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Commit 2c83067

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Merge pull request #3 from arduino-libraries/devel
0.4.0
2 parents 0a65c78 + 8087e19 commit 2c83067

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7 files changed

+98
-22
lines changed

7 files changed

+98
-22
lines changed

‎README.md‎

Lines changed: 41 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,2 +1,42 @@
11
# Arduino_Alvik
2-
Arduino Alvik library, code with your Alvik
2+
Arduino Alvik library, code your Alvik
3+
4+
<br>
5+
6+
To use this library, you need an [Arduino® Alvik](https://store.arduino.cc/pages/alvik) robot.
7+
8+
Once the Arduino® Nano ESP32 of the robot is attached to the computer, select `Arduino Nano ESP32` from Arduino IDE 2 to program it.
9+
10+
<br>
11+
12+
## Color Calibration
13+
14+
Flash `color_calibration` sketch into Arduino Nano ESP32 mounted on Alvik and follow the instructions on serial monitor.
15+
16+
The white and black values will be written into ESP32 EEPROM.
17+
18+
<br>
19+
20+
## How to update firmware of Arduino Alvik Carrier
21+
22+
Since this [issue](https://github.com/stm32duino/Arduino_Core_STM32/issues/2292), Arduino® Alvik Carrier is not integrated yet into STM32duino's boards.
23+
24+
<br>
25+
26+
At the moment, it is possible to:
27+
- flash `bridge_firmware_updater` example into Arduino Nano ESP32 mounted on Alvik
28+
- use [STM32CubeProgrammer](https://www.st.com/en/development-tools/stm32cubeprog.html) to flash the new firmware.
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<br>
31+
32+
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In particular these settings are needed:
34+
- UART communication with DTR setted to 1 in STM32CubeProgrammer
35+
- robot must be turned on.
36+
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38+
## Useful links
39+
40+
- [arduino-alvik-mpy](https://github.com/arduino/arduino-alvik-mpy), micropython version of the library
41+
- [Arduino_AlvikCarrier](https://github.com/arduino-libraries/Arduino_AlvikCarrier), arduino library required to build the firmware
42+

‎examples/bridge_firmware_updater/bridge_firmware_updater‎

Lines changed: 1 addition & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -15,6 +15,7 @@
1515
This allows to flash firmware into the Arduino Alvik Carrier via Arduino Nano ESP32.
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Please refer to Arduino_AlvikCarrier library available at https://github.com/arduino-libraries/Arduino_AlvikCarrier
18+
1819
*/
1920

2021

@@ -60,9 +61,6 @@ void setup() {
6061
digitalWrite(RESET_STM32,LOW);
6162
delay(1000);
6263
digitalWrite(RESET_STM32,HIGH);
63-
64-
65-
6664
}
6765

6866
void loop() {

‎library.properties‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
name=Arduino_Alvik
2-
version=0.3.0
2+
version=0.4.0
33
author=Arduino, Giovanni di Dio Bruno, Lucio Rossi
44
maintainer=Arduino <info@arduino.cc>
55
sentence=Library to code Arduino Alvik robot

‎src/Arduino_Alvik.cpp‎

Lines changed: 38 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -45,6 +45,7 @@ void Arduino_Alvik::reset_hw(){
4545
}
4646

4747
void Arduino_Alvik::wait_for_ack(){
48+
waiting_ack = 0x00;
4849
while(last_ack != 0x00){
4950
delay(20);
5051
}
@@ -57,6 +58,7 @@ int Arduino_Alvik::begin(const bool verbose, const uint8_t core){
5758
verbose_output = verbose;
5859

5960
last_ack = 0;
61+
waiting_ack = NO_ACK;
6062

6163
version[0] = 0;
6264
version[1] = 0;
@@ -130,9 +132,8 @@ int Arduino_Alvik::begin(const bool verbose, const uint8_t core){
130132

131133

132134
uart->begin(UART_BAUD_RATE);
133-
uart->flush();
134135

135-
136+
136137
pinMode(CHECK_STM32, INPUT_PULLDOWN);
137138
pinMode(RESET_STM32, OUTPUT);
138139
pinMode(NANO_CHK, OUTPUT);
@@ -149,6 +150,11 @@ int Arduino_Alvik::begin(const bool verbose, const uint8_t core){
149150
delay(100);
150151
reset_hw();
151152

153+
uart->flush();
154+
while (uart->available()){
155+
uart->read();
156+
}
157+
152158
wait_for_ack();
153159

154160
set_illuminator(true);
@@ -238,7 +244,12 @@ int Arduino_Alvik::parse_message(){
238244
switch(code){
239245
// get ack code
240246
case 'x':
241-
packeter->unpacketC1B(code, last_ack);
247+
if (waiting_ack == NO_ACK){
248+
packeter->unpacketC1B(code, last_ack);
249+
last_ack = 0x00;
250+
} else {
251+
packeter->unpacketC1B(code, last_ack);
252+
}
242253
break;
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244255

@@ -406,35 +417,54 @@ void Arduino_Alvik::reset_pose(const float x, const float y, const float theta,
406417
}
407418

408419
bool Arduino_Alvik::is_target_reached(){
409-
if ((last_ack != 'M') && (last_ack != 'R')){
420+
421+
if (waiting_ack == NO_ACK){
422+
return true;
423+
}
424+
425+
if (last_ack != waiting_ack){
410426
delay(50);
411427
return false;
412428
}
413429
msg_size = packeter->packetC1B('X', 'K');
414430
uart->write(packeter->msg, msg_size);
431+
waiting_ack = NO_ACK;
432+
last_ack = 0x00;
415433
delay(200);
416434
return true;
417435
}
418436

419-
void Arduino_Alvik::wait_for_target(){ //it is private
420-
while (!is_target_reached()){}
437+
void Arduino_Alvik::wait_for_target(const int idle_time){ //it is private
438+
unsigned long start_t = millis();
439+
440+
while (true){
441+
if (((millis() - start_t) >= idle_time*1000) && is_target_reached()) {
442+
break;
443+
} else
444+
{
445+
delay(100);
446+
}
447+
448+
}
421449
}
422450

423451
void Arduino_Alvik::rotate(const float angle, const uint8_t unit, const bool blocking){
424452
delay(200);
425453
msg_size = packeter->packetC1F('R', convert_angle(angle, unit, DEG));
426454
uart->write(packeter->msg, msg_size);
455+
waiting_ack = 'R';
427456
if (blocking){
428-
wait_for_target();
457+
wait_for_target(round(angle/MOTOR_CONTROL_DEG_S));
429458
}
430459
}
431460

432461
void Arduino_Alvik::move(const float distance, const uint8_t unit, const bool blocking){
433462
delay(200);
434463
msg_size = packeter->packetC1F('G', convert_distance(distance, unit, MM));
435464
uart->write(packeter->msg, msg_size);
465+
waiting_ack = 'M';
436466
if (blocking){
437-
wait_for_target();
467+
wait_for_target(round(distance/MOTOR_CONTROL_MM_S));
438468
}
439469
}
440470

‎src/Arduino_Alvik.h‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -36,6 +36,7 @@ class Arduino_Alvik{
3636
uint8_t msg_size;
3737

3838
uint8_t last_ack;
39+
uint8_t waiting_ack;
3940

4041
float converted_angular;
4142

@@ -96,7 +97,7 @@ class Arduino_Alvik{
9697

9798
void get_touch(); // service function to parse touch
9899
void set_leds(); // service function to set leds by a byte
99-
void wait_for_target(); // service function that wait for ack
100+
void wait_for_target(constint idle_time); // service function that wait for ack
100101

101102
float limit(float value, const float min, const float max); // limit a value
102103
float normalize(float value, const float min, const float max); // normalize a value

‎src/default_colors.h‎

Lines changed: 8 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -15,15 +15,16 @@
1515

1616
#include "Arduino.h"
1717

18-
#define WHITE_DEFAULT_RED 444
19-
#define WHITE_DEFAULT_GREEN 342
20-
#define WHITE_DEFAULT_BLUE 345
21-
#define BLACK_DEFAULT_RED 153
22-
#define BLACK_DEFAULT_GREEN 135
23-
#define BLACK_DEFAULT_BLUE 123
18+
#define WHITE_DEFAULT_RED 450
19+
#define WHITE_DEFAULT_GREEN 500
20+
#define WHITE_DEFAULT_BLUE 510
21+
#define BLACK_DEFAULT_RED 160
22+
#define BLACK_DEFAULT_GREEN 200
23+
#define BLACK_DEFAULT_BLUE 190
2424
//int16_t WHITE_CAL[3] = {444, 342, 345};
2525
//int16_t BLACK_CAL[3] = {153, 135, 123};
2626

27+
2728
#define WHITE_OFFSET 0
2829
#define BLACK_OFFSET 6
2930
#define COLOR_SIZE 20
@@ -41,7 +42,7 @@
4142
#define LIGHT_GREEN_MAX 140
4243
#define GREEN_MAX 170
4344
#define LIGHT_BLUE_MAX 210
44-
#define BLUE_MAX 260
45+
#define BLUE_MAX 250
4546
#define VIOLET_MAX 280
4647
#define BROWN_MAX_VALUE 0.5
4748
#define BROWN_MAX_SATURATION 0.45

‎src/definitions.h‎

Lines changed: 7 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -27,13 +27,19 @@
2727
#define UART 0
2828
#define UART_BAUD_RATE 460800
2929

30+
#define DL1 left_led
31+
#define DL2 right_led
32+
3033
#define CHARGE_THRESHOLD 97
3134

35+
#define NO_ACK 0xFF
36+
3237
const float WHEEL_DIAMETER_MM = 34.0;
3338
const float WHEEL_TRACK_MM = 89.0;
3439
const float MOTOR_MAX_RPM = 70.0;
3540
const float ROBOT_MAX_DEG_S = 6*(2*MOTOR_MAX_RPM*WHEEL_DIAMETER_MM)/WHEEL_TRACK_MM;
36-
41+
const float MOTOR_CONTROL_MM_S = 100.0;
42+
const float MOTOR_CONTROL_DEG_S = 100.0;
3743

3844
// unit conversion constants
3945

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