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cleanup
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-144
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19 files changed

+523
-144
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‎LICENSE

Lines changed: 373 additions & 0 deletions
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‎examples/blink/blink.ino

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
/*
2-
This file is part of the Arduino Alvik library.
2+
This file is part of the Arduino_AlvikCarrier library.
33
44
Copyright (c) 2023 Arduino SA
55
@@ -13,10 +13,10 @@
1313

1414
// This example makes the rear orange led blink. It is also called LED_BUILTIN
1515

16-
#include "Arduino_Alvik_Firmware.h"
16+
#include "Arduino_AlvikCarrier.h"
1717

1818

19-
Arduino_Alvik_Firmware alvik;
19+
Arduino_AlvikCarrier alvik;
2020

2121
void setup(){
2222
alvik.begin();

‎examples/firmware_01/firmware_01.ino

Lines changed: 33 additions & 33 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
/*
2-
This file is part of the Arduino Alvik library.
2+
This file is part of the Arduino_AlvikCarrier library.
33
44
Copyright (c) 2023 Arduino SA
55
@@ -10,14 +10,14 @@
1010
*/
1111

1212

13-
#include "Arduino_Alvik_Firmware.h"
13+
#include "Arduino_AlvikCarrier.h"
1414
#include "sensor_line.h"
1515
#include "sensor_tof_matrix.h"
1616
#include "ucPack.h"
1717

18-
Arduino_Alvik_Firmware robot;
18+
Arduino_AlvikCarrier alvik;
1919
SensorLine line(EXT_A2,EXT_A1,EXT_A0);
20-
SensorTofMatrix tof(robot.wire, EXT_GPIO3, EXT_GPIO2);
20+
SensorTofMatrix tof(alvik.wire, EXT_GPIO3, EXT_GPIO2);
2121

2222

2323
ucPack packeter(200);
@@ -44,17 +44,17 @@ float kp, ki, kd;
4444

4545
void setup(){
4646
Serial.begin(115200);
47-
robot.begin();
48-
robot.setLedBuiltin(HIGH);
47+
alvik.begin();
48+
alvik.setLedBuiltin(HIGH);
4949
line.begin();
5050
tof.begin();
5151

5252
uint8_t version[3];
53-
robot.getVersion(version[0], version[1], version[2]);
53+
alvik.getVersion(version[0], version[1], version[2]);
5454
msg_size = packeter.packetC3B(0x7E, version[0], version[1], version[2]);
55-
robot.serial->write(packeter.msg,msg_size);
55+
alvik.serial->write(packeter.msg,msg_size);
5656

57-
robot.setLedBuiltin(LOW);
57+
alvik.setLedBuiltin(LOW);
5858

5959

6060
code=0;
@@ -65,33 +65,33 @@ void setup(){
6565
}
6666

6767
void loop(){
68-
while(robot.serial->available() > 0) {
69-
packeter.buffer.push(robot.serial->read());
68+
while(alvik.serial->available() > 0) {
69+
packeter.buffer.push(alvik.serial->read());
7070
}
7171
if (packeter.checkPayload()) {
7272
code = packeter.payloadTop();
7373
switch (code){
7474
case 'J':
7575
packeter.unpacketC2F(code,left,right);
76-
robot.setRpm(left, right);
76+
alvik.setRpm(left, right);
7777
break;
7878
/*
7979
case 'S':
80-
robot.setRpm(0,0);
80+
alvik.setRpm(0,0);
8181
break;
8282
*/
8383
case 'L':
8484
packeter.unpacketC1B(code,leds);
85-
robot.setAllLeds(leds);
85+
alvik.setAllLeds(leds);
8686
break;
8787

8888
case 'P':
8989
packeter.unpacketC1B3F(code,pid,kp,ki,kd);
9090
if (pid=='L'){
91-
robot.setKPidLeft(kp,ki,kd);
91+
alvik.setKPidLeft(kp,ki,kd);
9292
}
9393
if (pid=='R'){
94-
robot.setKPidRight(kp,ki,kd);
94+
alvik.setKPidRight(kp,ki,kd);
9595
}
9696
break;
9797
}
@@ -103,27 +103,27 @@ void loop(){
103103
case 0:
104104
line.update();
105105
msg_size = packeter.packetC3I('l', line.getLeft(), line.getCenter(), line.getRight());
106-
robot.serial->write(packeter.msg,msg_size);
106+
alvik.serial->write(packeter.msg,msg_size);
107107
break;
108108
case 1:
109-
robot.updateTouch();
110-
msg_size = packeter.packetC1B('t', robot.getTouchKeys());
111-
robot.serial->write(packeter.msg,msg_size);
109+
alvik.updateTouch();
110+
msg_size = packeter.packetC1B('t', alvik.getTouchKeys());
111+
alvik.serial->write(packeter.msg,msg_size);
112112
break;
113113
case 2:
114-
robot.updateAPDS();
115-
msg_size = packeter.packetC3I('c', robot.getRed(), robot.getGreen(), robot.getBlue());
116-
robot.serial->write(packeter.msg,msg_size);
114+
alvik.updateAPDS();
115+
msg_size = packeter.packetC3I('c', alvik.getRed(), alvik.getGreen(), alvik.getBlue());
116+
alvik.serial->write(packeter.msg,msg_size);
117117
break;
118118
case 3:
119119
if (tof.update_rois()){
120120
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());
121-
robot.serial->write(packeter.msg,msg_size);
121+
alvik.serial->write(packeter.msg,msg_size);
122122
}
123123
break;
124124
case 4:
125-
msg_size = packeter.packetC3F('q', robot.getRoll(), robot.getPitch(), robot.getYaw());
126-
robot.serial->write(packeter.msg,msg_size);
125+
msg_size = packeter.packetC3F('q', alvik.getRoll(), alvik.getPitch(), alvik.getYaw());
126+
alvik.serial->write(packeter.msg,msg_size);
127127
break;
128128
}
129129
sensor_id++;
@@ -134,17 +134,17 @@ void loop(){
134134

135135
if (millis()-tmotor>20){
136136
tmotor=millis();
137-
robot.updateMotors();
138-
robot.updateImu();
139-
msg_size = packeter.packetC2F('j', robot.getRpmLeft(),robot.getRpmRight());
140-
robot.serial->write(packeter.msg,msg_size);
137+
alvik.updateMotors();
138+
alvik.updateImu();
139+
msg_size = packeter.packetC2F('j', alvik.getRpmLeft(),alvik.getRpmRight());
140+
alvik.serial->write(packeter.msg,msg_size);
141141

142142
}
143143

144144
if (millis()-timu>10){
145145
timu=millis();
146-
robot.updateImu();
147-
msg_size = packeter.packetC6F('i', robot.getAccelerationX(), robot.getAccelerationY(), robot.getAccelerationZ(), robot.getAngularVelocityX(), robot.getAngularVelocityY(), robot.getAngularVelocityZ());
148-
robot.serial->write(packeter.msg,msg_size);
146+
alvik.updateImu();
147+
msg_size = packeter.packetC6F('i', alvik.getAccelerationX(), alvik.getAccelerationY(), alvik.getAccelerationZ(), alvik.getAngularVelocityX(), alvik.getAngularVelocityY(), alvik.getAngularVelocityZ());
148+
alvik.serial->write(packeter.msg,msg_size);
149149
}
150150
}

‎examples/imu/imu.ino

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
/*
2-
This file is part of the Arduino Alvik library.
2+
This file is part of the Arduino_AlvikCarrier library.
33
44
Copyright (c) 2023 Arduino SA
55
@@ -13,11 +13,11 @@
1313

1414
// This example shows IMU data, accelerations are in Gs, angular velocities in deg/s and orientation is in degrees.
1515

16-
#include "Arduino_Alvik_Firmware.h"
16+
#include "Arduino_AlvikCarrier.h"
1717

1818
unsigned long time_imu_update=0;
1919

20-
Arduino_Alvik_Firmware alvik;
20+
Arduino_AlvikCarrier alvik;
2121

2222
void setup(){
2323
Serial.begin(115200);

‎examples/kinematics/kinematics.ino

Lines changed: 4 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
/*
2-
This file is part of the Arduino Alvik library.
2+
This file is part of the Arduino_AlvikCarrier library.
33
44
Copyright (c) 2023 Arduino SA
55
@@ -9,10 +9,11 @@
99
1010
*/
1111

12+
// WIP
1213

13-
#include "Arduino_Alvik_Firmware.h"
14+
#include "Arduino_AlvikCarrier.h"
1415

15-
Arduino_Alvik_Firmware alvik;
16+
Arduino_AlvikCarrier alvik;
1617

1718
unsigned long tmotor=0;
1819
unsigned long ttask=0;

‎examples/motor/motor.ino

Lines changed: 9 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
/*
2-
This file is part of the Arduino Alvik library.
2+
This file is part of the Arduino_AlvikCarrier library.
33
44
Copyright (c) 2023 Arduino SA
55
@@ -10,9 +10,9 @@
1010
*/
1111

1212

13-
#include "Arduino_Alvik_Firmware.h"
13+
#include "Arduino_AlvikCarrier.h"
1414

15-
Arduino_Alvik_Firmware robot;
15+
Arduino_AlvikCarrier alvik;
1616

1717
unsigned long t=0;
1818
unsigned long t_change = 0;
@@ -22,10 +22,10 @@ float reference = 0.0;
2222

2323
void setup(){
2424
Serial.begin(115200);
25-
robot.begin();
25+
alvik.begin();
2626
t=millis();
2727
t_change=millis();
28-
robot.setRpm(reference,reference);
28+
alvik.setRpm(reference,reference);
2929

3030
Serial.print("reference");
3131
Serial.print(" ");
@@ -59,16 +59,16 @@ void loop(){
5959
if (status>5){
6060
status=0;
6161
}
62-
robot.setRpm(reference,reference);
62+
alvik.setRpm(reference,reference);
6363
}
6464
if (millis()-t>20){
6565
t=millis();
66-
robot.updateMotors();
66+
alvik.updateMotors();
6767

6868
Serial.print(reference);
6969
Serial.print(" ");
70-
Serial.print(robot.getRpmRight());
70+
Serial.print(alvik.getRpmRight());
7171
Serial.print(" ");
72-
Serial.println(robot.getRpmLeft());
72+
Serial.println(alvik.getRpmLeft());
7373
}
7474
}

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