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1.1.0 - major update #25

Merged
merged 26 commits into from
Oct 16, 2024
+321 −131
Merged

1.1.0 - major update #25

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771bfb8
added shaking PoC by isShaking() method
gbr1 Jul 12, 2024
f1e9820
hyp firmware update to get shaking ('d' LSB)
gbr1 Jul 12, 2024
dc6c521
motion message is now with code 'm'
gbr1 Jul 25, 2024
b7919cd
preliminary tilt
gbr1 Jul 26, 2024
0936fca
removed tilt on shaking
gbr1 Jul 30, 2024
9647c27
fix
gbr1 Jul 30, 2024
808614f
not update tilt when shaking
gbr1 Jul 30, 2024
a36cb24
added retard on tilt after shake
gbr1 Jul 30, 2024
e97923d
added filter
gbr1 Jul 30, 2024
ae94421
fix: not sending tilts
eigen-value Jul 30, 2024
fa2a4dd
1.0.2
gbr1 Jul 31, 2024
905768e
Merge pull request #22 from arduino-libraries/gbr1-exp
gbr1 Aug 12, 2024
d51412b
isPositionReached in motor_control class
gbr1 Aug 12, 2024
e5c6ec1
isPositionReached() is now exposed in AlvikCarrier class
gbr1 Aug 12, 2024
22f29d9
updated firmware
gbr1 Aug 12, 2024
987a898
threshold on position 10
gbr1 Aug 12, 2024
6c1baf1
version update
gbr1 Aug 12, 2024
45aae84
Merge pull request #23 from arduino-libraries/feature_position
gbr1 Aug 12, 2024
a7a796f
fixed bms check
gbr1 Oct 8, 2024
3979129
fix behaviour
gbr1 Oct 9, 2024
ac54a92
battery alert behaviour
gbr1 Oct 9, 2024
bfb9cf7
battery percentage is negative if discharging
gbr1 Oct 9, 2024
5a938c7
battery alert
gbr1 Oct 9, 2024
721dc82
1.0.4 - battery alert
gbr1 Oct 10, 2024
b4e7353
Merge pull request #24 from arduino-libraries/battery_behaviour
gbr1 Oct 15, 2024
430f130
fix battery is charging, 1.1.0 version
gbr1 Oct 16, 2024
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219 changes: 121 additions & 98 deletions examples/firmware/firmware.ino
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -96,104 +96,113 @@ void loop(){
}
if (packeter.checkPayload()) {
code = packeter.payloadTop();
switch (code){
case 'J':
packeter.unpacketC2F(code,left,right);
alvik.disableKinematicsMovement();
alvik.disablePositionControl();
alvik.setRpm(left, right);
break;

case 'V':
packeter.unpacketC2F(code,linear,angular);
alvik.disableKinematicsMovement();
alvik.disablePositionControl();
alvik.drive(linear,angular);
break;

case 'W':
packeter.unpacketC2B1F(code,label,control_type,value);
alvik.disableKinematicsMovement();
if (label=='L'){
switch (control_type){
case 'V':
alvik.disablePositionControlLeft();
alvik.setRpmLeft(value);
break;
case 'P':
alvik.setPositionLeft(value);
break;
case 'Z':
alvik.resetPositionLeft(value);
break;
if (!alvik.isBatteryAlert()){
switch (code){
case 'J':
packeter.unpacketC2F(code,left,right);
alvik.disableKinematicsMovement();
alvik.disablePositionControl();
alvik.setRpm(left, right);
break;

case 'V':
packeter.unpacketC2F(code,linear,angular);
alvik.disableKinematicsMovement();
alvik.disablePositionControl();
alvik.drive(linear,angular);
break;

case 'W':
packeter.unpacketC2B1F(code,label,control_type,value);
alvik.disableKinematicsMovement();
if (label=='L'){
switch (control_type){
case 'V':
alvik.disablePositionControlLeft();
alvik.setRpmLeft(value);
break;
case 'P':
alvik.setPositionLeft(value);
ack_required=MOVEMENT_LEFT;
ack_check=true;
break;
case 'Z':
alvik.resetPositionLeft(value);
break;
}
}
}
if (label=='R'){
switch (control_type){
case 'V':
alvik.disablePositionControlRight();
alvik.setRpmRight(value);
break;
case 'P':
alvik.setPositionRight(value);
break;
case 'Z':
alvik.resetPositionRight(value);
break;
if (label=='R'){
switch (control_type){
case 'V':
alvik.disablePositionControlRight();
alvik.setRpmRight(value);
break;
case 'P':
alvik.setPositionRight(value);
ack_required=MOVEMENT_RIGHT;
ack_check=true;
break;
case 'Z':
alvik.resetPositionRight(value);
break;
}
}
}
break;


case 'A':
packeter.unpacketC2F(code,position_left, position_right);
alvik.disableKinematicsMovement();
alvik.setPosition(position_left, position_right);
break;


case 'S':
packeter.unpacketC2B(code,servo_A,servo_B);
alvik.setServoA(servo_A);
alvik.setServoB(servo_B);
break;

case 'L':
packeter.unpacketC1B(code,leds);
alvik.setAllLeds(leds);
break;

case 'P':
packeter.unpacketC1B3F(code,pid,kp,ki,kd);
if (pid=='L'){
alvik.setKPidLeft(kp,ki,kd);
}
if (pid=='R'){
alvik.setKPidRight(kp,ki,kd);
}
break;

case 'R':
packeter.unpacketC1F(code, value);
alvik.disablePositionControl();
alvik.rotate(value);
ack_required=MOVEMENT_ROTATE;
ack_check=true;
break;

case 'G':
packeter.unpacketC1F(code, value);
alvik.disablePositionControl();
alvik.move(value);
ack_required=MOVEMENT_MOVE;
ack_check=true;
break;

case 'Z':
packeter.unpacketC3F(code, x, y, theta);
alvik.resetPose(x, y, theta);
break;

break;


case 'A':
packeter.unpacketC2F(code,position_left, position_right);
alvik.disableKinematicsMovement();
alvik.setPosition(position_left, position_right);
ack_required=MOVEMENT_POSITION;
ack_check=true;
break;


case 'S':
packeter.unpacketC2B(code,servo_A,servo_B);
alvik.setServoA(servo_A);
alvik.setServoB(servo_B);
break;

case 'L':
packeter.unpacketC1B(code,leds);
alvik.setAllLeds(leds);
break;

case 'P':
packeter.unpacketC1B3F(code,pid,kp,ki,kd);
if (pid=='L'){
alvik.setKPidLeft(kp,ki,kd);
}
if (pid=='R'){
alvik.setKPidRight(kp,ki,kd);
}
break;

case 'R':
packeter.unpacketC1F(code, value);
alvik.disablePositionControl();
alvik.rotate(value);
ack_required=MOVEMENT_ROTATE;
ack_check=true;
break;

case 'G':
packeter.unpacketC1F(code, value);
alvik.disablePositionControl();
alvik.move(value);
ack_required=MOVEMENT_MOVE;
ack_check=true;
break;

case 'Z':
packeter.unpacketC3F(code, x, y, theta);
alvik.resetPose(x, y, theta);
break;
}
}
switch (code){
case 'X':
packeter.unpacketC1B(code, ack_code);
if (ack_code == 'K') {
Expand All @@ -207,6 +216,9 @@ void loop(){
case 1:
alvik.setBehaviour(LIFT_ILLUMINATOR, true);
break;
case 2:
alvik.setBehaviour(BATTERY_ALERT, true);
break;
default:
alvik.setBehaviour(ALL_BEHAVIOURS, false);
}
Expand All @@ -227,6 +239,8 @@ void loop(){
alvik.updateTouch();
msg_size = packeter.packetC1B('t', alvik.getTouchKeys());
alvik.serial->write(packeter.msg,msg_size);
msg_size = packeter.packetC1B('m', alvik.getMotion());
alvik.serial->write(packeter.msg,msg_size);
break;
case 2:
alvik.updateAPDS();
Expand Down Expand Up @@ -278,13 +292,22 @@ void loop(){
msg_size = packeter.packetC3B(0x7E, version[0], version[1], version[2]);
alvik.serial->write(packeter.msg,msg_size);
}
if (ack_check && alvik.isTargetReached()){
if (ack_check && (alvik.isTargetReached() || alvik.isPositionReached() || alvik.isPositionLeftReached() || alvik.isPositionRightReached())){
if (ack_required == MOVEMENT_ROTATE){
msg_size = packeter.packetC1B('x', 'R');
}
if (ack_required == MOVEMENT_MOVE){
msg_size = packeter.packetC1B('x', 'M');
}
if (ack_required == MOVEMENT_POSITION){
msg_size = packeter.packetC1B('x', 'P');
}
if (ack_required == MOVEMENT_LEFT){
msg_size = packeter.packetC1B('x', 'P');
}
if (ack_required == MOVEMENT_RIGHT){
msg_size = packeter.packetC1B('x', 'P');
}
}
else{
msg_size = packeter.packetC1B('x', 0);
Expand All @@ -309,7 +332,7 @@ void loop(){
if (millis()-tbattery>1000){
tbattery = millis();
alvik.updateBMS();
msg_size = packeter.packetC1F('p', alvik.getBatteryChargePercentage());
msg_size = packeter.packetC1F('p', alvik.isBatteryCharging()*alvik.getBatteryChargePercentage());
alvik.serial->write(packeter.msg,msg_size);
}
}
2 changes: 1 addition & 1 deletion library.properties
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
name=Arduino_AlvikCarrier
version=1.0.1
version=1.1.0
author=Arduino, Giovanni di Dio Bruno, Lucio Rossi
maintainer=Arduino <info@arduino.cc>
sentence=Library and firmware for Arduino Alvik Carrier board
Expand Down
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