,16 +6,19 @@
 if alvik.begin() < 0:
     sys.exit()
 
+speed = 0
+
 while True:
     try:
-        print(f'VER: {alvik.version}')
+        print(f'VER: {alvik.get_version()}')
         print(f'LSP: {alvik.left_wheel.get_speed()}')
         print(f'RSP: {alvik.right_wheel.get_speed()}')
         print(f'LPOS: {alvik.left_wheel.get_position()}')
         print(f'RPOS: {alvik.right_wheel.get_position()}')
-        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}')
+        print(f'TOUCH (UP): {alvik.get_touch_up()}')
+        print(f'RGB: {alvik.get_color()}')
+        print(f'LINE: {alvik.get_line_sensors()}')
+        print(f'SOC: {alvik.get_battery_charge()}%')
 
         alvik.set_wheels_speed(speed, speed)
         speed = (speed + 1) % 60

examples/pose_example.py

@@ -34,15 +34,39 @@
         alvik.move(50.0, 'mm', blocking=False)
         print("on target after move")
 
+        while not alvik.is_target_reached():
+            alvik.left_led.set_color(1, 0, 0)
+            sleep_ms(500)
+            alvik.left_led.set_color(0, 0, 0)
+            sleep_ms(500)
+
         alvik.rotate(45.0, 'deg', blocking=False)
         print("on target after rotation")
 
+        while not alvik.is_target_reached():
+            alvik.left_led.set_color(1, 0, 0)
+            sleep_ms(500)
+            alvik.left_led.set_color(0, 0, 0)
+            sleep_ms(500)
+
         alvik.move(100.0, 'mm', blocking=False)
         print("on target after move")
 
+        while not alvik.is_target_reached():
+            alvik.left_led.set_color(1, 0, 0)
+            sleep_ms(500)
+            alvik.left_led.set_color(0, 0, 0)
+            sleep_ms(500)
+
         alvik.rotate(-90.00, 'deg', blocking=False)
         print("on target after rotation")
 
+        while not alvik.is_target_reached():
+            alvik.left_led.set_color(1, 0, 0)
+            sleep_ms(500)
+            alvik.left_led.set_color(0, 0, 0)
+            sleep_ms(500)
+
         x, y, theta = alvik.get_pose()
         print(f'Current pose is x(cm)={x}, y(cm)={y}, theta(deg)={theta}')
 

examples/read_color_sensor.py

@@ -10,7 +10,7 @@
         r, g, b = alvik.get_color()
         h, s, v = alvik.get_color('hsv')
         print(f'RED: {r}, Green: {g}, Blue: {b}, HUE: {h}, SAT: {s}, VAL: {v}')
-        print(f'COLOR LABEL: {alvik.get_color_label(h, s, v)}')
+        print(f'COLOR LABEL: {alvik.get_color_label()}')
         sleep_ms(100)
     except KeyboardInterrupt as e:
         print('over')

examples/test_idle.py

@@ -0,0 +1,23 @@
+from arduino_alvik import ArduinoAlvik
+from time import sleep_ms
+import sys
+
+alvik = ArduinoAlvik()
+alvik.begin()
+
+speed = 0
+
+while True:
+    try:
+
+        if alvik.is_on():
+            print(f'VER: {alvik.get_version()}')
+            print(f'LSP: {alvik.left_wheel.get_speed()}')
+            alvik.set_wheels_speed(speed, speed)
+            speed = (speed + 1) % 30
+        sleep_ms(1000)
+    except KeyboardInterrupt as e:
+        print('over')
+        alvik.stop()
+        sys.exit()
+

pinout_definitions.py

@@ -11,7 +11,12 @@
 
 BOOT0_STM32 = Pin(D2, Pin.OUT)                  # nano D2 -> STM32 Boot0
 RESET_STM32 = Pin(D3, Pin.OUT)                  # nano D3 -> STM32 NRST
-NANO_CHK = Pin(D4, Pin.OUT)                     # nano D3 -> STM32 NANO_CHK
-CHECK_STM32 = Pin(A6, Pin.IN, Pin.PULL_UP)      # nano A6/D23 -> STM32 ROBOT_CHK
+NANO_CHK = Pin(D4, Pin.OUT)                     # nano D4 -> STM32 NANO_CHK
+CHECK_STM32 = Pin(A6, Pin.IN, Pin.PULL_DOWN)    # nano A6/D23 -> STM32 ROBOT_CHK
 ESP32_SDA = Pin(A4, Pin.OUT)                    # ESP32_SDA
 ESP32_SCL = Pin(A5, Pin.OUT)                    # ESP32_SCL
+
+# LEDS
+LEDR = Pin(46, Pin.OUT)                      #RED ESP32 LEDR
+LEDG = Pin(0, Pin.OUT)                       #GREEN ESP32 LEDG
+LEDB = Pin(45, Pin.OUT)                      #BLUE ESP32 LEDB

utilities/firmware_updater.py

@@ -1,9 +1,14 @@
 from sys import exit
 from stm32_flash import *
 
+if CHECK_STM32.value() is not 1:
+    print("Turn on your Alvik to continue...")
+    while CHECK_STM32.value() is not 1:
+        sleep_ms(500)
+
 ans = STM32_startCommunication()
 if ans == STM32_NACK:
-    print("Cannot etablish connection with STM32")
+    print("Cannot establish connection with STM32")
     exit(-1)
 
 print('\nSTM32 FOUND')

utilities/stm32_flash.py

@@ -3,6 +3,9 @@
 from time import sleep_ms
 from machine import UART, Pin
 
+A6 = 13                                         # ESP32 pin13 -> nano A6/D23
+CHECK_STM32 = Pin(A6, Pin.IN)    # nano A6/D23 -> TO CHECK STM32 IS ON
+
 STM32_INIT = b'\x7F'
 STM32_NACK = b'\x1F'
 STM32_ACK = b'\x79'