Merge pull request #3 from arduino-libraries/devel

0.4.0

Author: gbr1

README.md

@@ -1,2 +1,42 @@
 # Arduino_Alvik
-Arduino Alvik library, code with your Alvik
+Arduino Alvik library, code your Alvik
+
+<br> 
+
+To use this library, you need an [Arduino® Alvik](https://store.arduino.cc/pages/alvik) robot.
+
+Once the Arduino® Nano ESP32 of the robot is attached to the computer, select `Arduino Nano ESP32` from Arduino IDE 2 to program it.
+
+<br>
+
+## Color Calibration
+
+Flash `color_calibration` sketch into Arduino Nano ESP32 mounted on Alvik and follow the instructions on serial monitor.
+
+The white and black values will be written into ESP32 EEPROM. 
+
+<br>
+
+## How to update firmware of Arduino Alvik Carrier
+
+Since this [issue](https://github.com/stm32duino/Arduino_Core_STM32/issues/2292), Arduino® Alvik Carrier is not integrated yet into STM32duino's boards.
+
+<br>
+
+At the moment, it is possible to:
+- flash `bridge_firmware_updater` example into Arduino Nano ESP32 mounted on Alvik
+- use [STM32CubeProgrammer](https://www.st.com/en/development-tools/stm32cubeprog.html) to flash the new firmware.
+
+<br>
+
+
+In particular these settings are needed:
+- UART communication with DTR setted to 1 in STM32CubeProgrammer
+- robot must be turned on.
+
+
+## Useful links
+
+- [arduino-alvik-mpy](https://github.com/arduino/arduino-alvik-mpy), micropython version of the library
+- [Arduino_AlvikCarrier](https://github.com/arduino-libraries/Arduino_AlvikCarrier), arduino library required to build the firmware
+

examples/bridge_firmware_updater/bridge_firmware_updater

@@ -15,6 +15,7 @@
   This allows to flash firmware into the Arduino Alvik Carrier via Arduino Nano ESP32.
 
   Please refer to Arduino_AlvikCarrier library available at https://github.com/arduino-libraries/Arduino_AlvikCarrier
+
 */
 
 
@@ -60,9 +61,6 @@ void setup() {
   digitalWrite(RESET_STM32,LOW);
   delay(1000);
   digitalWrite(RESET_STM32,HIGH);
-
-
-
 }
 
 void loop() {

library.properties

@@ -1,5 +1,5 @@
 name=Arduino_Alvik
-version=0.3.0
+version=0.4.0
 author=Arduino, Giovanni di Dio Bruno, Lucio Rossi
 maintainer=Arduino <[email protected]>
 sentence=Library to code Arduino Alvik robot

src/Arduino_Alvik.cpp

@@ -45,6 +45,7 @@ void Arduino_Alvik::reset_hw(){
 }
 
 void Arduino_Alvik::wait_for_ack(){
+  waiting_ack = 0x00;
   while(last_ack != 0x00){
     delay(20);
   }
@@ -57,6 +58,7 @@ int Arduino_Alvik::begin(const bool verbose, const uint8_t core){
   verbose_output = verbose;
 
   last_ack = 0;
+  waiting_ack = NO_ACK;
 
   version[0] = 0;
   version[1] = 0;
@@ -130,9 +132,8 @@ int Arduino_Alvik::begin(const bool verbose, const uint8_t core){
 
 
   uart->begin(UART_BAUD_RATE);
-  uart->flush();
 
-  
+
   pinMode(CHECK_STM32, INPUT_PULLDOWN);
   pinMode(RESET_STM32, OUTPUT);
   pinMode(NANO_CHK, OUTPUT);
@@ -149,6 +150,11 @@ int Arduino_Alvik::begin(const bool verbose, const uint8_t core){
   delay(100);
   reset_hw();
 
+  uart->flush();
+  while (uart->available()){
+    uart->read();
+  }
+
   wait_for_ack();
 
   set_illuminator(true);
@@ -238,7 +244,12 @@ int Arduino_Alvik::parse_message(){
   switch(code){
     // get ack code
     case 'x':
-      packeter->unpacketC1B(code, last_ack);
+      if (waiting_ack == NO_ACK){
+        packeter->unpacketC1B(code, last_ack);
+        last_ack = 0x00;
+      } else {
+        packeter->unpacketC1B(code, last_ack);
+      }
       break;
 
 
@@ -406,35 +417,54 @@ void Arduino_Alvik::reset_pose(const float x, const float y, const float theta,
 }
 
 bool Arduino_Alvik::is_target_reached(){
-  if ((last_ack != 'M') && (last_ack != 'R')){
+
+  if (waiting_ack == NO_ACK){
+    return true;
+  }
+
+  if (last_ack != waiting_ack){
     delay(50);
     return false;
   }
   msg_size = packeter->packetC1B('X', 'K');
   uart->write(packeter->msg, msg_size);
+  waiting_ack = NO_ACK;
+  last_ack = 0x00;
   delay(200);
   return true;
 }
 
-void Arduino_Alvik::wait_for_target(){                                             //it is private
-  while (!is_target_reached()){}
+void Arduino_Alvik::wait_for_target(const int idle_time){                                             //it is private
+  unsigned long start_t = millis();
+  
+  while (true){
+    if (((millis() - start_t) >= idle_time*1000) && is_target_reached()) {
+      break;
+    } else
+    {
+      delay(100);
+    }
+    
+  }
 }
 
 void Arduino_Alvik::rotate(const float angle, const uint8_t unit, const bool blocking){
   delay(200);
   msg_size = packeter->packetC1F('R', convert_angle(angle, unit, DEG));
   uart->write(packeter->msg, msg_size);
+  waiting_ack = 'R';
   if (blocking){
-    wait_for_target();
+    wait_for_target(round(angle/MOTOR_CONTROL_DEG_S));
   }
 }
 
 void Arduino_Alvik::move(const float distance, const uint8_t unit, const bool blocking){
   delay(200);
   msg_size = packeter->packetC1F('G', convert_distance(distance, unit, MM));
   uart->write(packeter->msg, msg_size);
+  waiting_ack = 'M';
   if (blocking){
-    wait_for_target();
+    wait_for_target(round(distance/MOTOR_CONTROL_MM_S));
   }
 }
 

src/Arduino_Alvik.h

@@ -36,6 +36,7 @@ class Arduino_Alvik{
     uint8_t msg_size;
 
     uint8_t last_ack;
+    uint8_t waiting_ack;
 
     float converted_angular;
 
@@ -96,7 +97,7 @@ class Arduino_Alvik{
 
     void get_touch();                                                   // service function to parse touch
     void set_leds();                                                    // service function to set leds by a byte
-    void wait_for_target();                                             // service function that wait for ack
+    void wait_for_target(const int idle_time);                                             // service function that wait for ack
 
     float limit(float value, const float min, const float max);         // limit a value
     float normalize(float value, const float min, const float max);     // normalize a value

src/default_colors.h

@@ -15,15 +15,16 @@
 
 #include "Arduino.h"
 
-#define WHITE_DEFAULT_RED 444
-#define WHITE_DEFAULT_GREEN 342
-#define WHITE_DEFAULT_BLUE 345
-#define BLACK_DEFAULT_RED 153
-#define BLACK_DEFAULT_GREEN 135
-#define BLACK_DEFAULT_BLUE 123
+#define WHITE_DEFAULT_RED 450
+#define WHITE_DEFAULT_GREEN 500
+#define WHITE_DEFAULT_BLUE 510
+#define BLACK_DEFAULT_RED 160
+#define BLACK_DEFAULT_GREEN 200
+#define BLACK_DEFAULT_BLUE 190
 //int16_t WHITE_CAL[3] = {444, 342, 345};
 //int16_t BLACK_CAL[3] = {153, 135, 123};
 
+
 #define WHITE_OFFSET 0
 #define BLACK_OFFSET 6
 #define COLOR_SIZE 20
@@ -41,7 +42,7 @@
 #define LIGHT_GREEN_MAX 140
 #define GREEN_MAX 170
 #define LIGHT_BLUE_MAX 210
-#define BLUE_MAX 260
+#define BLUE_MAX 250
 #define VIOLET_MAX 280
 #define BROWN_MAX_VALUE 0.5
 #define BROWN_MAX_SATURATION 0.45

src/definitions.h

@@ -27,13 +27,19 @@
 #define UART 0
 #define UART_BAUD_RATE 460800
 
+#define DL1 left_led
+#define DL2 right_led
+
 #define CHARGE_THRESHOLD 97
 
+#define NO_ACK 0xFF
+
 const float WHEEL_DIAMETER_MM = 34.0;
 const float WHEEL_TRACK_MM = 89.0;
 const float MOTOR_MAX_RPM = 70.0;
 const float ROBOT_MAX_DEG_S = 6*(2*MOTOR_MAX_RPM*WHEEL_DIAMETER_MM)/WHEEL_TRACK_MM;
-
+const float MOTOR_CONTROL_MM_S = 100.0;
+const float MOTOR_CONTROL_DEG_S = 100.0;
 
 // unit conversion constants