From be4c5d88a84c8ed8a600adc4486a4afc1a032c9f Mon Sep 17 00:00:00 2001 From: pedromsousalima <32345730+pedromsousalima@users.noreply.github.com> Date: Wed, 7 Aug 2024 13:27:03 +0200 Subject: [PATCH 01/23] Added initial reference --- .../tutorials/api-overview/api-overview.md | 1064 ++++++++++++++++- 1 file changed, 998 insertions(+), 66 deletions(-) diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md index 5fbb72caf3..11ffee7869 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md @@ -12,8 +12,7 @@ hardware: ## API List -To access to any of these functions you need first to initialize an instance of the class **ArduinoAlvik()**. - +To access any of these functions, you need first to initialize an instance of the class **ArduinoAlvik()**. ```arduino alvik = ArduinoAlvik() @@ -25,7 +24,9 @@ Then you can use the following functions as methods of the instance you've creat alvik.begin() ``` -### `is_on` +### MicroPython Reference + +#### `is_on` is_on() @@ -35,14 +36,13 @@ _Returns true if robot is on_ - boolean: Returns true if robot is on, false if is off. -### `begin` +#### `begin` begin() _Begins all Alvik operations_ - -### `is_target_reached` +#### `is_target_reached` is_target_reached() @@ -52,14 +52,13 @@ _Returns True if robot has sent an M or R acknowledgment. It also responds with - boolean: Returns True if robot has arrived to target, False otherwise. -### `stop` +#### `stop` stop() _Stops all Alvik operations_ - -### `get_orientation` +#### `get_orientation` get_orientation() @@ -71,7 +70,7 @@ _Returns the orientation of the IMU_ - **p**: pitch value - **y**: yaw value -### `get_accelerations` +#### `get_accelerations` get_accelerations() @@ -83,7 +82,7 @@ _Returns the 3-axial acceleration of the IMU_ - **ay**: acceleration on y - **az**: acceleration on z -### `get_gyros` +#### `get_gyros` get_gyros() @@ -95,7 +94,7 @@ _Returns the 3-axial angular acceleration of the IMU_ - **gy**: angular acceleration on y - **gz**: angular acceleration on z -### `get_imu` +#### `get_imu` get_imu() @@ -110,7 +109,7 @@ _Returns all the IMUs readouts_ - **gy**: angular acceleration on y - **gz**: angular acceleration on z -### `get_line_sensors` +#### `get_line_sensors` get_line_sensors() @@ -122,13 +121,13 @@ _Returns the line follower sensors readout_ - **center**: center sensor readout - **right**: right sensor readout -### `brake` +#### `brake` brake() _Brakes the robot_ -### `get_ack` +#### `get_ack` get_ack() @@ -138,7 +137,7 @@ _Returns last acknowledgement_ - **last_ack**: last acknowledgement value -### `get_battery_charge` +#### `get_battery_charge` get_battery_charge() @@ -148,7 +147,7 @@ _Returns the battery SOC_ - **battery_soc**: percentage of charge -### `get_touch_any` +#### `get_touch_any` get_touch_any() @@ -158,7 +157,7 @@ _Returns true if any button is pressed_ - **touch_any**: true if any button is pressed, false otherwise. -### `get_touch_ok` +#### `get_touch_ok` get_touch_ok() @@ -168,7 +167,7 @@ _Returns true if ok button is pressed_ - **touch_ok**: true if ok button is pressed, false otherwise. -### `get_touch_cancel` +#### `get_touch_cancel` get_touch_cancel() @@ -178,7 +177,7 @@ _Returns true if cancel button is pressed_ - **touch_cancel**: true if cancel button is pressed, false otherwise. -### `get_touch_center` +#### `get_touch_center` get_touch_center() @@ -188,7 +187,7 @@ _Returns true if center button is pressed_ - **touch_center**: true if center button is pressed, false otherwise. -### `get_touch_up` +#### `get_touch_up` get_touch_up() @@ -198,7 +197,7 @@ _Returns true if up button is pressed_ - **touch_up**: true if up button is pressed, false otherwise. -### `get_touch_left` +#### `get_touch_left` get_touch_left() @@ -208,7 +207,7 @@ _Returns true if left button is pressed_ - **touch_left**: true if left button is pressed, false otherwise. -### `get_touch_down` +#### `get_touch_down` get_touch_down() @@ -218,7 +217,7 @@ _Returns true if down button is pressed_ - **touch_down**: true if down button is pressed, false otherwise. -### `get_touch_right` +#### `get_touch_right` get_touch_right() @@ -228,7 +227,7 @@ _Returns true if right button is pressed_ - **touch_right**: true if right button is pressed, false otherwise. -### `get_color_raw` +#### `get_color_raw` get_color_raw() @@ -238,7 +237,7 @@ _Returns the color sensor's raw readout_ - **color**: the color sensor's raw readout -### `get_color_label` +#### `get_color_label` get_color_label() @@ -248,7 +247,7 @@ _Returns the label of the color as recognized by the sensor_ - **color**: the label of the color as recognized by the sensor -### `get_version` +#### `get_version` get_version() @@ -258,7 +257,7 @@ _Returns the firmware version of the Alvik_ - **version**: Returns the firmware version of the Alvik -### `print_status` +#### `print_status` print_status() @@ -268,7 +267,7 @@ _Prints the Alvik status_ - **status**: Prints the Alvik status -### `set_behaviour` +#### `set_behaviour` set_behaviour(behaviour: int) @@ -278,7 +277,7 @@ _Sets the behaviour of Alvik_ - **behaviour**: behaviour code -### `rotate` +#### `rotate` rotate(angle: float, unit: str = 'deg', blocking: bool = True) @@ -288,9 +287,9 @@ _Rotates the robot by given angle_ - **angle**: the angle value - **unit**: [angle unit](#the-angle-unit) -- **blocking**:[_True_ or _False_](#blocking-or-non-blocking) +- **blocking**: [_True_ or _False_](#blocking-or-non-blocking) -### `move` +#### `move` move(distance: float, unit: str = 'cm', blocking: bool = True) @@ -302,7 +301,7 @@ _Moves the robot by given distance_ - **unit**: the distance unit. [?](#the-distance-unit) - **blocking**: _True_ or _False_, [?](#blocking-or-non-blocking) -### `get_wheels_speed` +#### `get_wheels_speed` get_wheels_speed(unit: str = 'rpm') @@ -317,7 +316,7 @@ get_wheels_speed(unit: str = 'rpm') _Returns the speed of the wheels_ -### `set_wheels_speed` +#### `set_wheels_speed` set_wheels_speed(left_speed: float, right_speed: float, unit: str = 'rpm') @@ -329,7 +328,7 @@ _Sets left/right motor speed_ - **right_speed**: the speed value - **unit**: unit of rotational speed of the wheels. [?](#the-rotational-speed-unit) -### `set_wheels_position` +#### `set_wheels_position` set_wheels_position(left_angle: float, right_angle: float, unit: str = 'deg') @@ -341,8 +340,7 @@ _Sets left/right motor angle_ - **right_angle**: the angle value - **unit**: the angle unit, [?](#the-angle-unit) - -### `get_wheels_position` +#### `get_wheels_position` get_wheels_position(unit: str = 'deg') @@ -354,22 +352,22 @@ _Returns the angle of the wheels_ **Outputs** -- **angular_velocity**: speed of the wheels. +- **angular_velocity**: speed of the wheels. -### `drive` +#### `drive` -drive(linear_velocity: float, angular_velocity: float, linear_unit: str = 'cm/s',angular_unit: str = 'deg/s') +drive(linear_velocity: float, angular_velocity: float, linear_unit: str = 'cm/s', angular_unit: str = 'deg/s') _Drives the robot by linear and angular velocity_ **Inputs** - **linear_velocity**: speed of the robot. -- **angular_velocity**: speed of the wheels. +- **angular_velocity**: speed of the wheels. - **linear_unit**: unit of linear velocity. [?](#the-linear-speed-unit) - **angular_unit**: unit of rotational speed of the wheels. [?](#the-rotational-speed-unit) -### `get_drive_speed` +#### `get_drive_speed` get_drive_speed(linear_unit: str = 'cm/s', angular_unit: str = 'deg/s') @@ -383,13 +381,11 @@ _Returns linear and angular velocity of the robot_ **Outputs** - **linear_velocity**: speed of the robot. -- **angular_velocity**: speed of the wheels. - +- **angular_velocity**: speed of the wheels. -### `reset_pose` +#### `reset_pose` -reset_pose(x: float, y: float, theta: float, distance_unit: str = 'cm', angle_unit: -str = 'deg') +reset_pose(x: float, y: float, theta: float, distance_unit: str = 'cm', angle_unit: str = 'deg') _Resets the robot pose_ @@ -401,8 +397,7 @@ _Resets the robot pose_ - **distance_unit**: unit of x and y outputs, [?](#the-distance-unit) - **angle_unit**: unit of theta output, [?](#the-angle-unit) - -### `get_pose` +#### `get_pose` get_pose(distance_unit: str = 'cm', angle_unit: str = 'deg') @@ -419,7 +414,7 @@ _Returns the current pose of the robot_ - **y** - **theta** -### `set_servo_positions` +#### `set_servo_positions` set_servo_positions(a_position: int, b_position: int) @@ -430,7 +425,7 @@ _Sets A/B servomotor angle_ - **a_position**: position of A servomotor (0-180) - **b_position**: position of B servomotor (0-180) -### `set_builtin_led` +#### `set_builtin_led` set_builtin_led(value: bool) @@ -440,7 +435,7 @@ _Turns on/off the builtin led_ - **value**: True = ON, False = OFF -### `set_illuminator` +#### `set_illuminator` set_illuminator(value: bool) @@ -450,7 +445,9 @@ _Turns on/off the illuminator led_ - **value**: True = ON, False = OFF -### `color_calibration` +#### + + `color_calibration` color_calibration(background: str = 'white') @@ -460,7 +457,7 @@ _Calibrates the color sensor_ - **background**: string "white" or "black" -### `rgb2hsv` +#### `rgb2hsv` rgb2hsv(r: float, g: float, b: float) @@ -478,7 +475,7 @@ _Converts normalized rgb to hsv_ - **s**: saturation value - **v**: brightness value -### `get_color` +#### `get_color` get_color(color_format: str = 'rgb') @@ -494,7 +491,7 @@ _Returns the normalized color readout of the color sensor_ - **g** or **s** - **b** or **v** -### `hsv2label` +#### `hsv2label` hsv2label(h, s, v) @@ -510,7 +507,7 @@ _Returns the color label corresponding to the given normalized HSV color input_ - **color label**: like "BLACK" or "GREEN", if possible, otherwise return "UNDEFINED" -### `get_distance` +#### `get_distance` get_distance(unit: str = 'cm') @@ -528,7 +525,7 @@ _Returns the distance readout of the TOF sensor_ - **center_right_tof**: 22° to the right object distance - **right_tof**: 45° to the right object distance -### `get_distance_top` +#### `get_distance_top` get_distance_top(unit: str = 'cm') @@ -542,7 +539,7 @@ _Returns the obstacle top distance readout_ - **top_tof**: 45° to the top object distance -### `get_distance_bottom` +#### `get_distance_bottom` get_distance_bottom(unit: str = 'cm') @@ -556,7 +553,7 @@ _Returns the obstacle bottom distance readout_ - **bottom_tof**: 45° to the bottom object distance -### `on_touch_ok_pressed` +#### `on_touch_ok_pressed` on_touch_ok_pressed(callback: callable, args: tuple = ()) @@ -567,7 +564,7 @@ _Register callback when touch button OK is pressed_ - **callback**: the name of the function to recall - **args**: optional arguments of the function -### `on_touch_cancel_pressed` +#### `on_touch_cancel_pressed` on_touch_cancel_pressed(callback: callable, args: tuple = ()) @@ -578,7 +575,7 @@ _Register callback when touch button CANCEL is pressed_ - **callback**: the name of the function to recall - **args**: optional arguments of the function -### `on_touch_center_pressed` +#### `on_touch_center_pressed` on_touch_center_pressed(callback: callable, args: tuple = ()) @@ -589,7 +586,7 @@ _Register callback when touch button CENTER is pressed_ - **callback**: the name of the function to recall - **args**: optional arguments of the function -### `on_touch_up_pressed` +#### `on_touch_up_pressed` on_touch_up_pressed(callback: callable, args: tuple = ()) @@ -600,7 +597,7 @@ _Register callback when touch button UP is pressed_ - **callback**: the name of the function to recall - **args**: optional arguments of the function -### `on_touch_left_pressed` +#### `on_touch_left_pressed` on_touch_left_pressed(callback: callable, args: tuple = ()) @@ -611,7 +608,7 @@ _Register callback when touch button LEFT is pressed_ - **callback**: the name of the function to recall - **args**: optional arguments of the function -### `on_touch_down_pressed` +#### `on_touch_down_pressed` on_touch_down_pressed(callback: callable, args: tuple = ()) @@ -622,7 +619,7 @@ _Register callback when touch button DOWN is pressed_ - **callback**: the name of the function to recall - **args**: optional arguments of the function -### `on_touch_right_pressed` +#### `on_touch_right_pressed` on_touch_right_pressed(callback: callable, args: tuple = ()) @@ -633,6 +630,941 @@ _Register callback when touch button RIGHT is pressed_ - **callback**: the name of the function to recall - **args**: optional arguments of the function +### C Reference + +To access any of these functions in C, you need first to initialize an instance of the class **ArduinoAlvik()**. + +```c +ArduinoAlvik alvik; +alvik.begin(); +``` + +Then you can use the following functions as methods of the instance you've created, for example: + +```c +alvik.begin(); +``` + +#### `is_on` + +is_on() + +_Returns true if robot is on_ + +**Outputs** + +- bool: Returns true if robot is on, false if is off. + +```c +bool is_on() { + // Your implementation +} +``` + +#### `begin` + +begin() + +_Begins all Alvik operations_ + +```c +void begin() { + // Your implementation +} +``` + +#### `is_target_reached` + +is_target_reached() + +_Returns True if robot has sent an M or R acknowledgment. It also responds with an ack received message_ + +**Outputs** + +- bool: Returns True if robot has arrived to target, False otherwise. + +```c +bool is_target_reached() { + // Your implementation +} +``` + +#### `stop` + +stop() + +_Stops all Alvik operations_ + +```c +void stop() { + // Your implementation +} +``` + +#### `get_orientation` + +get_orientation() + +_Returns the orientation of the IMU_ + +**Outputs** + +- float r: roll value +- float p: pitch value +- float y: yaw value + +```c +void get_orientation(float *r, float *p, float *y) { + // Your implementation +} +``` + +#### `get_accelerations` + +get_accelerations() + +_Returns the 3-axial acceleration of the IMU_ + +**Outputs** + +- float ax: acceleration on x +- float ay: acceleration on y +- float az: acceleration on z + +```c +void get_accelerations(float *ax, float *ay, float *az) { + // Your implementation +} +``` + +#### `get_gyros` + +get_gyros() + +_Returns the 3-axial angular acceleration of the IMU_ + +**Outputs** + +- float gx: angular acceleration on x +- float gy: angular acceleration on y +- float gz: angular acceleration on z + +```c +void get_gyros(float *gx, float *gy, float *gz) { + // Your implementation +} +``` + +#### `get_imu` + +get_imu() + +_Returns all the IMUs readouts_ + +**Outputs** + +- float ax: acceleration on x +- float ay: acceleration on y +- float az: acceleration on z +- float gx: angular acceleration on x +- float gy: angular acceleration on y +- float gz: angular acceleration on z + +```c +void get_imu(float *ax, float *ay, float *az, float *gx, float *gy, float *gz) { + // Your implementation +} +``` + +#### `get_line_sensors` + +get_line_sensors() + +_Returns the line follower sensors readout_ + +**Outputs** + +- int left: left sensor readout +- int center: center sensor readout +- int right: right sensor readout + +```c +void get_line_sensors(int *left, int *center, int *right) { + // Your implementation +} +``` + +#### `brake` + +brake() + +_Brakes the robot_ + +```c +void brake() { + // Your implementation +} +``` + +#### `get_ack` + +get_ack() + +_Returns last acknowledgement_ + +**Outputs** + +- int last_ack: last acknowledgement value + +```c +int get_ack() { + // Your implementation +} +``` + +#### `get_battery_charge` + +get_battery_charge() + +_Returns the battery SOC_ + +**Outputs** + +- float battery_soc: percentage of charge + +```c +float get_battery_charge() { + // Your implementation +} +``` + +#### `get_touch_any` + +get_touch_any() + +_Returns true if any button is pressed_ + +**Outputs** + +- bool touch_any: true if any button is pressed, false otherwise. + +```c +bool get_touch_any() { + // Your implementation +} +``` + +#### `get_touch_ok` + +get_touch_ok() + +_Returns true if ok button is pressed_ + +**Outputs** + +- bool touch_ok: true if ok button is pressed, false otherwise. + +```c +bool get_touch_ok() { + // Your implementation +} +``` + +#### `get_touch_cancel` + +get_touch_cancel() + +_Returns true if cancel button is pressed_ + +**Outputs** + +- bool touch_cancel: true if cancel button is pressed, false otherwise. + +```c +bool get_touch_cancel() { + // Your implementation +} +``` + +#### `get_touch_center` + +get_touch_center() + +_Returns true if center button is pressed_ + +**Outputs** + +- bool touch_center: true if center button is pressed, false otherwise. + +```c +bool get_touch_center() { + // Your implementation +} +``` + +#### `get_touch_up` + +get_touch_up() + +_Returns true if up button is pressed_ + +**Outputs** + +- bool touch_up: true if up button is pressed, false otherwise. + +```c +bool get_touch_up() { + // Your implementation +} +``` + +#### `get_touch_left` + +get_touch_left() + +_Returns true if left button is pressed_ + +**Outputs** + +- bool touch_left: true if left button is pressed, false otherwise. + +```c +bool get_touch_left() { + // Your implementation +} +``` + +#### `get_touch_down` + +get_touch_down() + +_Returns true if down button is pressed_ + +**Outputs** + + + +- bool touch_down: true if down button is pressed, false otherwise. + +```c +bool get_touch_down() { + // Your implementation +} +``` + +#### `get_touch_right` + +get_touch_right() + +_Returns true if right button is pressed_ + +**Outputs** + +- bool touch_right: true if right button is pressed, false otherwise. + +```c +bool get_touch_right() { + // Your implementation +} +``` + +#### `get_color_raw` + +get_color_raw() + +_Returns the color sensor's raw readout_ + +**Outputs** + +- int color: the color sensor's raw readout + +```c +int get_color_raw() { + // Your implementation +} +``` + +#### `get_color_label` + +get_color_label() + +_Returns the label of the color as recognized by the sensor_ + +**Outputs** + +- char* color: the label of the color as recognized by the sensor + +```c +const char* get_color_label() { + // Your implementation +} +``` + +#### `get_version` + +get_version() + +_Returns the firmware version of the Alvik_ + +**Outputs** + +- char* version: Returns the firmware version of the Alvik + +```c +const char* get_version() { + // Your implementation +} +``` + +#### `print_status` + +print_status() + +_Prints the Alvik status_ + +**Outputs** + +- char* status: Prints the Alvik status + +```c +void print_status() { + // Your implementation +} +``` + +#### `set_behaviour` + +set_behaviour(int behaviour) + +_Sets the behaviour of Alvik_ + +**Inputs** + +- int behaviour: behaviour code + +```c +void set_behaviour(int behaviour) { + // Your implementation +} +``` + +#### `rotate` + +rotate(float angle, const char* unit = "deg", bool blocking = true) + +_Rotates the robot by given angle_ + +**Inputs** + +- float angle: the angle value +- const char* unit: angle unit +- bool blocking: true or false + +```c +void rotate(float angle, const char* unit = "deg", bool blocking = true) { + // Your implementation +} +``` + +#### `move` + +move(float distance, const char* unit = "cm", bool blocking = true) + +_Moves the robot by given distance_ + +**Inputs** + +- float distance: the distance value +- const char* unit: the distance unit +- bool blocking: true or false + +```c +void move(float distance, const char* unit = "cm", bool blocking = true) { + // Your implementation +} +``` + +#### `get_wheels_speed` + +get_wheels_speed(const char* unit = "rpm") + +**Inputs** + +- const char* unit: unit of rotational speed of the wheels + +**Outputs** + +- float left_wheel_speed: the speed value +- float right_wheel_speed: the speed value + +_Returns the speed of the wheels_ + +```c +void get_wheels_speed(float *left_wheel_speed, float *right_wheel_speed, const char* unit = "rpm") { + // Your implementation +} +``` + +#### `set_wheels_speed` + +set_wheels_speed(float left_speed, float right_speed, const char* unit = "rpm") + +_Sets left/right motor speed_ + +**Inputs** + +- float left_speed: the speed value +- float right_speed: the speed value +- const char* unit: unit of rotational speed of the wheels + +```c +void set_wheels_speed(float left_speed, float right_speed, const char* unit = "rpm") { + // Your implementation +} +``` + +#### `set_wheels_position` + +set_wheels_position(float left_angle, float right_angle, const char* unit = "deg") + +_Sets left/right motor angle_ + +**Inputs** + +- float left_angle: the angle value +- float right_angle: the angle value +- const char* unit: the angle unit + +```c +void set_wheels_position(float left_angle, float right_angle, const char* unit = "deg") { + // Your implementation +} +``` + +#### `get_wheels_position` + +get_wheels_position(const char* unit = "deg") + +_Returns the angle of the wheels_ + +**Inputs** + +- const char* unit: unit of rotational speed of the wheels + +**Outputs** + +- float angular_velocity: speed of the wheels + +```c +void get_wheels_position(float *angular_velocity, const char* unit = "deg") { + // Your implementation +} +``` + +#### `drive` + +drive(float linear_velocity, float angular_velocity, const char* linear_unit = "cm/s", const char* angular_unit = "deg/s") + +_Drives the robot by linear and angular velocity_ + +**Inputs** + +- float linear_velocity: speed of the robot +- float angular_velocity: speed of the wheels +- const char* linear_unit: unit of linear velocity +- const char* angular_unit: unit of rotational speed of the wheels + +```c +void drive(float linear_velocity, float angular_velocity, const char* linear_unit = "cm/s", const char* angular_unit = "deg/s") { + // Your implementation +} +``` + +#### `get_drive_speed` + +get_drive_speed(const char* linear_unit = "cm/s", const char* angular_unit = "deg/s") + +_Returns linear and angular velocity of the robot_ + +**Inputs** + +- const char* linear_unit: unit of linear velocity +- const char* angular_unit: unit of rotational speed of the wheels + +**Outputs** + +- float linear_velocity: speed of the robot +- float angular_velocity: speed of the wheels + +```c +void get_drive_speed(float *linear_velocity, float *angular_velocity, const char* linear_unit = "cm/s", const char* angular_unit = "deg/s") { + // Your implementation +} +``` + +#### `reset_pose` + +reset_pose(float x, float y, float theta, const char* distance_unit = "cm", const char* angle_unit = "deg") + +_Resets the robot pose_ + +**Inputs** + +- float x +- float y +- float theta +- const char* distance_unit: unit of x and y outputs +- const char* angle_unit: unit of theta output + +```c +void reset_pose(float x, float y, float theta, const char* distance_unit = "cm", const char* angle_unit = "deg") { + // Your implementation +} +``` + +#### `get_pose` + +get_pose(const char* distance_unit = "cm", const char* angle_unit = "deg") + +_Returns the current pose of the robot_ + +**Inputs** + +- const char* distance_unit: unit of x and y outputs +- const char* angle_unit: unit of theta output + +**Outputs** + +- float x +- float y +- float theta + +```c +void get_pose(float *x, float *y, float *theta, const char* distance_unit = "cm", const char* angle_unit = "deg") { + // Your implementation +} +``` + +#### `set_servo_positions` + +set_servo_positions(int a_position, int b_position) + +_Sets A/B servomotor angle_ + +**Inputs** + +- int a_position: position of A servomotor (0-180) +- int b_position: position of B servomotor (0-180) + +```c +void set_servo_positions(int a_position, int b_position) { + // Your implementation +} +``` + +#### `set_builtin_led` + +set_builtin_led(bool value) + +_Turns on/off the builtin led_ + +**Inputs** + +- bool value: True = ON, False = OFF + +```c +void set_builtin_led(bool value) { + // Your implementation +} +``` + +#### `set_illuminator` + +set_illuminator(bool value) + +_Turns on/off the illuminator led_ + +**Inputs** + +- bool value: True = ON, False = OFF + +```c +void set_illuminator(bool value) { + // Your implementation +} +``` + +#### `color_calibration` + +color_calibration(const char* background = "white") + +_Calibrates the color sensor_ + +**Inputs** + +- const char* background: string "white" or "black" + +```c +void color_calibration(const char* background = "white") { + // Your implementation +} +``` + +#### `rgb2hsv` + +rgb2hsv(float r, float g, float b) + +_Converts normalized rgb to hsv_ + +**Inputs** + +- float r: red value +- float g: green value +- float b: blue value + +**Outputs** + +- float h: hue value +- float s: saturation value +- float v: brightness value + +```c +void rgb2hsv(float r, float g, float b, float *h, float *s, float *v) { + // Your implementation +} +``` + +#### `get_color` + +get_color(const char* color_format = "rgb") + +_Returns the normalized color readout of the color sensor_ + +**Inputs** + +- const char* color_format: rgb or hsv only + +**Outputs** + +- float r or h +- float g or s +- float b or v + +```c +void get_color(float *r, float *g, float *b, const char* color_format = "rgb") { + // Your implementation +} +``` + +#### `hsv2label` + +hsv2label(float h, float s, float v) + +_Returns the color label corresponding to the given normalized HSV color input_ + +**Inputs** + +- float h: hue value +- float s: saturation value +- float v: brightness value + +**Outputs** + +- char* color label: like "BLACK" or "GREEN", if possible, otherwise return "UNDEFINED" + +```c +const char* hsv2label(float h, float s, float v) { + // Your implementation +} +``` + +#### `get_distance` + +get_distance(const char* unit = "cm + +") + +_Returns the distance readout of the TOF sensor_ + +**Inputs** + +- const char* unit: distance output unit + +**Outputs** + +- float left_tof: 45° to the left object distance +- float center_left_tof: 22° to the left object distance +- float center_tof: center object distance +- float center_right_tof: 22° to the right object distance +- float right_tof: 45° to the right object distance + +```c +void get_distance(float *left_tof, float *center_left_tof, float *center_tof, float *center_right_tof, float *right_tof, const char* unit = "cm") { + // Your implementation +} +``` + +#### `get_distance_top` + +get_distance_top(const char* unit = "cm") + +_Returns the obstacle top distance readout_ + +**Inputs** + +- const char* unit: distance output unit + +**Outputs** + +- float top_tof: 45° to the top object distance + +```c +void get_distance_top(float *top_tof, const char* unit = "cm") { + // Your implementation +} +``` + +#### `get_distance_bottom` + +get_distance_bottom(const char* unit = "cm") + +_Returns the obstacle bottom distance readout_ + +**Inputs** + +- const char* unit: distance output unit + +**Outputs** + +- float bottom_tof: 45° to the bottom object distance + +```c +void get_distance_bottom(float *bottom_tof, const char* unit = "cm") { + // Your implementation +} +``` + +#### `on_touch_ok_pressed` + +on_touch_ok_pressed(void (*callback)(void), ...) + +_Register callback when touch button OK is pressed_ + +**Inputs** + +- void (*callback)(void): the name of the function to recall +- ...: optional arguments of the function + +```c +void on_touch_ok_pressed(void (*callback)(void), ...) { + // Your implementation +} +``` + +#### `on_touch_cancel_pressed` + +on_touch_cancel_pressed(void (*callback)(void), ...) + +_Register callback when touch button CANCEL is pressed_ + +**Inputs** + +- void (*callback)(void): the name of the function to recall +- ...: optional arguments of the function + +```c +void on_touch_cancel_pressed(void (*callback)(void), ...) { + // Your implementation +} +``` + +#### `on_touch_center_pressed` + +on_touch_center_pressed(void (*callback)(void), ...) + +_Register callback when touch button CENTER is pressed_ + +**Inputs** + +- void (*callback)(void): the name of the function to recall +- ...: optional arguments of the function + +```c +void on_touch_center_pressed(void (*callback)(void), ...) { + // Your implementation +} +``` + +#### `on_touch_up_pressed` + +on_touch_up_pressed(void (*callback)(void), ...) + +_Register callback when touch button UP is pressed_ + +**Inputs** + +- void (*callback)(void): the name of the function to recall +- ...: optional arguments of the function + +```c +void on_touch_up_pressed(void (*callback)(void), ...) { + // Your implementation +} +``` + +#### `on_touch_left_pressed` + +on_touch_left_pressed(void (*callback)(void), ...) + +_Register callback when touch button LEFT is pressed_ + +**Inputs** + +- void (*callback)(void): the name of the function to recall +- ...: optional arguments of the function + +```c +void on_touch_left_pressed(void (*callback)(void), ...) { + // Your implementation +} +``` + +#### `on_touch_down_pressed` + +on_touch_down_pressed(void (*callback)(void), ...) + +_Register callback when touch button DOWN is pressed_ + +**Inputs** + +- void (*callback)(void): the name of the function to recall +- ...: optional arguments of the function + +```c +void on_touch_down_pressed(void (*callback)(void), ...) { + // Your implementation +} +``` + +#### `on_touch_right_pressed` + +on_touch_right_pressed(void (*callback)(void), ...) + +_Register callback when touch button RIGHT is pressed_ + +**Inputs** + +- void (*callback)(void): the name of the function to recall +- ...: optional arguments of the function + +```c +void on_touch_right_pressed(void (*callback)(void), ...) { + // Your implementation +} +``` + + + ## Extras ### The Distance Unit From 753e71259605d8421eb0e6b4b7671be7c3529a80 Mon Sep 17 00:00:00 2001 From: pedromsousalima <32345730+pedromsousalima@users.noreply.github.com> Date: Fri, 9 Aug 2024 11:02:16 +0200 Subject: [PATCH 02/23] Added Examples -Update structure -Added Examples --- .../tutorials/api-overview/api-overview.md | 1181 ++++------------- 1 file changed, 223 insertions(+), 958 deletions(-) diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md index 11ffee7869..693c63fe11 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md @@ -12,7 +12,8 @@ hardware: ## API List -To access any of these functions, you need first to initialize an instance of the class **ArduinoAlvik()**. +To access to any of these functions you need first to initialize an instance of the class **ArduinoAlvik()**. + ```arduino alvik = ArduinoAlvik() @@ -24,9 +25,7 @@ Then you can use the following functions as methods of the instance you've creat alvik.begin() ``` -### MicroPython Reference - -#### `is_on` +### `is_on` is_on() @@ -36,13 +35,14 @@ _Returns true if robot is on_ - boolean: Returns true if robot is on, false if is off. -#### `begin` +### `begin` begin() _Begins all Alvik operations_ -#### `is_target_reached` + +### `is_target_reached` is_target_reached() @@ -52,13 +52,14 @@ _Returns True if robot has sent an M or R acknowledgment. It also responds with - boolean: Returns True if robot has arrived to target, False otherwise. -#### `stop` +### `stop` stop() _Stops all Alvik operations_ -#### `get_orientation` + +### `get_orientation` get_orientation() @@ -70,7 +71,7 @@ _Returns the orientation of the IMU_ - **p**: pitch value - **y**: yaw value -#### `get_accelerations` +### `get_accelerations` get_accelerations() @@ -82,7 +83,7 @@ _Returns the 3-axial acceleration of the IMU_ - **ay**: acceleration on y - **az**: acceleration on z -#### `get_gyros` +### `get_gyros` get_gyros() @@ -94,7 +95,7 @@ _Returns the 3-axial angular acceleration of the IMU_ - **gy**: angular acceleration on y - **gz**: angular acceleration on z -#### `get_imu` +### `get_imu` get_imu() @@ -109,7 +110,7 @@ _Returns all the IMUs readouts_ - **gy**: angular acceleration on y - **gz**: angular acceleration on z -#### `get_line_sensors` +### `get_line_sensors` get_line_sensors() @@ -121,13 +122,13 @@ _Returns the line follower sensors readout_ - **center**: center sensor readout - **right**: right sensor readout -#### `brake` +### `brake` brake() _Brakes the robot_ -#### `get_ack` +### `get_ack` get_ack() @@ -137,7 +138,7 @@ _Returns last acknowledgement_ - **last_ack**: last acknowledgement value -#### `get_battery_charge` +### `get_battery_charge` get_battery_charge() @@ -147,7 +148,7 @@ _Returns the battery SOC_ - **battery_soc**: percentage of charge -#### `get_touch_any` +### `get_touch_any` get_touch_any() @@ -157,7 +158,7 @@ _Returns true if any button is pressed_ - **touch_any**: true if any button is pressed, false otherwise. -#### `get_touch_ok` +### `get_touch_ok` get_touch_ok() @@ -167,7 +168,7 @@ _Returns true if ok button is pressed_ - **touch_ok**: true if ok button is pressed, false otherwise. -#### `get_touch_cancel` +### `get_touch_cancel` get_touch_cancel() @@ -177,7 +178,7 @@ _Returns true if cancel button is pressed_ - **touch_cancel**: true if cancel button is pressed, false otherwise. -#### `get_touch_center` +### `get_touch_center` get_touch_center() @@ -187,7 +188,7 @@ _Returns true if center button is pressed_ - **touch_center**: true if center button is pressed, false otherwise. -#### `get_touch_up` +### `get_touch_up` get_touch_up() @@ -197,7 +198,7 @@ _Returns true if up button is pressed_ - **touch_up**: true if up button is pressed, false otherwise. -#### `get_touch_left` +### `get_touch_left` get_touch_left() @@ -207,7 +208,7 @@ _Returns true if left button is pressed_ - **touch_left**: true if left button is pressed, false otherwise. -#### `get_touch_down` +### `get_touch_down` get_touch_down() @@ -217,7 +218,7 @@ _Returns true if down button is pressed_ - **touch_down**: true if down button is pressed, false otherwise. -#### `get_touch_right` +### `get_touch_right` get_touch_right() @@ -227,7 +228,7 @@ _Returns true if right button is pressed_ - **touch_right**: true if right button is pressed, false otherwise. -#### `get_color_raw` +### `get_color_raw` get_color_raw() @@ -237,7 +238,7 @@ _Returns the color sensor's raw readout_ - **color**: the color sensor's raw readout -#### `get_color_label` +### `get_color_label` get_color_label() @@ -247,7 +248,7 @@ _Returns the label of the color as recognized by the sensor_ - **color**: the label of the color as recognized by the sensor -#### `get_version` +### `get_version` get_version() @@ -257,7 +258,7 @@ _Returns the firmware version of the Alvik_ - **version**: Returns the firmware version of the Alvik -#### `print_status` +### `print_status` print_status() @@ -267,7 +268,7 @@ _Prints the Alvik status_ - **status**: Prints the Alvik status -#### `set_behaviour` +### `set_behaviour` set_behaviour(behaviour: int) @@ -277,7 +278,7 @@ _Sets the behaviour of Alvik_ - **behaviour**: behaviour code -#### `rotate` +### `rotate` rotate(angle: float, unit: str = 'deg', blocking: bool = True) @@ -287,9 +288,9 @@ _Rotates the robot by given angle_ - **angle**: the angle value - **unit**: [angle unit](#the-angle-unit) -- **blocking**: [_True_ or _False_](#blocking-or-non-blocking) +- **blocking**:[_True_ or _False_](#blocking-or-non-blocking) -#### `move` +### `move` move(distance: float, unit: str = 'cm', blocking: bool = True) @@ -301,7 +302,7 @@ _Moves the robot by given distance_ - **unit**: the distance unit. [?](#the-distance-unit) - **blocking**: _True_ or _False_, [?](#blocking-or-non-blocking) -#### `get_wheels_speed` +### `get_wheels_speed` get_wheels_speed(unit: str = 'rpm') @@ -316,7 +317,7 @@ get_wheels_speed(unit: str = 'rpm') _Returns the speed of the wheels_ -#### `set_wheels_speed` +### `set_wheels_speed` set_wheels_speed(left_speed: float, right_speed: float, unit: str = 'rpm') @@ -328,7 +329,7 @@ _Sets left/right motor speed_ - **right_speed**: the speed value - **unit**: unit of rotational speed of the wheels. [?](#the-rotational-speed-unit) -#### `set_wheels_position` +### `set_wheels_position` set_wheels_position(left_angle: float, right_angle: float, unit: str = 'deg') @@ -340,7 +341,8 @@ _Sets left/right motor angle_ - **right_angle**: the angle value - **unit**: the angle unit, [?](#the-angle-unit) -#### `get_wheels_position` + +### `get_wheels_position` get_wheels_position(unit: str = 'deg') @@ -352,22 +354,22 @@ _Returns the angle of the wheels_ **Outputs** -- **angular_velocity**: speed of the wheels. +- **angular_velocity**: speed of the wheels. -#### `drive` +### `drive` -drive(linear_velocity: float, angular_velocity: float, linear_unit: str = 'cm/s', angular_unit: str = 'deg/s') +drive(linear_velocity: float, angular_velocity: float, linear_unit: str = 'cm/s',angular_unit: str = 'deg/s') _Drives the robot by linear and angular velocity_ **Inputs** - **linear_velocity**: speed of the robot. -- **angular_velocity**: speed of the wheels. +- **angular_velocity**: speed of the wheels. - **linear_unit**: unit of linear velocity. [?](#the-linear-speed-unit) - **angular_unit**: unit of rotational speed of the wheels. [?](#the-rotational-speed-unit) -#### `get_drive_speed` +### `get_drive_speed` get_drive_speed(linear_unit: str = 'cm/s', angular_unit: str = 'deg/s') @@ -381,11 +383,13 @@ _Returns linear and angular velocity of the robot_ **Outputs** - **linear_velocity**: speed of the robot. -- **angular_velocity**: speed of the wheels. +- **angular_velocity**: speed of the wheels. + -#### `reset_pose` +### `reset_pose` -reset_pose(x: float, y: float, theta: float, distance_unit: str = 'cm', angle_unit: str = 'deg') +reset_pose(x: float, y: float, theta: float, distance_unit: str = 'cm', angle_unit: +str = 'deg') _Resets the robot pose_ @@ -397,7 +401,8 @@ _Resets the robot pose_ - **distance_unit**: unit of x and y outputs, [?](#the-distance-unit) - **angle_unit**: unit of theta output, [?](#the-angle-unit) -#### `get_pose` + +### `get_pose` get_pose(distance_unit: str = 'cm', angle_unit: str = 'deg') @@ -414,7 +419,7 @@ _Returns the current pose of the robot_ - **y** - **theta** -#### `set_servo_positions` +### `set_servo_positions` set_servo_positions(a_position: int, b_position: int) @@ -425,7 +430,7 @@ _Sets A/B servomotor angle_ - **a_position**: position of A servomotor (0-180) - **b_position**: position of B servomotor (0-180) -#### `set_builtin_led` +### `set_builtin_led` set_builtin_led(value: bool) @@ -435,7 +440,7 @@ _Turns on/off the builtin led_ - **value**: True = ON, False = OFF -#### `set_illuminator` +### `set_illuminator` set_illuminator(value: bool) @@ -445,9 +450,7 @@ _Turns on/off the illuminator led_ - **value**: True = ON, False = OFF -#### - - `color_calibration` +### `color_calibration` color_calibration(background: str = 'white') @@ -457,7 +460,7 @@ _Calibrates the color sensor_ - **background**: string "white" or "black" -#### `rgb2hsv` +### `rgb2hsv` rgb2hsv(r: float, g: float, b: float) @@ -475,7 +478,7 @@ _Converts normalized rgb to hsv_ - **s**: saturation value - **v**: brightness value -#### `get_color` +### `get_color` get_color(color_format: str = 'rgb') @@ -491,7 +494,7 @@ _Returns the normalized color readout of the color sensor_ - **g** or **s** - **b** or **v** -#### `hsv2label` +### `hsv2label` hsv2label(h, s, v) @@ -507,7 +510,7 @@ _Returns the color label corresponding to the given normalized HSV color input_ - **color label**: like "BLACK" or "GREEN", if possible, otherwise return "UNDEFINED" -#### `get_distance` +### `get_distance` get_distance(unit: str = 'cm') @@ -525,7 +528,7 @@ _Returns the distance readout of the TOF sensor_ - **center_right_tof**: 22° to the right object distance - **right_tof**: 45° to the right object distance -#### `get_distance_top` +### `get_distance_top` get_distance_top(unit: str = 'cm') @@ -539,7 +542,7 @@ _Returns the obstacle top distance readout_ - **top_tof**: 45° to the top object distance -#### `get_distance_bottom` +### `get_distance_bottom` get_distance_bottom(unit: str = 'cm') @@ -553,7 +556,7 @@ _Returns the obstacle bottom distance readout_ - **bottom_tof**: 45° to the bottom object distance -#### `on_touch_ok_pressed` +### `on_touch_ok_pressed` on_touch_ok_pressed(callback: callable, args: tuple = ()) @@ -564,7 +567,7 @@ _Register callback when touch button OK is pressed_ - **callback**: the name of the function to recall - **args**: optional arguments of the function -#### `on_touch_cancel_pressed` +### `on_touch_cancel_pressed` on_touch_cancel_pressed(callback: callable, args: tuple = ()) @@ -575,7 +578,7 @@ _Register callback when touch button CANCEL is pressed_ - **callback**: the name of the function to recall - **args**: optional arguments of the function -#### `on_touch_center_pressed` +### `on_touch_center_pressed` on_touch_center_pressed(callback: callable, args: tuple = ()) @@ -586,7 +589,7 @@ _Register callback when touch button CENTER is pressed_ - **callback**: the name of the function to recall - **args**: optional arguments of the function -#### `on_touch_up_pressed` +### `on_touch_up_pressed` on_touch_up_pressed(callback: callable, args: tuple = ()) @@ -597,7 +600,7 @@ _Register callback when touch button UP is pressed_ - **callback**: the name of the function to recall - **args**: optional arguments of the function -#### `on_touch_left_pressed` +### `on_touch_left_pressed` on_touch_left_pressed(callback: callable, args: tuple = ()) @@ -608,7 +611,7 @@ _Register callback when touch button LEFT is pressed_ - **callback**: the name of the function to recall - **args**: optional arguments of the function -#### `on_touch_down_pressed` +### `on_touch_down_pressed` on_touch_down_pressed(callback: callable, args: tuple = ()) @@ -619,7 +622,7 @@ _Register callback when touch button DOWN is pressed_ - **callback**: the name of the function to recall - **args**: optional arguments of the function -#### `on_touch_right_pressed` +### `on_touch_right_pressed` on_touch_right_pressed(callback: callable, args: tuple = ()) @@ -630,940 +633,202 @@ _Register callback when touch button RIGHT is pressed_ - **callback**: the name of the function to recall - **args**: optional arguments of the function -### C Reference - -To access any of these functions in C, you need first to initialize an instance of the class **ArduinoAlvik()**. - -```c -ArduinoAlvik alvik; -alvik.begin(); -``` - -Then you can use the following functions as methods of the instance you've created, for example: - -```c -alvik.begin(); -``` - -#### `is_on` - -is_on() - -_Returns true if robot is on_ - -**Outputs** - -- bool: Returns true if robot is on, false if is off. - -```c -bool is_on() { - // Your implementation -} -``` - -#### `begin` - -begin() - -_Begins all Alvik operations_ - -```c -void begin() { - // Your implementation -} -``` - -#### `is_target_reached` - -is_target_reached() - -_Returns True if robot has sent an M or R acknowledgment. It also responds with an ack received message_ - -**Outputs** - -- bool: Returns True if robot has arrived to target, False otherwise. - -```c -bool is_target_reached() { - // Your implementation -} -``` - -#### `stop` - -stop() - -_Stops all Alvik operations_ - -```c -void stop() { - // Your implementation -} -``` - -#### `get_orientation` - -get_orientation() - -_Returns the orientation of the IMU_ - -**Outputs** - -- float r: roll value -- float p: pitch value -- float y: yaw value - -```c -void get_orientation(float *r, float *p, float *y) { - // Your implementation -} -``` - -#### `get_accelerations` - -get_accelerations() - -_Returns the 3-axial acceleration of the IMU_ - -**Outputs** - -- float ax: acceleration on x -- float ay: acceleration on y -- float az: acceleration on z - -```c -void get_accelerations(float *ax, float *ay, float *az) { - // Your implementation -} -``` - -#### `get_gyros` - -get_gyros() - -_Returns the 3-axial angular acceleration of the IMU_ - -**Outputs** - -- float gx: angular acceleration on x -- float gy: angular acceleration on y -- float gz: angular acceleration on z - -```c -void get_gyros(float *gx, float *gy, float *gz) { - // Your implementation -} -``` - -#### `get_imu` - -get_imu() - -_Returns all the IMUs readouts_ - -**Outputs** - -- float ax: acceleration on x -- float ay: acceleration on y -- float az: acceleration on z -- float gx: angular acceleration on x -- float gy: angular acceleration on y -- float gz: angular acceleration on z - -```c -void get_imu(float *ax, float *ay, float *az, float *gx, float *gy, float *gz) { - // Your implementation -} -``` - -#### `get_line_sensors` - -get_line_sensors() - -_Returns the line follower sensors readout_ - -**Outputs** - -- int left: left sensor readout -- int center: center sensor readout -- int right: right sensor readout - -```c -void get_line_sensors(int *left, int *center, int *right) { - // Your implementation -} -``` - -#### `brake` - -brake() - -_Brakes the robot_ - -```c -void brake() { - // Your implementation -} -``` - -#### `get_ack` - -get_ack() - -_Returns last acknowledgement_ - -**Outputs** - -- int last_ack: last acknowledgement value - -```c -int get_ack() { - // Your implementation -} -``` - -#### `get_battery_charge` -get_battery_charge() - -_Returns the battery SOC_ - -**Outputs** - -- float battery_soc: percentage of charge - -```c -float get_battery_charge() { - // Your implementation -} -``` - -#### `get_touch_any` - -get_touch_any() - -_Returns true if any button is pressed_ - -**Outputs** - -- bool touch_any: true if any button is pressed, false otherwise. - -```c -bool get_touch_any() { - // Your implementation -} -``` - -#### `get_touch_ok` - -get_touch_ok() - -_Returns true if ok button is pressed_ - -**Outputs** - -- bool touch_ok: true if ok button is pressed, false otherwise. - -```c -bool get_touch_ok() { - // Your implementation -} -``` - -#### `get_touch_cancel` - -get_touch_cancel() - -_Returns true if cancel button is pressed_ - -**Outputs** - -- bool touch_cancel: true if cancel button is pressed, false otherwise. - -```c -bool get_touch_cancel() { - // Your implementation -} -``` - -#### `get_touch_center` - -get_touch_center() - -_Returns true if center button is pressed_ - -**Outputs** - -- bool touch_center: true if center button is pressed, false otherwise. - -```c -bool get_touch_center() { - // Your implementation -} -``` - -#### `get_touch_up` - -get_touch_up() - -_Returns true if up button is pressed_ - -**Outputs** - -- bool touch_up: true if up button is pressed, false otherwise. - -```c -bool get_touch_up() { - // Your implementation -} -``` +## Examples -#### `get_touch_left` +### Line Following -get_touch_left() - -_Returns true if left button is pressed_ - -**Outputs** - -- bool touch_left: true if left button is pressed, false otherwise. - -```c -bool get_touch_left() { - // Your implementation -} -``` - -#### `get_touch_down` - -get_touch_down() +This example demonstrates how to create a simple line-following robot. The code initializes the robot, reads sensor data to detect the line, calculates the error from the center of the line, and adjusts the robot's wheel speeds to follow the line. It also uses LEDs to indicate the direction the robot is turning. -_Returns true if down button is pressed_ - -**Outputs** +The robot starts when the OK button is pressed and stops when the Cancel button is pressed. The robot continuously reads the line sensors, calculates the error, and adjusts the wheel speeds to correct its path. +- **Reference for MicroPython** +```python +from arduino_alvik import ArduinoAlvik +from time import sleep_ms +import sys -- bool touch_down: true if down button is pressed, false otherwise. -```c -bool get_touch_down() { - // Your implementation -} -``` +def calculate_center(left: int, center: int, right: int): + centroid = 0 + sum_weight = left + center + right + sum_values = left + 2 * center + 3 * right + if sum_weight != 0: + centroid = sum_values / sum_weight + centroid = 2 - centroid + return centroid -#### `get_touch_right` -get_touch_right() +alvik = ArduinoAlvik() +alvik.begin() -_Returns true if right button is pressed_ +error = 0 +control = 0 +kp = 50.0 -**Outputs** +alvik.left_led.set_color(0, 0, 1) +alvik.right_led.set_color(0, 0, 1) + +while alvik.get_touch_ok(): + sleep_ms(50) + +while not alvik.get_touch_ok(): + sleep_ms(50) + +try: + while True: + while not alvik.get_touch_cancel(): + + line_sensors = alvik.get_line_sensors() + print(f' {line_sensors}') + + error = calculate_center(*line_sensors) + control = error * kp + + if control > 0.2: + alvik.left_led.set_color(1, 0, 0) + alvik.right_led.set_color(0, 0, 0) + elif control < -0.2: + alvik.left_led.set_color(1, 0, 0) + alvik.right_led.set_color(0, 0, 0) + else: + alvik.left_led.set_color(0, 1, 0) + alvik.right_led.set_color(0, 1, 0) + + alvik.set_wheels_speed(30 - control, 30 + control) + sleep_ms(100) + + while not alvik.get_touch_ok(): + alvik.left_led.set_color(0, 0, 1) + alvik.right_led.set_color(0, 0, 1) + alvik.brake() + sleep_ms(100) + +except KeyboardInterrupt as e: + print('over') + alvik.stop() + sys.exit() +``` + +- **Reference for C++** + +```C +/* + This file is part of the Arduino_Alvik library. -- bool touch_right: true if right button is pressed, false otherwise. + Copyright (c) 2024 Arduino SA + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + +*/ -```c -bool get_touch_right() { - // Your implementation -} -``` +#include "Arduino_Alvik.h" -#### `get_color_raw` +Arduino_Alvik alvik; -get_color_raw() +int line_sensors[3]; +float error = 0; +float control = 0; +float kp = 50.0; -_Returns the color sensor's raw readout_ -**Outputs** -- int color: the color sensor's raw readout +void setup() { + Serial.begin(115200); + while((!Serial)&&(millis()>3000)); + alvik.begin(); + alvik.left_led.set_color(0,0,1); + alvik.right_led.set_color(0,0,1); -```c -int get_color_raw() { - // Your implementation + while(!alvik.get_touch_ok()){ + delay(50); + } } -``` - -#### `get_color_label` - -get_color_label() - -_Returns the label of the color as recognized by the sensor_ -**Outputs** +void loop() { + while (!alvik.get_touch_cancel()){ -- char* color: the label of the color as recognized by the sensor + alvik.get_line_sensors(line_sensors[0], line_sensors[1], line_sensors[2]); + Serial.print(line_sensors[0]); + Serial.print("\t"); + Serial.print(line_sensors[1]); + Serial.print("\t"); + Serial.print(line_sensors[2]); + Serial.print("\n"); + error = calculate_center(line_sensors[0], line_sensors[1], line_sensors[2]); + control = error * kp; + if (control > 0.2){ + alvik.left_led.set_color(1,0,0); + alvik.right_led.set_color(0,0,0); + } + else{ + if (control < -0.2){ + alvik.left_led.set_color(0,0,0); + alvik.right_led.set_color(1,0,0); + } + else{ + alvik.left_led.set_color(0,1,0); + alvik.right_led.set_color(0,1,0); + } + } -```c -const char* get_color_label() { - // Your implementation + alvik.set_wheels_speed(30-control, 30+control); + delay(100); + } + + while (!alvik.get_touch_ok()){ + alvik.left_led.set_color(0,0,1); + alvik.right_led.set_color(0,0,1); + alvik.brake(); + delay(100); + } } -``` - -#### `get_version` - -get_version() - -_Returns the firmware version of the Alvik_ -**Outputs** - -- char* version: Returns the firmware version of the Alvik - -```c -const char* get_version() { - // Your implementation +float calculate_center(const int left, const int center, const int right){ + float centroid = 0.0; + float sum_weight = left + center + right; + float sum_values = left + center * 2 + right * 3; + if (sum_weight!=0.0){ // divide by zero protection + centroid=sum_values/sum_weight; + centroid=-centroid+2.0; // so it is right on robot axis Y + } + return centroid; } ``` -#### `print_status` - -print_status() - -_Prints the Alvik status_ - -**Outputs** - -- char* status: Prints the Alvik status - -```c -void print_status() { - // Your implementation -} -``` +### Drive -#### `set_behaviour` +```C +/* + This file is part of the Arduino_Alvik library. -set_behaviour(int behaviour) + Copyright (c) 2024 Arduino SA -_Sets the behaviour of Alvik_ + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + +*/ -**Inputs** +#include "Arduino_Alvik.h" -- int behaviour: behaviour code +Arduino_Alvik alvik; -```c -void set_behaviour(int behaviour) { - // Your implementation +void setup() { + alvik.begin(); } -``` -#### `rotate` - -rotate(float angle, const char* unit = "deg", bool blocking = true) - -_Rotates the robot by given angle_ - -**Inputs** - -- float angle: the angle value -- const char* unit: angle unit -- bool blocking: true or false - -```c -void rotate(float angle, const char* unit = "deg", bool blocking = true) { - // Your implementation +void loop() { + alvik.drive(10, 45); + delay(10000); + alvik.drive(10, -45); + delay(10000); } ``` -#### `move` - -move(float distance, const char* unit = "cm", bool blocking = true) - -_Moves the robot by given distance_ - -**Inputs** - -- float distance: the distance value -- const char* unit: the distance unit -- bool blocking: true or false - -```c -void move(float distance, const char* unit = "cm", bool blocking = true) { - // Your implementation -} -``` - -#### `get_wheels_speed` - -get_wheels_speed(const char* unit = "rpm") - -**Inputs** - -- const char* unit: unit of rotational speed of the wheels - -**Outputs** - -- float left_wheel_speed: the speed value -- float right_wheel_speed: the speed value - -_Returns the speed of the wheels_ - -```c -void get_wheels_speed(float *left_wheel_speed, float *right_wheel_speed, const char* unit = "rpm") { - // Your implementation -} -``` - -#### `set_wheels_speed` - -set_wheels_speed(float left_speed, float right_speed, const char* unit = "rpm") - -_Sets left/right motor speed_ - -**Inputs** - -- float left_speed: the speed value -- float right_speed: the speed value -- const char* unit: unit of rotational speed of the wheels - -```c -void set_wheels_speed(float left_speed, float right_speed, const char* unit = "rpm") { - // Your implementation -} -``` - -#### `set_wheels_position` - -set_wheels_position(float left_angle, float right_angle, const char* unit = "deg") - -_Sets left/right motor angle_ - -**Inputs** - -- float left_angle: the angle value -- float right_angle: the angle value -- const char* unit: the angle unit - -```c -void set_wheels_position(float left_angle, float right_angle, const char* unit = "deg") { - // Your implementation -} -``` - -#### `get_wheels_position` - -get_wheels_position(const char* unit = "deg") - -_Returns the angle of the wheels_ - -**Inputs** - -- const char* unit: unit of rotational speed of the wheels - -**Outputs** - -- float angular_velocity: speed of the wheels - -```c -void get_wheels_position(float *angular_velocity, const char* unit = "deg") { - // Your implementation -} -``` - -#### `drive` - -drive(float linear_velocity, float angular_velocity, const char* linear_unit = "cm/s", const char* angular_unit = "deg/s") - -_Drives the robot by linear and angular velocity_ - -**Inputs** - -- float linear_velocity: speed of the robot -- float angular_velocity: speed of the wheels -- const char* linear_unit: unit of linear velocity -- const char* angular_unit: unit of rotational speed of the wheels - -```c -void drive(float linear_velocity, float angular_velocity, const char* linear_unit = "cm/s", const char* angular_unit = "deg/s") { - // Your implementation -} -``` - -#### `get_drive_speed` - -get_drive_speed(const char* linear_unit = "cm/s", const char* angular_unit = "deg/s") - -_Returns linear and angular velocity of the robot_ - -**Inputs** - -- const char* linear_unit: unit of linear velocity -- const char* angular_unit: unit of rotational speed of the wheels - -**Outputs** - -- float linear_velocity: speed of the robot -- float angular_velocity: speed of the wheels - -```c -void get_drive_speed(float *linear_velocity, float *angular_velocity, const char* linear_unit = "cm/s", const char* angular_unit = "deg/s") { - // Your implementation -} -``` - -#### `reset_pose` - -reset_pose(float x, float y, float theta, const char* distance_unit = "cm", const char* angle_unit = "deg") - -_Resets the robot pose_ - -**Inputs** - -- float x -- float y -- float theta -- const char* distance_unit: unit of x and y outputs -- const char* angle_unit: unit of theta output - -```c -void reset_pose(float x, float y, float theta, const char* distance_unit = "cm", const char* angle_unit = "deg") { - // Your implementation -} -``` - -#### `get_pose` - -get_pose(const char* distance_unit = "cm", const char* angle_unit = "deg") - -_Returns the current pose of the robot_ - -**Inputs** - -- const char* distance_unit: unit of x and y outputs -- const char* angle_unit: unit of theta output - -**Outputs** - -- float x -- float y -- float theta - -```c -void get_pose(float *x, float *y, float *theta, const char* distance_unit = "cm", const char* angle_unit = "deg") { - // Your implementation -} -``` - -#### `set_servo_positions` - -set_servo_positions(int a_position, int b_position) - -_Sets A/B servomotor angle_ - -**Inputs** - -- int a_position: position of A servomotor (0-180) -- int b_position: position of B servomotor (0-180) - -```c -void set_servo_positions(int a_position, int b_position) { - // Your implementation -} -``` - -#### `set_builtin_led` - -set_builtin_led(bool value) - -_Turns on/off the builtin led_ - -**Inputs** - -- bool value: True = ON, False = OFF - -```c -void set_builtin_led(bool value) { - // Your implementation -} -``` - -#### `set_illuminator` - -set_illuminator(bool value) - -_Turns on/off the illuminator led_ - -**Inputs** - -- bool value: True = ON, False = OFF - -```c -void set_illuminator(bool value) { - // Your implementation -} -``` - -#### `color_calibration` - -color_calibration(const char* background = "white") - -_Calibrates the color sensor_ - -**Inputs** - -- const char* background: string "white" or "black" - -```c -void color_calibration(const char* background = "white") { - // Your implementation -} -``` - -#### `rgb2hsv` - -rgb2hsv(float r, float g, float b) - -_Converts normalized rgb to hsv_ - -**Inputs** - -- float r: red value -- float g: green value -- float b: blue value - -**Outputs** - -- float h: hue value -- float s: saturation value -- float v: brightness value - -```c -void rgb2hsv(float r, float g, float b, float *h, float *s, float *v) { - // Your implementation -} -``` - -#### `get_color` - -get_color(const char* color_format = "rgb") - -_Returns the normalized color readout of the color sensor_ - -**Inputs** - -- const char* color_format: rgb or hsv only - -**Outputs** - -- float r or h -- float g or s -- float b or v - -```c -void get_color(float *r, float *g, float *b, const char* color_format = "rgb") { - // Your implementation -} -``` - -#### `hsv2label` - -hsv2label(float h, float s, float v) - -_Returns the color label corresponding to the given normalized HSV color input_ - -**Inputs** - -- float h: hue value -- float s: saturation value -- float v: brightness value - -**Outputs** - -- char* color label: like "BLACK" or "GREEN", if possible, otherwise return "UNDEFINED" - -```c -const char* hsv2label(float h, float s, float v) { - // Your implementation -} -``` - -#### `get_distance` - -get_distance(const char* unit = "cm - -") - -_Returns the distance readout of the TOF sensor_ - -**Inputs** - -- const char* unit: distance output unit - -**Outputs** - -- float left_tof: 45° to the left object distance -- float center_left_tof: 22° to the left object distance -- float center_tof: center object distance -- float center_right_tof: 22° to the right object distance -- float right_tof: 45° to the right object distance - -```c -void get_distance(float *left_tof, float *center_left_tof, float *center_tof, float *center_right_tof, float *right_tof, const char* unit = "cm") { - // Your implementation -} -``` - -#### `get_distance_top` - -get_distance_top(const char* unit = "cm") - -_Returns the obstacle top distance readout_ - -**Inputs** - -- const char* unit: distance output unit - -**Outputs** - -- float top_tof: 45° to the top object distance - -```c -void get_distance_top(float *top_tof, const char* unit = "cm") { - // Your implementation -} -``` - -#### `get_distance_bottom` - -get_distance_bottom(const char* unit = "cm") - -_Returns the obstacle bottom distance readout_ - -**Inputs** - -- const char* unit: distance output unit - -**Outputs** - -- float bottom_tof: 45° to the bottom object distance - -```c -void get_distance_bottom(float *bottom_tof, const char* unit = "cm") { - // Your implementation -} -``` - -#### `on_touch_ok_pressed` - -on_touch_ok_pressed(void (*callback)(void), ...) - -_Register callback when touch button OK is pressed_ - -**Inputs** - -- void (*callback)(void): the name of the function to recall -- ...: optional arguments of the function - -```c -void on_touch_ok_pressed(void (*callback)(void), ...) { - // Your implementation -} -``` - -#### `on_touch_cancel_pressed` - -on_touch_cancel_pressed(void (*callback)(void), ...) - -_Register callback when touch button CANCEL is pressed_ - -**Inputs** - -- void (*callback)(void): the name of the function to recall -- ...: optional arguments of the function - -```c -void on_touch_cancel_pressed(void (*callback)(void), ...) { - // Your implementation -} -``` - -#### `on_touch_center_pressed` - -on_touch_center_pressed(void (*callback)(void), ...) - -_Register callback when touch button CENTER is pressed_ - -**Inputs** - -- void (*callback)(void): the name of the function to recall -- ...: optional arguments of the function - -```c -void on_touch_center_pressed(void (*callback)(void), ...) { - // Your implementation -} -``` - -#### `on_touch_up_pressed` - -on_touch_up_pressed(void (*callback)(void), ...) - -_Register callback when touch button UP is pressed_ - -**Inputs** - -- void (*callback)(void): the name of the function to recall -- ...: optional arguments of the function - -```c -void on_touch_up_pressed(void (*callback)(void), ...) { - // Your implementation -} -``` - -#### `on_touch_left_pressed` - -on_touch_left_pressed(void (*callback)(void), ...) - -_Register callback when touch button LEFT is pressed_ - -**Inputs** - -- void (*callback)(void): the name of the function to recall -- ...: optional arguments of the function - -```c -void on_touch_left_pressed(void (*callback)(void), ...) { - // Your implementation -} -``` - -#### `on_touch_down_pressed` - -on_touch_down_pressed(void (*callback)(void), ...) - -_Register callback when touch button DOWN is pressed_ - -**Inputs** - -- void (*callback)(void): the name of the function to recall -- ...: optional arguments of the function - -```c -void on_touch_down_pressed(void (*callback)(void), ...) { - // Your implementation -} -``` - -#### `on_touch_right_pressed` - -on_touch_right_pressed(void (*callback)(void), ...) - -_Register callback when touch button RIGHT is pressed_ - -**Inputs** - -- void (*callback)(void): the name of the function to recall -- ...: optional arguments of the function - -```c -void on_touch_right_pressed(void (*callback)(void), ...) { - // Your implementation -} -``` - - ## Extras @@ -1611,4 +876,4 @@ Rotational speed unit of measurement used in the APIs: While programming a microcontroller, the terms "blocking" means that **all the resources are used only in performing a specific action, and no other things can happen at the same time**. Usually this is used when you want to be precise or you don't want anything else that could interact with the action you are performing. -On the other hand, "Non blocking", means that the microcontroller is free to do other thing while the action is been performed. +On the other hand, "Non blocking", means that the microcontroller is free to do other thing while the action is been performed. \ No newline at end of file From 8dff3b365e4be6276630776a8e512680281048a0 Mon Sep 17 00:00:00 2001 From: pedromsousalima <32345730+pedromsousalima@users.noreply.github.com> Date: Fri, 9 Aug 2024 11:47:44 +0200 Subject: [PATCH 03/23] Decapitalized Alvik Added intro to examples --- .../tutorials/api-overview/api-overview.md | 154 ++++++++++++++---- 1 file changed, 124 insertions(+), 30 deletions(-) diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md index 693c63fe11..21811687f5 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md @@ -635,12 +635,134 @@ _Register callback when touch button RIGHT is pressed_ ## Examples +These examples demonstrate practical implementations on how to use the Arduino Alvik API. Whether you're working with MicroPython or C++, these simple examples will help you understand how to implement various features in your projects, making it easy to get started with the Alvik in the language you're most comfortable with. + +### Simple Color Sensing Example + +This example demonstrates how to implement basic color sensing. The Alvik's color sensor reads the color of an object placed under it, and the detected color is printed to the console. + +- **Reference for MicroPython** + +```python +from arduino_alvik import ArduinoAlvik +from time import sleep_ms + +alvik = ArduinoAlvik() +alvik.begin() + +print("Alvik initialized for color sensing") + +while True: + color = alvik.get_color_label() + print(f"Detected color: {color}") + sleep_ms(500) +``` + +- **Reference for C++** + +```c +#include "Arduino_Alvik.h" + +Arduino_Alvik alvik; + +void setup() { + Serial.begin(9600); + alvik.begin(); + Serial.println("Alvik initialized for color sensing"); +} + +void loop() { + char* color = alvik.get_color_label(); + Serial.print("Detected color: "); + Serial.println(color); + delay(500); +} +``` + + + + +### Simple Directional Control + +This example demonstrates very basic control over the robot's movement based on directional arrow buttons. The Alvik will drive in the direction corresponding to the arrow button pressed (up, down, left, right). + +- **Reference for MicroPython** +```python +from arduino_alvik import ArduinoAlvik +from time import sleep_ms + +alvik = ArduinoAlvik() +alvik.begin() + +print("Alvik initialized") + +while True: + if alvik.get_touch_up(): + print("Moving Up") + alvik.drive(100, 0, linear_unit='cm/s') + sleep_ms(1000) + alvik.brake() + elif alvik.get_touch_down(): + print("Moving Down") + alvik.drive(-100, 0, linear_unit='cm/s') + sleep_ms(1000) + alvik.brake() + elif alvik.get_touch_left(): + print("Turning Left") + alvik.drive(0, 100, angular_unit='deg/s') + sleep_ms(1000) + alvik.brake() + elif alvik.get_touch_right(): + print("Turning Right") + alvik.drive(0, -100, angular_unit='deg/s') + sleep_ms(1000) + alvik.brake() + sleep_ms(100) + +``` +- **Reference for C++** +```C +#include "Arduino_Alvik.h" + +Arduino_Alvik alvik; + +void setup() { + Serial.begin(9600); + alvik.begin(); + Serial.println("Alvik initialized"); +} + +void loop() { + if (alvik.get_touch_up()) { + Serial.println("Moving Up"); + alvik.drive(100, 0, "cm/s"); + delay(1000); + alvik.brake(); + } else if (alvik.get_touch_down()) { + Serial.println("Moving Down"); + alvik.drive(-100, 0, "cm/s"); + delay(1000); + alvik.brake(); + } else if (alvik.get_touch_left()) { + Serial.println("Turning Left"); + alvik.drive(0, 100, "deg/s"); + delay(1000); + alvik.brake(); + } else if (alvik.get_touch_right()) { + Serial.println("Turning Right"); + alvik.drive(0, -100, "deg/s"); + delay(1000); + alvik.brake(); + } + delay(100); +} +``` ### Line Following -This example demonstrates how to create a simple line-following robot. The code initializes the robot, reads sensor data to detect the line, calculates the error from the center of the line, and adjusts the robot's wheel speeds to follow the line. It also uses LEDs to indicate the direction the robot is turning. +This example demonstrates how to create a simple line-following robot. The code initializes the Alvik, reads sensor data to detect the line, calculates the error from the center of the line, and adjusts the Alvik's wheel speeds to follow the line. It also uses LEDs to indicate the direction the robot is turning. -The robot starts when the OK button is pressed and stops when the Cancel button is pressed. The robot continuously reads the line sensors, calculates the error, and adjusts the wheel speeds to correct its path. +The Alvik starts when the OK button is pressed and stops when the Cancel button is pressed. The Alvik continuously reads the line sensors, calculates the error, and adjusts the wheel speeds to correct its path. - **Reference for MicroPython** @@ -799,35 +921,7 @@ float calculate_center(const int left, const int center, const int right){ } ``` -### Drive - -```C -/* - This file is part of the Arduino_Alvik library. - - Copyright (c) 2024 Arduino SA - This Source Code Form is subject to the terms of the Mozilla Public - License, v. 2.0. If a copy of the MPL was not distributed with this - file, You can obtain one at http://mozilla.org/MPL/2.0/. - -*/ - -#include "Arduino_Alvik.h" - -Arduino_Alvik alvik; - -void setup() { - alvik.begin(); -} - -void loop() { - alvik.drive(10, 45); - delay(10000); - alvik.drive(10, -45); - delay(10000); -} -``` ## Extras From 8f9b97e82ee3e3e2e2125f63065445521ed922ba Mon Sep 17 00:00:00 2001 From: pedromsousalima <32345730+pedromsousalima@users.noreply.github.com> Date: Fri, 9 Aug 2024 12:03:50 +0200 Subject: [PATCH 04/23] code block syntax --- .../alvik/tutorials/api-overview/api-overview.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md index 21811687f5..2e0cb595b5 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md @@ -721,7 +721,8 @@ while True: ``` - **Reference for C++** -```C + +```c #include "Arduino_Alvik.h" Arduino_Alvik alvik; @@ -835,7 +836,7 @@ except KeyboardInterrupt as e: - **Reference for C++** -```C +```c /* This file is part of the Arduino_Alvik library. From 5867af8a887d2418cb233058af5cf05032aa125d Mon Sep 17 00:00:00 2001 From: pedromsousalima <32345730+pedromsousalima@users.noreply.github.com> Date: Mon, 19 Aug 2024 18:35:27 +0200 Subject: [PATCH 05/23] Added page for C++ --- .../tutorials/api-overview/api-overview.md | 2 +- .../assets/EsptoolSelection.png | Bin 0 -> 142291 bytes .../assets/UploadWithProgrammer.png | Bin 0 -> 207613 bytes .../getting-started-C/assets/blinkExample.png | Bin 0 -> 110047 bytes .../assets/nano-esp32-gnd-b1.png | Bin 0 -> 544379 bytes .../getting-started-C/getting-started-C.md | 80 ++++++++++++++++++ .../getting-started/getting-started.md | 4 +- 7 files changed, 84 insertions(+), 2 deletions(-) create mode 100644 content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/assets/EsptoolSelection.png create mode 100644 content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/assets/UploadWithProgrammer.png create mode 100644 content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/assets/blinkExample.png create mode 100644 content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/assets/nano-esp32-gnd-b1.png create mode 100644 content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/getting-started-C.md diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md index 2e0cb595b5..1625d6ce16 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md @@ -13,7 +13,7 @@ hardware: ## API List To access to any of these functions you need first to initialize an instance of the class **ArduinoAlvik()**. - +This reference is usefull for both MicroPython and C++ enviroments as the functions were all created to have the same form across development enviroments meaning your experience should be easy to carry both options. ```arduino alvik = ArduinoAlvik() diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/assets/EsptoolSelection.png b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/assets/EsptoolSelection.png new file mode 100644 index 0000000000000000000000000000000000000000..c0d7547745006c79b2047bb52ac22ea4ea338ff2 GIT binary patch literal 142291 zcmb@uWmpvIx-d+42+}DrI5bF0cM3yyH%KGhJ#-@>4IDQ0UT9VoFd@a57L(u)atLkWU8G`0XLTpq-Q?MWD(@ zNcNzhUO`EV39Gp29WEgns7&Q@ta9w}$1cCRSoTEx5}?!@5+1OHLTSXTz^;RPnX4zx zFca{qC@cU4B`27PBc}msT;z3YO6tv%w;7F`NIcJk`J0251JSj_*7nxdo27@je&Bv$ zYfd!Rz+C3ZT{vJ`QBJg@GVp%VFSmI~w)e-vr?>671Fj(unsD9(`}%Wgvpro^@SfP%9>jNFX?ASCvjj5S#FC<&?~ zZiaG0v+8~Dd;4uR^wbLlQT!FIGd+J1NXbNSyp{Q{A_4xk$}D=-gya|#^^(PYd3wqBZL9iA9!Jb0o1>l(;D z0zfthh%yBdOkugGXD(^3oX_6eQ!Qx`<-5nDo!oDZ@}N^F{BPj?x($Od`}(cntl#Tm 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In the Library Manager, search for "Alvik" and install the latest version of the Alvik library. + +### Firmware Preparation + +#### Preparing Alvik for Arduino IDE + +1. Connect pin **B1** to **GND** on the Alvik board. +![B1 and GND pins](assets/nano-esp32-gnd-b1.png) +2. Connect the Alvik board to your computer using the USB cable. +3. Open the **Blink** example in the Arduino IDE by going to **File > Examples > 01.Basics > Blink**. +![alt text](assets/blinkExample.png) +4. Select **esptool** as the programmer from the **Tools > Programmer** menu. +![alt text](assets/EsptoolSelection.png) +5. Select **Upload Using Programmer** from the **Sketch** menu. +![alt text](assets/UploadWithProgrammer.png) +6. Your board should now be restored and ready for programming with the Arduino IDE. + +#### Preparing Alvik for MicroPython + +1. Install the micropython bootloader on it following [this guide](https://docs.arduino.cc/micropython/basics/board-installation/). + +2. Download the Alvik micropyton libraries +Alvik micropython libraries from the [Alvik repository](https://github.com/arduino/arduino-alvik-mpy/tree/main) +ucPack libraries from the [ucPack repository](https://github.com/arduino/ucPack-mpy/tree/main) +3. Unzip both of the downloaded libraries in a single "Alvik" folder, open the Arduino Lab for MicroPython, go to the "files" tab and set the path to the unzipped folder on the Arduino Lab for Micropython + ![Setting the FW path on the Labs for micropython](assets/fw_path.png) +4. Make sure your Alvik is OFF, connect it to your computer and then, turn it ON + ![Alvik USB Connection](assets/connecting-final.gif) +5. Connect your Alvik to the Arduino Labs for micropython and open the "lib" + ![Setting the FW path on the Labs for micropython](assets/lib_folder.png) +6. Select the "Arduino-alvik" and move it inside the "lib" folder in your Alvik. + ![Setting the FW path on the Labs for micropython](assets/moving_alvik_folder.png) +7. Go back to the main folder and select the "ucPack-mpy-main" folder and move it next to the arduino_alvik inside the "lib" folder in your Nano ESP32. + ![Setting the FW path on the Labs for micropython](assets/moving_ucPack.png) +8. Now go back to the main root of the files system on the Nano ESP32. Then in your local folder navigate to the examples folder once there, select the following files and move them to the main folder of the ESP32. + `demo.py` + `hand_follower.py` + `line_follower.py` + `main.py` + `touch_move.py` + + ![Setting the FW path on the Labs for micropython](assets/moving_examples.png) +With this last step, your Nano ESP32 has been set up with the Alvik out of the box experience and is ready to be used. + + +## Programming Alvik + +1. Start with a simple example, like blinking an LED or reading a sensor. +2. Use the Alvik library functions to interact with the robot's hardware. +3. Upload your sketch to see it in action. +4. Explore the included examples in the Alvik library to learn how to control motors, read sensors, and more. + +## More Resources (C++) + +- **Alvik Documentation**: Dive deeper into the capabilities of Alvik by exploring the official documentation. +- **Community Forums**: Join the Arduino community forums to ask questions and share your projects. +- **Tutorials and Projects**: Look for tutorials and project ideas that can inspire your next steps with Alvik. diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started/getting-started.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started/getting-started.md index d79170d95f..1db2d1f967 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started/getting-started.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started/getting-started.md @@ -29,7 +29,9 @@ Now that you have played with Alvik and have seen it moving, it is time to know ### Let's Start Coding Alvik -Alvik is intended to be programmed with MicroPyton. We recommend you to install the [Arduino Lab for MicroPython](https://labs.arduino.cc/en/labs/micropython) editor. Follow the instructions next to the download link to install it and open the IDE +Alvik is intended to be programmed with MicroPyton. We recommend you to install the [Arduino Lab for MicroPython](https://labs.arduino.cc/en/labs/micropython) editor. Follow the instructions next to the download link to install it and open the IDE. + +Alternatively, on par with other Arduino products, you can also program your Alvik using Arduino IDE and C++. If this is the case you can find setup instructions over at [Arduino Alvik C++ Tutorial](getting-started.md). Now that all the previous steps have been set, let's see how to make Alvik moving across your room while avoiding objects! 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text](assets/blinkExample.png) -4. Select **esptool** as the programmer from the **Tools > Programmer** menu. -![alt text](assets/EsptoolSelection.png) -5. Select **Upload Using Programmer** from the **Sketch** menu. -![alt text](assets/UploadWithProgrammer.png) -6. Your board should now be restored and ready for programming with the Arduino IDE. - -#### Preparing Alvik for MicroPython - -1. Install the micropython bootloader on it following [this guide](https://docs.arduino.cc/micropython/basics/board-installation/). - -2. Download the Alvik micropyton libraries -Alvik micropython libraries from the [Alvik repository](https://github.com/arduino/arduino-alvik-mpy/tree/main) -ucPack libraries from the [ucPack repository](https://github.com/arduino/ucPack-mpy/tree/main) -3. Unzip both of the downloaded libraries in a single "Alvik" folder, open the Arduino Lab for MicroPython, go to the "files" tab and set the path to the unzipped folder on the Arduino Lab for Micropython - ![Setting the FW path on the Labs for micropython](assets/fw_path.png) -4. Make sure your Alvik is OFF, connect it to your computer and then, turn it ON - ![Alvik USB Connection](assets/connecting-final.gif) -5. Connect your Alvik to the Arduino Labs for micropython and open the "lib" - ![Setting the FW path on the Labs for micropython](assets/lib_folder.png) -6. Select the "Arduino-alvik" and move it inside the "lib" folder in your Alvik. - ![Setting the FW path on the Labs for micropython](assets/moving_alvik_folder.png) -7. Go back to the main folder and select the "ucPack-mpy-main" folder and move it next to the arduino_alvik inside the "lib" folder in your Nano ESP32. - ![Setting the FW path on the Labs for micropython](assets/moving_ucPack.png) -8. Now go back to the main root of the files system on the Nano ESP32. Then in your local folder navigate to the examples folder once there, select the following files and move them to the main folder of the ESP32. - `demo.py` - `hand_follower.py` - `line_follower.py` - `main.py` - `touch_move.py` - - ![Setting the FW path on the Labs for micropython](assets/moving_examples.png) -With this last step, your Nano ESP32 has been set up with the Alvik out of the box experience and is ready to be used. +3. While both pins are connected plug the Alvik board to your computer using the USB cable. +5. Select **esptool** as the programmer from the **Tools > Programmer** menu. +![Select programming tool esptool](assets/EsptoolSelection.png) +6. Select **Upload Using Programmer** from the **Sketch** menu. +![Upload with programmer option](assets/UploadWithProgrammer.png). You can nowpPress the **Reset** button on the board to make sure it is ready for uploading. +1. Open the **Bridge** example in the Arduino IDE by going to **File > Examples > 01.Basics > Blink**. +![Bridge Firmware Updater](assets/bridgeFirmware.png) +1. Open **STM32 Cube Programmer** +2. Set the connection to **UART** mode, the **Port** to whatever port the board is connected to and **DTR** to HIGH. You can now press **Connect**. +![Settings for STMCube](assets/stmCubeSetup.png) +3. Go to **Erasing & Programming** mode and edit the **File path** to the firmware (this will be a .bin file) you are trying to program. You can find the latest release [here](https://github.com/arduino-libraries/Arduino_Alvik/releases/tag/1.0.1). You can now press **Start Programming**. +![Programming STM Cube](assets/ProgrammingstmCube.png) + + +1. After the firmware is programmed your board should now be ready! + +You can at any point revert back to the MicroPython programming eviroment by following the content available over at the [MicroPython installation guide](https://docs.arduino.cc/micropython/micropython-course/course/installation/). + ## Programming Alvik -1. Start with a simple example, like blinking an LED or reading a sensor. -2. Use the Alvik library functions to interact with the robot's hardware. -3. Upload your sketch to see it in action. -4. Explore the included examples in the Alvik library to learn how to control motors, read sensors, and more. +Let's confirm our firmware is correctly installed. For this we will create a simple sketch that prints the firmware version using the ```get_version()``` function: + +```C +#include "Arduino_Alvik.h" + +Arduino_Alvik alvik; + +void setup() { + alvik.begin(); + Serial.begin(115200); +} + +void loop() { + + uint8_t u,m,l; + + alvik.get_version(u,m,l); // Gets the firmware version + Serial.printf("%d.%d.%d\n", u, m, l); + alvik.drive(10, 45); + delay(1000); // Waits a second + alvik.drive(10, -45); + delay(1000); // Waits a second + +} +``` + +After upload the Alvik should rotate the wheels and print the version once per second. + +You can now explore the other included examples that cover more of the Alvik's components. + ## More Resources (C++) diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/image.png b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/image.png new file mode 100644 index 0000000000000000000000000000000000000000..c765c6b861fc45275c57c3f75ce836e1facad020 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a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/getting-started-C.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/getting-started-C.md index 3e93c0e72f..d83e9c7e11 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/getting-started-C.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/getting-started-C.md @@ -65,7 +65,7 @@ You can at any point revert back to the MicroPython programming eviroment by fol Let's confirm our firmware is correctly installed. For this we will create a simple sketch that prints the firmware version using the ```get_version()``` function: -```C +```c++ #include "Arduino_Alvik.h" Arduino_Alvik alvik; From 58b15a8e4a37098a589da1a0858f6176174b8d81 Mon Sep 17 00:00:00 2001 From: pedromsousalima <32345730+pedromsousalima@users.noreply.github.com> Date: Wed, 28 Aug 2024 10:19:12 +0200 Subject: [PATCH 09/23] Typos fix --- .../alvik/tutorials/getting-started-C/getting-started-C.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/getting-started-C.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/getting-started-C.md index d83e9c7e11..276c691493 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/getting-started-C.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/getting-started-C.md @@ -9,7 +9,7 @@ author: "Pedro Sousa Lima" # Getting Started with Alvik on Arduino IDE -The Arduino® Alvik robot was designed to be compatible with both C++ and MicroPython. To ensure a smooth experience, functions have the same structure and parameters across all environments. This means the [Alvik's API reference](https://docs.arduino.cc/tutorials/alvik/api-overview/) can be used as a resource regardless of which environment you choose. In this guide, we will prepare the board to be programmed using the Arduino IDE. +The Arduino® Alvik robot was designed to be compatible with both C++ and MicroPython. To ensure a smooth experience, functions have the same structure and parameters across all enviroments. This means the [Alvik's API reference](https://docs.arduino.cc/tutorials/alvik/api-overview/) can be used as a resource regardless of which environment you choose. In this guide, we will prepare the board to be programmed using the Arduino IDE. ## Requirements From 8ad0a9d8b4850fb78eed7a225f9b0c103285457d Mon Sep 17 00:00:00 2001 From: pedromsousalima <32345730+pedromsousalima@users.noreply.github.com> Date: Wed, 28 Aug 2024 10:25:30 +0200 Subject: [PATCH 10/23] Fix Upper case in path --- .../assets/EsptoolSelection.png | Bin .../assets/ProgrammingstmCube.png | Bin .../assets/UploadWithProgrammer.png | Bin .../assets/bridgeFirmware.png | Bin .../assets/nano-esp32-gnd-b1.png | Bin .../assets/stmCubeSetup.png | Bin .../getting-startedc.md} | 0 .../image.png | Bin 8 files changed, 0 insertions(+), 0 deletions(-) rename content/hardware/08.edu/solution-and-kits/alvik/tutorials/{getting-started-C => getting-startedc}/assets/EsptoolSelection.png (100%) rename content/hardware/08.edu/solution-and-kits/alvik/tutorials/{getting-started-C => getting-startedc}/assets/ProgrammingstmCube.png (100%) rename 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b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/getting-startedc.md similarity index 100% rename from content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/getting-started-C.md rename to content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/getting-startedc.md diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/image.png b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/image.png similarity index 100% rename from content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started-C/image.png rename to content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/image.png From 21834d7c3b456ef68ab453024ebdb504d58be9f2 Mon Sep 17 00:00:00 2001 From: pedromsousalima <32345730+pedromsousalima@users.noreply.github.com> Date: Wed, 28 Aug 2024 10:34:43 +0200 Subject: [PATCH 11/23] Typos --- .../alvik/tutorials/api-overview/api-overview.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md index 1625d6ce16..dd861eb9a7 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md @@ -13,7 +13,7 @@ hardware: ## API List To access to any of these functions you need first to initialize an instance of the class **ArduinoAlvik()**. -This reference is usefull for both MicroPython and C++ enviroments as the functions were all created to have the same form across development enviroments meaning your experience should be easy to carry both options. +This reference is useful for both MicroPython and C++ environmentss as the functions were all created to have the same form across development environmentss meaning your experience should be easy to carry both options. ```arduino alvik = ArduinoAlvik() From 12e34ecfe91884be2eac5451140680bb1d8a75ec Mon Sep 17 00:00:00 2001 From: pedromsousalima <32345730+pedromsousalima@users.noreply.github.com> Date: Wed, 28 Aug 2024 10:39:54 +0200 Subject: [PATCH 12/23] typo --- .../alvik/tutorials/getting-startedc/getting-startedc.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/getting-startedc.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/getting-startedc.md index 276c691493..d83e9c7e11 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/getting-startedc.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/getting-startedc.md @@ -9,7 +9,7 @@ author: "Pedro Sousa Lima" # Getting Started with Alvik on Arduino IDE -The Arduino® Alvik robot was designed to be compatible with both C++ and MicroPython. To ensure a smooth experience, functions have the same structure and parameters across all enviroments. This means the [Alvik's API reference](https://docs.arduino.cc/tutorials/alvik/api-overview/) can be used as a resource regardless of which environment you choose. In this guide, we will prepare the board to be programmed using the Arduino IDE. +The Arduino® Alvik robot was designed to be compatible with both C++ and MicroPython. To ensure a smooth experience, functions have the same structure and parameters across all environments. This means the [Alvik's API reference](https://docs.arduino.cc/tutorials/alvik/api-overview/) can be used as a resource regardless of which environment you choose. In this guide, we will prepare the board to be programmed using the Arduino IDE. ## Requirements From 9a22d59eef745d2a4b6aa3eb841858699547247b Mon Sep 17 00:00:00 2001 From: pedromsousalima <32345730+pedromsousalima@users.noreply.github.com> Date: Thu, 29 Aug 2024 14:02:12 +0200 Subject: [PATCH 13/23] Suggested changes Fixed name of article and API Overview structure --- .../tutorials/api-overview/api-overview.md | 94 +++++++++--------- .../assets/EsptoolSelection.png | Bin .../assets/ProgrammingstmCube.png | Bin .../assets/UploadWithProgrammer.png | Bin .../assets/bridgeFirmware.png | Bin .../assets/nano-esp32-gnd-b1.png | Bin .../assets/stmCubeSetup.png | Bin .../image.png | Bin .../setting-alvik-arduino-ide.md} | 7 +- 9 files changed, 49 insertions(+), 52 deletions(-) rename content/hardware/08.edu/solution-and-kits/alvik/tutorials/{getting-startedc => setting-alvik-arduino-ide}/assets/EsptoolSelection.png (100%) rename content/hardware/08.edu/solution-and-kits/alvik/tutorials/{getting-startedc => setting-alvik-arduino-ide}/assets/ProgrammingstmCube.png (100%) rename content/hardware/08.edu/solution-and-kits/alvik/tutorials/{getting-startedc => setting-alvik-arduino-ide}/assets/UploadWithProgrammer.png (100%) rename content/hardware/08.edu/solution-and-kits/alvik/tutorials/{getting-startedc => setting-alvik-arduino-ide}/assets/bridgeFirmware.png (100%) rename content/hardware/08.edu/solution-and-kits/alvik/tutorials/{getting-startedc => setting-alvik-arduino-ide}/assets/nano-esp32-gnd-b1.png (100%) rename content/hardware/08.edu/solution-and-kits/alvik/tutorials/{getting-startedc => setting-alvik-arduino-ide}/assets/stmCubeSetup.png (100%) rename content/hardware/08.edu/solution-and-kits/alvik/tutorials/{getting-startedc => setting-alvik-arduino-ide}/image.png (100%) rename content/hardware/08.edu/solution-and-kits/alvik/tutorials/{getting-startedc/getting-startedc.md => setting-alvik-arduino-ide/setting-alvik-arduino-ide.md} (96%) diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md index dd861eb9a7..1c14cb765a 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md @@ -633,6 +633,53 @@ _Register callback when touch button RIGHT is pressed_ - **callback**: the name of the function to recall - **args**: optional arguments of the function +## Function Parameters + +### The Distance Unit + +Distance unit of measurement used in the APIs: + +- _cm_: centimeters +- _mm_: millimeters +- _m_: meters +- _inch_: inch, 2.54 cm +- _in_: inch, 2.54 cm + +### The Angle Unit + +Angle unit of measurement used in the APIs: + +- _deg_: degrees, example: 1.0 as reference for the other unit. 1 degree is 1/360 of a circle. +- _rad_: radiant, example: 1 radiant is 180/pi deg. +- _rev_: revolution, example: 1 rev is 360 deg. +- _revolution_: same as rev +- _perc_: percentage, example 1 perc is 3.6 deg. +- _%_: same as perc + +### The Linear Speed Unit + +Speed unit of measurement used in the APIs: + +- 'cm/s': centimeters per second +- 'mm/s': millimeters per second +- 'm/s': meters per second +- 'inch/s': inch per second +- 'in/s': inch per second + +### The Rotational Speed Unit + +Rotational speed unit of measurement used in the APIs: + +- 'rpm': revolutions per minute, example: 1.0 as reference for the other unit. +- 'deg/s': degrees per second, example: 1.0 deg/s is 60.0 deg/min that is 1/6 rpm. +- 'rad/s': radiant per second, example: 1.0 rad/s is 60.0 rad/min that is 9.55 rpm. +- 'rev/s': revolution per second, example: 1.0 rev/s is 60.0 rev/min that is 60.0 rpm. + +### `"blocking" or "non blocking"` + +While programming a microcontroller, the terms "blocking" means that **all the resources are used only in performing a specific action, and no other things can happen at the same time**. Usually this is used when you want to be precise or you don't want anything else that could interact with the action you are performing. + +On the other hand, "Non blocking", means that the microcontroller is free to do other thing while the action is been performed. ## Examples These examples demonstrate practical implementations on how to use the Arduino Alvik API. Whether you're working with MicroPython or C++, these simple examples will help you understand how to implement various features in your projects, making it easy to get started with the Alvik in the language you're most comfortable with. @@ -925,50 +972,3 @@ float calculate_center(const int left, const int center, const int right){ -## Extras - -### The Distance Unit - -Distance unit of measurement used in the APIs: - -- _cm_: centimeters -- _mm_: millimeters -- _m_: meters -- _inch_: inch, 2.54 cm -- _in_: inch, 2.54 cm - -### The Angle Unit - -Angle unit of measurement used in the APIs: - -- _deg_: degrees, example: 1.0 as reference for the other unit. 1 degree is 1/360 of a circle. -- _rad_: radiant, example: 1 radiant is 180/pi deg. -- _rev_: revolution, example: 1 rev is 360 deg. -- _revolution_: same as rev -- _perc_: percentage, example 1 perc is 3.6 deg. -- _%_: same as perc - -### The Linear Speed Unit - -Speed unit of measurement used in the APIs: - -- 'cm/s': centimeters per second -- 'mm/s': millimeters per second -- 'm/s': meters per second -- 'inch/s': inch per second -- 'in/s': inch per second - -### The Rotational Speed Unit - -Rotational speed unit of measurement used in the APIs: - -- 'rpm': revolutions per minute, example: 1.0 as reference for the other unit. -- 'deg/s': degrees per second, example: 1.0 deg/s is 60.0 deg/min that is 1/6 rpm. -- 'rad/s': radiant per second, example: 1.0 rad/s is 60.0 rad/min that is 9.55 rpm. -- 'rev/s': revolution per second, example: 1.0 rev/s is 60.0 rev/min that is 60.0 rpm. - -### `"blocking" or "non blocking"` - -While programming a microcontroller, the terms "blocking" means that **all the resources are used only in performing a specific action, and no other things can happen at the same time**. Usually this is used when you want to be precise or you don't want anything else that could interact with the action you are performing. - -On the other hand, "Non blocking", means that the microcontroller is free to do other thing while the action is been performed. \ No newline at end of file diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/assets/EsptoolSelection.png b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/assets/EsptoolSelection.png similarity index 100% rename from content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/assets/EsptoolSelection.png rename to content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/assets/EsptoolSelection.png diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/assets/ProgrammingstmCube.png b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/assets/ProgrammingstmCube.png similarity index 100% rename from content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/assets/ProgrammingstmCube.png rename to content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/assets/ProgrammingstmCube.png diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/assets/UploadWithProgrammer.png b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/assets/UploadWithProgrammer.png similarity index 100% rename from content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/assets/UploadWithProgrammer.png rename to content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/assets/UploadWithProgrammer.png diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/assets/bridgeFirmware.png b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/assets/bridgeFirmware.png similarity index 100% rename from content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/assets/bridgeFirmware.png rename to content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/assets/bridgeFirmware.png diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/assets/nano-esp32-gnd-b1.png b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/assets/nano-esp32-gnd-b1.png similarity index 100% rename from content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/assets/nano-esp32-gnd-b1.png rename to content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/assets/nano-esp32-gnd-b1.png diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/assets/stmCubeSetup.png b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/assets/stmCubeSetup.png similarity index 100% rename from content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/assets/stmCubeSetup.png rename to content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/assets/stmCubeSetup.png diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/image.png b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/image.png similarity index 100% rename from content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/image.png rename to content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/image.png diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/getting-startedc.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/setting-alvik-arduino-ide.md similarity index 96% rename from content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/getting-startedc.md rename to content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/setting-alvik-arduino-ide.md index d83e9c7e11..4706fad601 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-startedc/getting-startedc.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/setting-alvik-arduino-ide.md @@ -1,14 +1,11 @@ --- -title: "Getting Started with Alvik" +title: "Setting up Alvik on Arduino IDE" difficulty: beginner -description: "Take your first steps with Arduino® Alvik on Arduino IDE" +description: "Learn how to configure your Alvik for Arduino IDE" tags: - Robot, MicroPython, Education author: "Pedro Sousa Lima" --- - -# Getting Started with Alvik on Arduino IDE - The Arduino® Alvik robot was designed to be compatible with both C++ and MicroPython. To ensure a smooth experience, functions have the same structure and parameters across all environments. This means the [Alvik's API reference](https://docs.arduino.cc/tutorials/alvik/api-overview/) can be used as a resource regardless of which environment you choose. In this guide, we will prepare the board to be programmed using the Arduino IDE. ## Requirements From 27932f5961227aefc0f9f0b719c5364b5be7f784 Mon Sep 17 00:00:00 2001 From: pedromsousalima <32345730+pedromsousalima@users.noreply.github.com> Date: Tue, 3 Sep 2024 20:17:22 +0200 Subject: [PATCH 14/23] Updated feedback Removed firmware updating Updated example image Added obstacle avoider --- .../assets/uploadExample.png | Bin 0 -> 160412 bytes .../setting-alvik-arduino-ide.md | 112 ++++++++++++++++-- 2 files changed, 99 insertions(+), 13 deletions(-) create mode 100644 content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/assets/uploadExample.png diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/assets/uploadExample.png b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/assets/uploadExample.png new file mode 100644 index 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Now we can finally test it. Open the **Drive** example in the Arduino IDE by going to **File > Examples > Arduino_Alvik > drive**. ![Upload the drive example](assets/uploadExample.png) The Alvik should now start their motor. If no movement occurs make sure that: From 0f14a5d584085a7c333bf6940ffee433c26af729 Mon Sep 17 00:00:00 2001 From: Gaia Castronovo <53472903+g-castronovo@users.noreply.github.com> Date: Fri, 27 Sep 2024 12:56:15 +0200 Subject: [PATCH 16/23] Update api-overview.md --- .../alvik/tutorials/api-overview/api-overview.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md index 1c14cb765a..13d9864e0c 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md @@ -13,7 +13,7 @@ hardware: ## API List To access to any of these functions you need first to initialize an instance of the class **ArduinoAlvik()**. -This reference is useful for both MicroPython and C++ environmentss as the functions were all created to have the same form across development environmentss meaning your experience should be easy to carry both options. +This reference is useful for both **MicroPython** and **C++ environments** as the functions were all created to have the same form across development environmentss meaning your experience should be easy to carry both options. ```arduino alvik = ArduinoAlvik() From af5f0d1e53f40f013f2771798b08dd7a4321d022 Mon Sep 17 00:00:00 2001 From: Gaia Castronovo <53472903+g-castronovo@users.noreply.github.com> Date: Fri, 27 Sep 2024 12:56:26 +0200 Subject: [PATCH 17/23] Update content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md --- .../alvik/tutorials/api-overview/api-overview.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md index 13d9864e0c..7facc8b2eb 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md @@ -677,7 +677,7 @@ Rotational speed unit of measurement used in the APIs: ### `"blocking" or "non blocking"` -While programming a microcontroller, the terms "blocking" means that **all the resources are used only in performing a specific action, and no other things can happen at the same time**. Usually this is used when you want to be precise or you don't want anything else that could interact with the action you are performing. +While programming a microcontroller, the term "blocking" means that **all the resources are used only in performing a specific action, and no other things can happen at the same time**. Usually this is used when you want to be precise or you don't want anything else that could interact with the action you are performing. On the other hand, "Non blocking", means that the microcontroller is free to do other thing while the action is been performed. From 3ddfb153bede6cb041fd5411dd70304fe893f3ff Mon Sep 17 00:00:00 2001 From: Gaia Castronovo <53472903+g-castronovo@users.noreply.github.com> Date: Fri, 27 Sep 2024 12:56:35 +0200 Subject: [PATCH 18/23] Update content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md --- .../alvik/tutorials/api-overview/api-overview.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md index 7facc8b2eb..abdf3a5975 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md @@ -679,7 +679,7 @@ Rotational speed unit of measurement used in the APIs: While programming a microcontroller, the term "blocking" means that **all the resources are used only in performing a specific action, and no other things can happen at the same time**. Usually this is used when you want to be precise or you don't want anything else that could interact with the action you are performing. -On the other hand, "Non blocking", means that the microcontroller is free to do other thing while the action is been performed. +On the other hand, "Non blocking", means that the microcontroller is free to do other things while the action is been performed. ## Examples These examples demonstrate practical implementations on how to use the Arduino Alvik API. Whether you're working with MicroPython or C++, these simple examples will help you understand how to implement various features in your projects, making it easy to get started with the Alvik in the language you're most comfortable with. From 964f1ecc2250fc8a29800883301e16251178705a Mon Sep 17 00:00:00 2001 From: Gaia Castronovo <53472903+g-castronovo@users.noreply.github.com> Date: Fri, 27 Sep 2024 12:59:26 +0200 Subject: [PATCH 19/23] missing dots --- .../alvik/tutorials/api-overview/api-overview.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md index abdf3a5975..f8a17bc4dd 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md @@ -33,7 +33,7 @@ _Returns true if robot is on_ **Outputs** -- boolean: Returns true if robot is on, false if is off. +- boolean: Returns true if robot is on, false if it is off. ### `begin` @@ -75,7 +75,7 @@ _Returns the orientation of the IMU_ get_accelerations() -_Returns the 3-axial acceleration of the IMU_ +_Returns the 3-axial acceleration values of the IMU_ **Outputs** @@ -136,7 +136,7 @@ _Returns last acknowledgement_ **Outputs** -- **last_ack**: last acknowledgement value +- **last_ack**: last acknowledgement value. ### `get_battery_charge` @@ -146,7 +146,7 @@ _Returns the battery SOC_ **Outputs** -- **battery_soc**: percentage of charge +- **battery_soc**: percentage of charge. ### `get_touch_any` From f7b29ceb5b15d46dfd8925dbec8e03910dc2d2d8 Mon Sep 17 00:00:00 2001 From: pedromsousalima <32345730+pedromsousalima@users.noreply.github.com> Date: Fri, 27 Sep 2024 17:10:55 +0200 Subject: [PATCH 20/23] Apply suggestions from code review Co-authored-by: Gaia Castronovo <53472903+g-castronovo@users.noreply.github.com> --- .../tutorials/api-overview/api-overview.md | 2 +- .../setting-alvik-arduino-ide.md | 20 +++++++++---------- 2 files changed, 11 insertions(+), 11 deletions(-) diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md index f8a17bc4dd..5ae0efe1f2 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md @@ -810,7 +810,7 @@ void loop() { This example demonstrates how to create a simple line-following robot. The code initializes the Alvik, reads sensor data to detect the line, calculates the error from the center of the line, and adjusts the Alvik's wheel speeds to follow the line. It also uses LEDs to indicate the direction the robot is turning. -The Alvik starts when the OK button is pressed and stops when the Cancel button is pressed. The Alvik continuously reads the line sensors, calculates the error, and adjusts the wheel speeds to correct its path. +The Alvik starts when the OK `✔` button is pressed and stops when the Cancel button is pressed. The Alvik continuously reads the line sensors, calculates the error, and adjusts the wheel speeds to correct its path. - **Reference for MicroPython** diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/setting-alvik-arduino-ide.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/setting-alvik-arduino-ide.md index 4ae5b9d262..fa5c77e1d6 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/setting-alvik-arduino-ide.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/setting-alvik-arduino-ide.md @@ -47,24 +47,24 @@ The Arduino® Alvik robot was designed to be compatible with both C++ and MicroP ![Upload the drive example](assets/uploadExample.png) The Alvik should now start their motor. If no movement occurs make sure that: -- Your board is **ON** +- Alvik is **ON** - Firmware is updated (more information available in the [User Manual](https://docs.arduino.cc/tutorials/alvik/user-manual/)). -You can at any point revert back to the MicroPython programming eviroment by following the content available over at the [MicroPython installation guide](https://docs.arduino.cc/micropython/micropython-course/course/installation/). +You can at any point revert back to the MicroPython programming environment by following the content available over at the [MicroPython installation guide](https://docs.arduino.cc/micropython/micropython-course/course/installation/). ## Programming Alvik -Now that your Alvik is correctly setup lets go over some simple sketch uploads. If this is your first time with the Arduino IDE there is information available on how to [upload sketches](https://support.arduino.cc/hc/en-us/articles/4733418441116-Upload-a-sketch-in-Arduino-IDE). +Now that your Alvik is correctly setup, lets go over some simple sketch uploads. If this is your first time with the Arduino IDE read how to [upload sketches here](https://support.arduino.cc/hc/en-us/articles/4733418441116-Upload-a-sketch-in-Arduino-IDE). ### Libraries There are two libraries available in the library manager for use with Alvik: -- **Arduino_Alvik**: This is the primary library we will use in our sketches, and it contains high-level commands for controlling the "brain" of the Alvik, which is the ESP board. You can find more information and download it from [here](https://www.arduino.cc/reference/en/libraries/arduino_alvik/). +- **Arduino_Alvik**: This is the primary library we will use in our sketches, and it contains high-level commands for controlling the "brain" of the Alvik, which is the Nano ESP32 board. You can find more information and download it from [here](https://www.arduino.cc/reference/en/libraries/arduino_alvik/). -- **Arduino_AlvikCarrier**: This library is designed for the STM board on the device and is useful in situations where more fine control is required over commands. It allows for more complex development, especially when deeper integration with the hardware is needed. More information and the download link can be found [here](https://www.arduino.cc/reference/en/libraries/arduino_alvikcarrier/). +- **Arduino_AlvikCarrier**: This library is designed for the STM board on the device and it is useful in situations where more fine control is required over commands. It allows more complex developments, especially when deeper integration with the hardware is needed. More information and the download link can be found [here](https://www.arduino.cc/reference/en/libraries/arduino_alvikcarrier/). ### Print Firmware Version @@ -80,7 +80,7 @@ Including the `Arduino_Alvik` library is essensial. The library contains all the Arduino_Alvik alvik; ``` -When using the Alvik livrary we declare an object of the `Arduino_Alvik` class named `alvik` in this case. All interactions with the robot will go through this `alvik` object. As with our ```alvik.drive()``` command. +When using the Alvik livrary we declare an object of the `Arduino_Alvik` class named `alvik` in this case. All interactions with the robot will go through this `alvik` object. As with our `alvik.drive()` command. ```c++ void setup() { @@ -140,7 +140,7 @@ void loop() { A more complex example can be found in the [getting started](https://docs.arduino.cc/tutorials/alvik/getting-started/) guide for the Alvik. Due to the functions having same structure and names on both MicroPython and C++ we can easily port the ```obstacle-avoider``` to C++. -Keeping in mind the initialization of the Alvik from the previous example we can build the example on the Arduino IDE: +Keeping in mind the initialization of the Alvik from the previous example, we can build the example on the Arduino IDE: ```c++ #include "Arduino_Alvik.h" @@ -179,6 +179,6 @@ You can now explore the other included examples that cover more of the Alvik's c ## More Resources (C++) -- **Alvik Documentation**: Dive deeper into the capabilities of Alvik by exploring the official documentation. -- **Community Forums**: Join the Arduino community forums to ask questions and share your projects. -- **Tutorials and Projects**: Look for tutorials and project ideas that can inspire your next steps with Alvik. +- **[Alvik Documentation](https://docs.arduino.cc/hardware/alvik/)**: Dive deeper into the capabilities of Alvik by exploring the official documentation. +- **[Community Forums](https://forum.arduino.cc/search?q=alvik)**: Join the Arduino community forums to ask questions and share your projects. +- **[Tutorials and Projects](https://courses.arduino.cc/explore-robotics-micropython/)**: Look for tutorials and project ideas that can inspire your next steps with Alvik. From 4047d6e5a794673167ed30ed485caa0b34d446b0 Mon Sep 17 00:00:00 2001 From: pedromsousalima <32345730+pedromsousalima@users.noreply.github.com> Date: Mon, 30 Sep 2024 12:03:24 +0200 Subject: [PATCH 21/23] Update path --- .../alvik/tutorials/getting-started/getting-started.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started/getting-started.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started/getting-started.md index 1db2d1f967..ccc620ebee 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started/getting-started.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/getting-started/getting-started.md @@ -31,7 +31,7 @@ Now that you have played with Alvik and have seen it moving, it is time to know Alvik is intended to be programmed with MicroPyton. We recommend you to install the [Arduino Lab for MicroPython](https://labs.arduino.cc/en/labs/micropython) editor. Follow the instructions next to the download link to install it and open the IDE. -Alternatively, on par with other Arduino products, you can also program your Alvik using Arduino IDE and C++. If this is the case you can find setup instructions over at [Arduino Alvik C++ Tutorial](getting-started.md). +Alternatively, on par with other Arduino products, you can also program your Alvik using Arduino IDE and C++. If this is the case you can find setup instructions over at [Setting up Alvik on Arduino IDE](../setting-alvik-arduino-ide/setting-alvik-arduino-ide.md). Now that all the previous steps have been set, let's see how to make Alvik moving across your room while avoiding objects! Let's create custom program for Alvik that: From e63eca0d90edb9579a50193034ac9f7860019a51 Mon Sep 17 00:00:00 2001 From: pedromsousalima <32345730+pedromsousalima@users.noreply.github.com> Date: Mon, 30 Sep 2024 12:05:49 +0200 Subject: [PATCH 22/23] Apply suggestions from code review Co-authored-by: per1234 --- .../alvik/tutorials/api-overview/api-overview.md | 2 +- .../setting-alvik-arduino-ide/setting-alvik-arduino-ide.md | 5 ++--- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md index 5ae0efe1f2..c15c9cfab6 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/api-overview/api-overview.md @@ -13,7 +13,7 @@ hardware: ## API List To access to any of these functions you need first to initialize an instance of the class **ArduinoAlvik()**. -This reference is useful for both **MicroPython** and **C++ environments** as the functions were all created to have the same form across development environmentss meaning your experience should be easy to carry both options. +This reference is useful for both **MicroPython** and **C++ environments** as the functions were all created to have the same form across development environments meaning your experience should be easy to carry both options. ```arduino alvik = ArduinoAlvik() diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/setting-alvik-arduino-ide.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/setting-alvik-arduino-ide.md index fa5c77e1d6..2bfdd39237 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/setting-alvik-arduino-ide.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/setting-alvik-arduino-ide.md @@ -15,7 +15,6 @@ The Arduino® Alvik robot was designed to be compatible with both C++ and MicroP - **Arduino IDE**: A modern desktop-based [Arduino IDE](https://support.arduino.cc/hc/en-us/articles/360019833020-Download-and-install-Arduino-IDE). - **Alvik Library for Arduino**: A [library](https://github.com/arduino-libraries/Arduino_Alvik) that provides easy access to the Alvik robot's functionalities. - **USB Drivers**: Ensure you have the correct drivers installed to communicate with Alvik via USB. -- **STM32Cube**: You will need this 3rd party programmer tool by ST available [here](https://www.st.com/en/development-tools/stm32cubeprog.html) to program the STM board. ### Hardware @@ -42,7 +41,7 @@ The Arduino® Alvik robot was designed to be compatible with both C++ and MicroP 5. Select **esptool** as the programmer from the **Tools > Programmer** menu. ![Select programming tool esptool](assets/EsptoolSelection.png) 6. Select **Upload Using Programmer** from the **Sketch** menu. -![Upload with programmer option](assets/UploadWithProgrammer.png). You can nowpPress the **Reset** button on the board to make sure it is ready for uploading. +![Upload with programmer option](assets/UploadWithProgrammer.png). You can now Press the **Reset** button on the board to make sure it is ready for uploading. 1. Now we can finally test it. Open the **Drive** example in the Arduino IDE by going to **File > Examples > Arduino_Alvik > drive**. ![Upload the drive example](assets/uploadExample.png) @@ -177,7 +176,7 @@ void loop() { You can now explore the other included examples that cover more of the Alvik's components and more functions listed on our [API reference](https://docs.arduino.cc/tutorials/alvik/api-overview/). -## More Resources (C++) +## More Resources - **[Alvik Documentation](https://docs.arduino.cc/hardware/alvik/)**: Dive deeper into the capabilities of Alvik by exploring the official documentation. - **[Community Forums](https://forum.arduino.cc/search?q=alvik)**: Join the Arduino community forums to ask questions and share your projects. From 9347022796a2fa0da3f6683c26158066cd575df4 Mon Sep 17 00:00:00 2001 From: pedromsousalima <32345730+pedromsousalima@users.noreply.github.com> Date: Mon, 30 Sep 2024 12:06:30 +0200 Subject: [PATCH 23/23] Apply suggestions from code review Co-authored-by: per1234 --- .../setting-alvik-arduino-ide/setting-alvik-arduino-ide.md | 1 - 1 file changed, 1 deletion(-) diff --git a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/setting-alvik-arduino-ide.md b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/setting-alvik-arduino-ide.md index 2bfdd39237..9e8d03cc09 100644 --- a/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/setting-alvik-arduino-ide.md +++ b/content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/setting-alvik-arduino-ide.md @@ -143,7 +143,6 @@ Keeping in mind the initialization of the Alvik from the previous example, we ca ```c++ #include "Arduino_Alvik.h" -#include Arduino_Alvik alvik;

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z=d#u=gFm>riB@y#_9x(a)nc)%+ey&gG37~(SQ_$(+YUD7i>ooj14c4_S-7fT){Vmg zG8ycH?y9%Cu4=ONRX~mE+T(2b4`zJSSU@p6*$IG7%qF9uVqrmBh+MsDzQy4gzw1pF zSC}YwYx#9$iLq$@qPcx?HFY#36kN7#byy=)99~C9_a1ZpvhwGcZNX~VK{hg!2OOt zY2`+5t0p2aji+kybOJ$!Q`h>M=yz2qn_4faVueLIBl^VdB?oFoNw^oIquK+TKiZ4g ztA^@tn$HdPntURtil9o&8s|x{R==Pp!i*_cXv89Yj7Rm~#!fcBDw4Eug} z;7q|ehXloLVz$PQ$b}9|XLMVE@H&mPr~rJgE`qN5mMvBt)4hga4YcaKQ)Z~Y)0W?i zlpy_eQ)%hE#hXrbcAkK*r*lUs7SgYX1C`suR$6U`*Dl;RKI#;=p3HP|^=B)$9JL%% z@tCz7Rh8!FURqoT4pg%R03zdHxrfy%YsMyeCfKlDU^R&@7RCIc?J~r$bx-<)Bs~*Y zVc6I>GO^4Unro;1h|S_M?i=7!=N(afcygb_9s>9h`~!EqV2MAwwa-C&FD>cL$t*y* zm6|fq>mbvNepNxe6)Fx?51=RT`uMmNRT;#sD5jC^OPe%)c+ExDJg=k>zP$5J{u_;6 zSv}!!<6t~Ewz@j$JL75?0Tk)b)XE*LnrALXA9V^clnkFHGid_l13W-X68m4xzim~9 z9-jseD3;(Dg>(lDM$WhFA4Man!%x@sA4vMwQ_W$-_>UR**WCP Examples > 01.Basics > Blink**. -![Bridge Firmware Updater](assets/bridgeFirmware.png) -1. Open **STM32 Cube Programmer** -2. Set the connection to **UART** mode, the **Port** to whatever port the board is connected to and **DTR** to HIGH. You can now press **Connect**. -![Settings for STMCube](assets/stmCubeSetup.png) -3. Go to **Erasing & Programming** mode and edit the **File path** to the firmware (this will be a .bin file) you are trying to program. You can find the latest release [here](https://github.com/arduino-libraries/Arduino_Alvik/releases/tag/1.0.1). You can now press **Start Programming**. -![Programming STM Cube](assets/ProgrammingstmCube.png) +1. Now we can finaly test it. Open the **Drive** example in the Arduino IDE by going to **File > Examples > Arduino_Alvik > drive**. +![Upload the drive example](assets/uploadExample.png) - -1. After the firmware is programmed your board should now be ready! +The Alvik should now start their motor. If no movement occurs make sure that: +- Your board is **ON** +- Firmware is updated (more information available in the [User Manual](https://docs.arduino.cc/tutorials/alvik/user-manual/)). @@ -60,18 +56,42 @@ You can at any point revert back to the MicroPython programming eviroment by fol ## Programming Alvik -Let's confirm our firmware is correctly installed. For this we will create a simple sketch that prints the firmware version using the ```get_version()``` function: +Now that your Alvik is correctly setup lets go over some simple sketch uploads. If this is your first time with the Arduino IDE there is information available on how to [upload sketches](https://support.arduino.cc/hc/en-us/articles/4733418441116-Upload-a-sketch-in-Arduino-IDE). + +### Libraries + +There are two libraries available in the library manager for use with Alvik: + +- **Arduino_Alvik**: This is the primary library we will use in our sketches, and it contains high-level commands for controlling the "brain" of the Alvik, which is the ESP board. You can find more information and download it from [here](https://www.arduino.cc/reference/en/libraries/arduino_alvik/). + +- **Arduino_AlvikCarrier**: This library is designed for the STM board on the device and is useful in situations where more fine control is required over commands. It allows for more complex development, especially when deeper integration with the hardware is needed. More information and the download link can be found [here](https://www.arduino.cc/reference/en/libraries/arduino_alvikcarrier/). + +### Print Firmware Version + +A simple but useful program if you are new to the Alvik is to understand how to get information from the onboard STM board. In this case, we are creating a simple sketch that prints the firmware version using the `get_version()` function. ```c++ #include "Arduino_Alvik.h" +``` +Including the `Arduino_Alvik` library is essensial. The library contains all the needed predefined functions and classes that simplify the process of controlling the robot's hardware, such as motors and sensors. Without this include statement, the compiler wouldn't recognize the `Arduino_Alvik` class or its associated methods. + +```c++ Arduino_Alvik alvik; +``` + +When using the Alvik livrary we declare an object of the `Arduino_Alvik` class named `alvik` in this case. All interactions with the robot will go through this `alvik` object. As with our ```alvik.drive()``` command. +```c++ void setup() { alvik.begin(); Serial.begin(115200); } +``` + +In the `setup()` function, the `alvik.begin()` method initializes the Alvik robot. This will be a necessity on all sketches for the Alvik. +```c++ void loop() { uint8_t u,m,l; @@ -86,9 +106,75 @@ void loop() { } ``` -After upload the Alvik should rotate the wheels and print the version once per second. +This code continuously retrieves and prints the firmware version thanks to the ```get_version()``` every second while making the Alvik robot's wheels rotate back and forth using the ```drive()``` command. + + +**Complete code:** + +```c++ +#include "Arduino_Alvik.h" + +Arduino_Alvik alvik; + +void setup() { + alvik.begin(); + Serial.begin(115200); +} + +void loop() { + + uint8_t u,m,l; + + alvik.get_version(u,m,l); // Gets the firmware version + Serial.printf("%d.%d.%d\n", u, m, l); + alvik.drive(10, 45); + delay(1000); // Waits a second + alvik.drive(10, -45); + delay(1000); // Waits a second + +} +``` + +### Obstacle Avoider Example In C++ + +A more complex example can be found in the [getting started](https://docs.arduino.cc/tutorials/alvik/getting-started/) guide for the Alvik. +Due to the functions having same structure and names on both MicroPython and C++ we can easily port the ```obstacle-avoider``` to C++. + +Keeping in mind the initialization of the Alvik from the previous example we can build the example on the Arduino IDE: + +```c++ +#include "Arduino_Alvik.h" +#include + +Arduino_Alvik alvik; + +void setup() { + alvik.begin(); + delay(5000); // Waiting for the robot to setup +} + +void loop() { + float distance = 12.0; + float degrees = 45.0; + float speed = 10.0; + + float distance_l, distance_cl, distance_c, distance_r, distance_cr; + + alvik.get_distance(distance_l, distance_cl, distance_c, distance_r, distance_cr); + delay(50); + + Serial.println(distance_c); + + if (distance_c < distance || distance_cl < distance || distance_cr < distance || distance_l < distance || distance_r < distance) { + alvik.rotate(degrees); + } else { + alvik.drive(speed, 0.0); + } +} + +``` -You can now explore the other included examples that cover more of the Alvik's components. +You can now explore the other included examples that cover more of the Alvik's components and more functions listed on our [API reference](https://docs.arduino.cc/tutorials/alvik/api-overview/). ## More Resources (C++) From 7c8ed57a06c3dd50b5000021918f3ef965e6ba03 Mon Sep 17 00:00:00 2001 From: pedromsousalima <32345730+pedromsousalima@users.noreply.github.com> Date: Tue, 3 Sep 2024 20:39:50 +0200 Subject: [PATCH 15/23] Fix linter --- .../assets/ProgrammingstmCube.png | Bin 97183 -> 0 bytes .../assets/bridgeFirmware.png | Bin 94806 -> 0 bytes .../assets/stmCubeSetup.png | Bin 57098 -> 0 bytes .../setting-alvik-arduino-ide.md | 2 +- 4 files changed, 1 insertion(+), 1 deletion(-) delete mode 100644 content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/assets/ProgrammingstmCube.png delete mode 100644 content/hardware/08.edu/solution-and-kits/alvik/tutorials/setting-alvik-arduino-ide/assets/bridgeFirmware.png delete mode 100644 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