0.3.4

examples/blink/blink.ino

@@ -24,7 +24,7 @@ void setup(){
 
 void loop(){
     alvik.setLedBuiltin(HIGH);
-    delay(100);
+    delay(1000);
     alvik.setLedBuiltin(LOW);
     delay(1000);
 }

examples/firmware/firmware.ino

@@ -39,6 +39,7 @@ unsigned long tsensor = 0;
 unsigned long timu = 0;
 unsigned long tack = 0;
 unsigned long tbehaviours = 0;
+unsigned long tbattery = 0;
 
 
 float left, right, value;
@@ -73,6 +74,10 @@ void setup(){
   msg_size = packeter.packetC3B(0x7E, version[0], version[1], version[2]);
   alvik.serial->write(packeter.msg,msg_size);
 
+  alvik.updateBMS();
+  msg_size = packeter.packetC1F('p', alvik.getBatteryChargePercentage());
+  alvik.serial->write(packeter.msg,msg_size);
+
   alvik.setLedBuiltin(LOW);
   alvik.setLeds(COLOR_BLACK);
 
@@ -300,4 +305,12 @@ void loop(){
     msg_size = packeter.packetC6F('i', alvik.getAccelerationX(), alvik.getAccelerationY(), alvik.getAccelerationZ(), alvik.getAngularVelocityX(), alvik.getAngularVelocityY(), alvik.getAngularVelocityZ());
     alvik.serial->write(packeter.msg,msg_size);
   }
+
+  // battery update
+  if (millis()-tbattery>1000){
+    tbattery = millis();
+    alvik.updateBMS();
+    msg_size = packeter.packetC1F('p', alvik.getBatteryChargePercentage());
+    alvik.serial->write(packeter.msg,msg_size);
+  }
 }

library.properties

@@ -1,5 +1,5 @@
 name=Arduino_AlvikCarrier
-version=0.3.0
+version=0.3.4
 author=Arduino, Giovanni di Dio Bruno, Lucio Rossi
 maintainer=Arduino <[email protected]>
 sentence=Library and firmware for Arduino Alvik Carrier board

src/Arduino_AlvikCarrier.cpp

@@ -85,6 +85,7 @@ Arduino_AlvikCarrier::Arduino_AlvikCarrier(){
 
 int Arduino_AlvikCarrier::begin(){
     beginLeds();
+    pinMode(NANO_CHK,INPUT_PULLDOWN);
 
     serial->begin(UART_BAUD);
     serial->flush();
@@ -254,6 +255,7 @@ void Arduino_AlvikCarrier::disconnectExternalI2C(){
 /******************************************************************************************************/
 
 int Arduino_AlvikCarrier::beginBMS(){
+    while(digitalRead(NANO_CHK)==HIGH){}
     bms->begin();
     return 0;
 }
@@ -432,17 +434,55 @@ bool Arduino_AlvikCarrier::getTouchKey(const uint8_t key){
     return false;
 }
 
-uint8_t Arduino_AlvikCarrier::getTouchKeys(){
+uint8_t Arduino_AlvikCarrier::getTouchKeys(const bool single_touch){
     touch_value=0;
     if (getAnyTouchPressed()){
         touch_value|=1;
-        touch_value|=getTouchOk()<<1;
-        touch_value|=getTouchDelete()<<2;
-        touch_value|=getTouchCenter()<<3;
-        touch_value|=getTouchUp()<<4;
-        touch_value|=getTouchLeft()<<5;
-        touch_value|=getTouchDown()<<6;
-        touch_value|=getTouchRight()<<7;
+        if (!single_touch){
+            touch_value|=getTouchOk()<<1;
+            touch_value|=getTouchDelete()<<2;
+            touch_value|=getTouchCenter()<<3;
+            touch_value|=getTouchUp()<<4;
+            touch_value|=getTouchLeft()<<5;
+            touch_value|=getTouchDown()<<6;
+            touch_value|=getTouchRight()<<7;
+        }
+        else{
+            if (getTouchOk()){
+                touch_value|=1<<1;
+            }else{
+                if (getTouchDelete()){
+                    touch_value|=1<<2;
+                }
+                else{
+                    if (getTouchCenter()){
+                        touch_value|=1<<3;
+                    }
+                    else{
+                        if (getTouchLeft()){
+                            touch_value|=1<<5;
+                        }
+                        else{
+                            if (getTouchDown()){
+                                touch_value|=1<<6;
+                            }
+                            else{
+                                if (getTouchRight()){
+                                    touch_value|=1<<7;
+                                }
+                                else{
+                                    if (getTouchUp()){
+                                        touch_value|=1<<4;
+                                    }
+                                }
+                            }
+
+                        }
+                    }
+                }
+            }
+        }
+
     }
     return touch_value;
 }
@@ -693,7 +733,7 @@ void Arduino_AlvikCarrier::updateKinematics(){
         if (kinematics_movement==MOVEMENT_ROTATE){
             rotate_pid->update(kinematics->getTheta());
             drive(0, round(rotate_pid->getControlOutput()/10.0)*10);
-            if (abs(rotate_pid->getError())<ROTATE_THREASHOLD){
+            if (abs(rotate_pid->getError())<ROTATE_THRESHOLD){
                 kinematics_achieved=true;
                 disableKinematicsMovement();
                 drive(0,0);
@@ -702,7 +742,7 @@ void Arduino_AlvikCarrier::updateKinematics(){
         if (kinematics_movement==MOVEMENT_MOVE){
             move_pid->update((kinematics->getTravel()-previous_travel)*move_direction);
             drive(round(move_pid->getControlOutput()/10.0)*10, 0);
-            if (abs(move_pid->getError())<MOVE_THREADSHOLD){
+            if (abs(move_pid->getError())<MOVE_THRESHOLD){
                 kinematics_achieved=true;
                 disableKinematicsMovement();
                 drive(0,0);
@@ -892,4 +932,21 @@ bool Arduino_AlvikCarrier::isLifted(){
     else{
         return false;
     }
+}
+
+
+
+/******************************************************************************************************/
+/*                                             Utilities                                              */
+/******************************************************************************************************/
+
+void Arduino_AlvikCarrier::getSerialNumber(char * sn){
+  uint32_t id[3];
+  id[0] = HAL_GetUIDw0();
+  id[1] = HAL_GetUIDw1();
+  id[2] = HAL_GetUIDw2();
+  uint32_t top = id[0]+id[2];
+  uint16_t bottom = (id[1]&0xFFFF0000)>>16;
+  sprintf(sn,"%08lx", top);
+  sprintf(sn+8,"%x",bottom);
 }

src/Arduino_AlvikCarrier.h

@@ -179,7 +179,7 @@ class Arduino_AlvikCarrier{
         void updateTouch();                                                             // update touch status
         bool getAnyTouchPressed();                                                      // get any touch pressed
         bool getTouchKey(const uint8_t key);                                            // return true if key touch is pressed
-        uint8_t getTouchKeys();                                                         // return touched pads as byte
+        uint8_t getTouchKeys(const bool single_touch = true);                           // return touched pads as byte
         bool getTouchUp();                                                              // get nav pad up
         bool getTouchRight();                                                           // get nav pad right
         bool getTouchDown();                                                            // get nav pad down
@@ -245,10 +245,17 @@ class Arduino_AlvikCarrier{
         bool isTargetReached();                                                         // get true if a movement is accomplished
         uint8_t getKinematicsMovement();                                                // get which kind of motion is running in kinematic control
 
-        void beginBehaviours();
-        void updateBehaviours();
-        void setBehaviour(const uint8_t behaviour, const bool enable);
-        bool isLifted();
+
+        // Behaviours
+        void beginBehaviours();                                                         // internal behaviours of the robot
+        void updateBehaviours();                                                        // updated internal behaviours
+        void setBehaviour(const uint8_t behaviour, const bool enable);                  // set a behaviour
+        bool isLifted();                                                                // is robot lifted?
+
+
+        // Utilities
+        void getSerialNumber(char * sn);                                                // get STM32 serial number
+
 };
 
 #endif

src/definitions/pinout_definitions.h

@@ -69,6 +69,8 @@
 #define I2C_2_SCL PB10
 #define ARDUINO_ROBOT_ADDRESS 0x2B
 
+// Check
+#define NANO_CHK PC0
 
 // Touch
 #define TOUCH_PAD_UP 7        

src/definitions/robot_definitions.h

@@ -46,14 +46,14 @@ const float MOTOR_RATIO = MOTOR_CPR*MOTOR_GEAR_RATIO;
 #define ROTATE_KD_DEFAULT 0.001
 #define ROTATE_CONTROL_PERIOD 0.02
 #define ROTATE_MAX_SPEED 45.0
-#define ROTATE_THREASHOLD 1
+#define ROTATE_THRESHOLD 1
 
 #define MOVE_KP_DEFAULT 5.0
 #define MOVE_KI_DEFAULT 0.0
 #define MOVE_KD_DEFAULT 0.001
 #define MOVE_CONTROL_PERIOD 0.02
 #define MOVE_MAX_SPEED 45.0
-#define MOVE_THREADSHOLD 3
+#define MOVE_THRESHOLD 3
 
 #define MOVEMENT_DISABLED 0
 #define MOVEMENT_ROTATE 1
@@ -87,8 +87,8 @@ const float MOTION_FX_PERIOD = (1000U / MOTION_FX_FREQ);
 
 // Library version
 #define VERSION_BYTE_HIGH 0
-#define VERSION_BYTE_MID 2
-#define VERSION_BYTE_LOW 1
+#define VERSION_BYTE_MID 3
+#define VERSION_BYTE_LOW 4