examples: review

Author: eigen-value

examples/behaviour.py

@@ -6,8 +6,6 @@
 if alvik.begin() < 0:
     sys.exit()
 
-speed = 0
-
 while True:
     try:
         print(f'VER: {alvik.version}')

examples/message_reader.py

@@ -8,56 +8,48 @@
 while True:
     try:
 
-        alvik.move(100.0)
+        alvik.move(100.0, 'mm')
         print("on target after move")
 
-        alvik.move(50.0)
+        alvik.move(50.0, 'mm')
         print("on target after move")
 
-        alvik.rotate(90.0)
+        alvik.rotate(90.0, 'deg')
         print("on target after rotation")
 
-        alvik.rotate(-45.00)
+        alvik.rotate(-45.00, 'deg')
         print("on target after rotation")
 
         x, y, theta = alvik.get_pose()
-        print(f'Current pose is x={x}, y={y} ,theta={theta}')
+        print(f'Current pose is x(cm)={x}, y(cm)={y}, theta(deg)={theta}')
 
         alvik.reset_pose(0, 0, 0)
 
         x, y, theta = alvik.get_pose()
-        print(f'Updated pose is x={x}, y={y} ,theta={theta}')
+        print(f'Updated pose is x(cm)={x}, y(cm)={y}, theta(deg)={theta}')
         sleep_ms(500)
 
         print("___________NON-BLOCKING__________________")
 
-        alvik.move(50.0, blocking=False)
-        while not alvik.is_target_reached():
-            print(f"Not yet on target received:{alvik.last_ack}")
+        alvik.move(50.0, 'mm', blocking=False)
         print("on target after move")
 
-        alvik.rotate(45.0, blocking=False)
-        while not alvik.is_target_reached():
-            print(f"Not yet on target received:{alvik.last_ack}")
+        alvik.rotate(45.0, 'deg', blocking=False)
         print("on target after rotation")
 
-        alvik.move(100.0, blocking=False)
-        while not alvik.is_target_reached():
-            print(f"Not yet on target received:{alvik.last_ack}")
+        alvik.move(100.0, 'mm', blocking=False)
         print("on target after move")
 
-        alvik.rotate(-90.00, blocking=False)
-        while not alvik.is_target_reached():
-            print(f"Not yet on target received:{alvik.last_ack}")
+        alvik.rotate(-90.00, 'deg', blocking=False)
         print("on target after rotation")
 
         x, y, theta = alvik.get_pose()
-        print(f'Current pose is x={x}, y={y} ,theta={theta}')
+        print(f'Current pose is x(cm)={x}, y(cm)={y}, theta(deg)={theta}')
 
         alvik.reset_pose(0, 0, 0)
 
         x, y, theta = alvik.get_pose()
-        print(f'Updated pose is x={x}, y={y} ,theta={theta}')
+        print(f'Updated pose is x={x}, y={y}, theta(deg)={theta}')
         sleep_ms(500)
 
         alvik.stop()

examples/pose_example.py

@@ -4,7 +4,6 @@
 
 alvik = ArduinoAlvik()
 alvik.begin()
-speed = 0
 
 while True:
     try:

examples/read_imu.py

@@ -4,7 +4,6 @@
 
 alvik = ArduinoAlvik()
 alvik.begin()
-speed = 0
 
 while True:
     try:

examples/read_touch.py

@@ -8,12 +8,15 @@
 while True:
     try:
         alvik.set_wheels_speed(10, 10)
+        print(f'Wheels speed: {alvik.get_wheels_speed()}')
         sleep_ms(1000)
 
         alvik.set_wheels_speed(30, 60)
+        print(f'Wheels speed: {alvik.get_wheels_speed()}')
         sleep_ms(1000)
 
         alvik.set_wheels_speed(60, 30)
+        print(f'Wheels speed: {alvik.get_wheels_speed()}')
         sleep_ms(1000)
     except KeyboardInterrupt as e:
         print('over')