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Merge pull request #13 from gbr1/dev
0.0.5
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‎examples/battery/battery.ino

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/*
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This file is part of the Arduino Alvik library.
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Copyright (c) 2023 Arduino SA. All rights reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#include "Arduino_Robot_Firmware.h"
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Arduino_Robot_Firmware robot;

‎examples/blink/blink.ino

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/*
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This file is part of the Arduino Alvik library.
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Copyright (c) 2023 Arduino SA. All rights reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#include "Arduino_Robot_Firmware.h"
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‎examples/demo_01/demo_01.ino

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/*
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This file is part of the Arduino Alvik library.
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Copyright (c) 2023 Arduino SA. All rights reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#include "Arduino_Robot_Firmware.h"
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#include "sensor_line.h"
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‎examples/demo_02/demo_02.ino

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/*
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This file is part of the Arduino Alvik library.
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Copyright (c) 2023 Arduino SA. All rights reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#include "Arduino_Robot_Firmware.h"
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#include "sensor_line.h"
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‎examples/firmware_01/firmware_01.ino

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/*
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This file is part of the Arduino_GroveI2C_Ultrasonic library.
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Copyright (c) 2023 Arduino SA. All rights reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#include "Arduino_Robot_Firmware.h"
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#include "sensor_line.h"
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#include "sensor_tof_matrix.h"
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#include "ucPack.h"
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Arduino_Robot_Firmware robot;
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SensorLine line(EXT_A2,EXT_A1,EXT_A0);
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SensorTofMatrix tof(robot.wire, EXT_GPIO3, EXT_GPIO2);
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ucPack packeter(200);
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uint8_t code;
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uint8_t msg_size;
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unsigned long tmotor=0;
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unsigned long tsend=0;
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unsigned long tsensor=0;
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float left, right;
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uint8_t leds;
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uint8_t sensor_id = 0;
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uint8_t pid;
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float kp, ki, kd;
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void setup(){
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Serial.begin(115200);
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robot.begin();
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robot.setLedBuiltin(HIGH);
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line.begin();
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tof.begin();
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uint8_t version[3];
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robot.getVersion(version[0], version[1], version[2]);
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msg_size = packeter.packetC3B(0x7E, version[0], version[1], version[2]);
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robot.serial->write(packeter.msg,msg_size);
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robot.setLedBuiltin(LOW);
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code=0;
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tmotor=millis();
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tsend=millis();
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tsensor=millis();
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}
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void loop(){
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while(robot.serial->available() > 0) {
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packeter.buffer.push(robot.serial->read());
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}
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if (packeter.checkPayload()) {
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code = packeter.payloadTop();
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switch (code){
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case 'J':
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packeter.unpacketC2F(code,left,right);
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robot.setRpm(left, right);
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break;
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/*
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case 'S':
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robot.setRpm(0,0);
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break;
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*/
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case 'L':
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packeter.unpacketC1B(code,leds);
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robot.setAllLeds(leds);
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break;
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case 'P':
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packeter.unpacketC1B3F(code,pid,kp,ki,kd);
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if (pid=='L'){
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robot.setKPidLeft(kp,ki,kd);
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}
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if (pid=='R'){
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robot.setKPidRight(kp,ki,kd);
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}
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break;
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}
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}
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if (millis()-tsensor>10){
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tsensor=millis();
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switch(sensor_id){
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case 0:
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line.update();
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msg_size = packeter.packetC3I('l', line.getLeft(), line.getCenter(), line.getRight());
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robot.serial->write(packeter.msg,msg_size);
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break;
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case 1:
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robot.updateTouch();
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msg_size = packeter.packetC1B('t', robot.getTouchKeys());
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robot.serial->write(packeter.msg,msg_size);
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break;
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case 2:
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robot.updateAPDS();
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msg_size = packeter.packetC3I('c', robot.getRed(), robot.getGreen(), robot.getBlue());
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robot.serial->write(packeter.msg,msg_size);
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break;
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case 3:
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tof.update();
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msg_size = packeter.packetC7I('f', tof.getLeft(), tof.getCenterLeft(), tof.getCenter(), tof.getCenterRight(), tof.getRight(), tof.get_min_range_top_mm(), tof.get_max_range_bottom_mm());
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robot.serial->write(packeter.msg,msg_size);
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break;
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case 4:
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msg_size = packeter.packetC3F('q', robot.getRoll(), robot.getPitch(), robot.getYaw());
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robot.serial->write(packeter.msg,msg_size);
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break;
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}
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sensor_id++;
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if (sensor_id>4){
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sensor_id=0;
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}
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}
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if (millis()-tmotor>10){
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tmotor=millis();
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robot.updateMotors();
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robot.updateImu();
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msg_size = packeter.packetC2F('j', robot.getRpmLeft(),robot.getRpmRight());
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robot.serial->write(packeter.msg,msg_size);
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msg_size = packeter.packetC6F('i', robot.getAccelerationX(), robot.getAccelerationY(), robot.getAccelerationZ(), robot.getAngularVelocityX(), robot.getAngularVelocityY(), robot.getAngularVelocityZ());
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robot.serial->write(packeter.msg,msg_size);
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}
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}

‎examples/firmware_01/platform_config_custom.h

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#ifndef _PLATFORM_CONFIG_DEFAULT_H_
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#define _PLATFORM_CONFIG_DEFAULT_H_
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#ifndef VL53L7CX_NB_TARGET_PER_ZONE
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#define VL53L7CX_NB_TARGET_PER_ZONE 1U
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#endif
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// #define VL53L7CX_USE_RAW_FORMAT
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#define VL53L7CX_DISABLE_AMBIENT_PER_SPAD
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#define VL53L7CX_DISABLE_NB_SPADS_ENABLED
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#define VL53L7CX_DISABLE_NB_TARGET_DETECTED
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#define VL53L7CX_DISABLE_SIGNAL_PER_SPAD
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#define VL53L7CX_DISABLE_RANGE_SIGMA_MM
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// #define VL53L7CX_DISABLE_DISTANCE_MM
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#define VL53L7CX_DISABLE_REFLECTANCE_PERCENT
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#define VL53L7CX_DISABLE_TARGET_STATUS
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#define VL53L7CX_DISABLE_MOTION_INDICATOR
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#endif // _PLATFORM_CONFIG_DEFAULT_H_

‎examples/imu/imu.ino

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/*
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This file is part of the Arduino Alvik library.
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Copyright (c) 2023 Arduino SA. All rights reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
7+
License as published by the Free Software Foundation; either
8+
version 2.1 of the License, or (at your option) any later version.
9+
10+
This library is distributed in the hope that it will be useful,
11+
but WITHOUT ANY WARRANTY; without even the implied warranty of
12+
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13+
Lesser General Public License for more details.
14+
15+
You should have received a copy of the GNU Lesser General Public
16+
License along with this library; if not, write to the Free Software
17+
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#include "Wire.h"
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#include "motion_fx.h"
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#include "LSM6DSOSensor.h"

‎examples/line/line.ino

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/*
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This file is part of the Arduino Alvik library.
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Copyright (c) 2023 Arduino SA. All rights reserved.
4+
5+
This library is free software; you can redistribute it and/or
6+
modify it under the terms of the GNU Lesser General Public
7+
License as published by the Free Software Foundation; either
8+
version 2.1 of the License, or (at your option) any later version.
9+
10+
This library is distributed in the hope that it will be useful,
11+
but WITHOUT ANY WARRANTY; without even the implied warranty of
12+
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13+
Lesser General Public License for more details.
14+
15+
You should have received a copy of the GNU Lesser General Public
16+
License along with this library; if not, write to the Free Software
17+
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
18+
*/
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#include "Arduino_Robot_Firmware.h"
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#include "sensor_line.h"
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‎examples/motor/motor.ino

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/*
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This file is part of the Arduino Alvik library.
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Copyright (c) 2023 Arduino SA. All rights reserved.
4+
5+
This library is free software; you can redistribute it and/or
6+
modify it under the terms of the GNU Lesser General Public
7+
License as published by the Free Software Foundation; either
8+
version 2.1 of the License, or (at your option) any later version.
9+
10+
This library is distributed in the hope that it will be useful,
11+
but WITHOUT ANY WARRANTY; without even the implied warranty of
12+
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13+
Lesser General Public License for more details.
14+
15+
You should have received a copy of the GNU Lesser General Public
16+
License along with this library; if not, write to the Free Software
17+
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
18+
*/
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#include "Arduino_Robot_Firmware.h"
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Arduino_Robot_Firmware robot;

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