0.3.0

examples/bridge_firmware_updater/bridge_firmware_updater

@@ -0,0 +1,85 @@
+/*
+    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/.
+
+*/
+
+
+/*
+  You can use this sketch to make your Arduino Nano ESP32 an USB-to-serial adapter.
+  This allows to flash firmware into the Arduino Alvik Carrier via Arduino Nano ESP32.
+
+  Please refer to Arduino_AlvikCarrier library available at https://github.com/arduino-libraries/Arduino_AlvikCarrier
+*/
+
+
+
+
+#include "Arduino_Alvik.h"
+
+unsigned long baud = 115200;
+
+int rts = -1;
+int dtr = -1;
+
+
+static void onLineChange(void* arg, esp_event_base_t event_base, int32_t event_id, void* event_data) {
+  if (event_base == ARDUINO_USB_CDC_EVENTS) {
+    arduino_usb_cdc_event_data_t * data = (arduino_usb_cdc_event_data_t*)event_data;
+    switch (event_id) {
+      case ARDUINO_USB_CDC_LINE_CODING_EVENT:
+        auto baud = data->line_coding.bit_rate;
+        Serial0.updateBaudRate(baud);
+        while (Serial0.available()) {
+          Serial0.read();
+        }
+        break;
+    }
+  }
+}
+
+void setup() {
+  Serial.onEvent(onLineChange);
+  Serial.enableReboot(false);
+  Serial.begin(baud);
+  Serial.setRxBufferSize(0);
+  Serial.setRxBufferSize(2048);
+  Serial0.setRxBufferSize(8192);
+  Serial0.setTxBufferSize(8192);
+  Serial0.begin(baud, SERIAL_8E1);
+  Serial0.flush();
+  pinMode(BOOT_STM32, OUTPUT);
+  pinMode(RESET_STM32, OUTPUT);
+  digitalWrite(BOOT_STM32,HIGH);
+  delay(1000);
+  digitalWrite(RESET_STM32,LOW);
+  delay(1000);
+  digitalWrite(RESET_STM32,HIGH);
+
+
+
+}
+
+void loop() {
+  int len = 0;
+  uint8_t auc_buffer[488];
+  while (Serial.available() && len < sizeof(auc_buffer)) {
+    auc_buffer[len++] = Serial.read();
+  }
+  if (len) {
+    Serial0.write(auc_buffer, len);
+  }
+
+  len = 0;
+  while (Serial0.available() && len < sizeof(auc_buffer)) {
+    auc_buffer[len++] = Serial0.read();
+  }
+  if (len) {
+    Serial.write(auc_buffer, len);
+  }
+}

examples/color_calibration/color_calibration.ino

@@ -36,7 +36,7 @@ void setup() {
 }
 
 void loop() {
-  int16_t color[3];
+  int color[3];
   float rgb[3];
   float hsv[3];
   alvik.get_color_raw(color[0], color[1], color[2]);

examples/drive/drive.ino

@@ -0,0 +1,25 @@
+/*
+    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);
+}

examples/line_follower/line_follower.ino

@@ -0,0 +1,83 @@
+/*
+    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;
+
+int line_sensors[3];
+float error = 0;
+float control = 0;
+float kp = 50.0;
+
+
+
+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);
+
+  while(!alvik.get_touch_ok()){
+    delay(50);
+  }
+}
+
+void loop() {
+  while (!alvik.get_touch_cancel()){
+
+    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);
+      }
+    }
+
+    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);
+  }
+}
+
+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;
+}

examples/remote_control/remote_control.ino

@@ -0,0 +1,122 @@
+/*
+    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/.
+
+*/
+
+// This example shows how to interface 2 Alvik robots via ESPnow.
+// At startup, you can select if an Alvik is a trasmitter by pressing the "check button" or a receiver by pressing "cancel button". Use arrows to move the robot.
+
+#include "Arduino_Alvik.h"
+#include <esp_now.h>
+#include <WiFi.h>
+
+Arduino_Alvik alvik;
+
+uint8_t broadcastAddress[] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
+uint8_t myData;
+esp_now_peer_info_t peerInfo;
+
+
+int alvik_mode = -1; // 0 is receiver, 1 is sender
+
+bool led_blink = false;
+
+
+void setup() {
+  Serial.begin(115200);
+  while((!Serial)&&(millis()>3000));
+
+  alvik.begin();
+
+  WiFi.mode(WIFI_STA);
+  if (esp_now_init() != ESP_OK) {
+    Serial.println("Error initializing ESP-NOW");
+    return;
+  }
+
+  while (alvik_mode == -1){
+    if (alvik.get_touch_cancel()){
+      alvik_mode = 0;
+    }
+    if (alvik.get_touch_ok()){
+      alvik_mode = 1;
+    }
+  }
+  if (alvik_mode == 0){
+    esp_now_register_recv_cb(OnDataRecv);
+  }
+  else{
+    memcpy(peerInfo.peer_addr, broadcastAddress, 6);
+    peerInfo.channel = 0;  
+    peerInfo.encrypt = false;
+
+    if (esp_now_add_peer(&peerInfo) != ESP_OK){
+      Serial.println("Failed to add peer");
+      return;
+    }
+  }
+}
+
+void loop() {
+  if (alvik_mode==0){
+    alvik.left_led.set_color(led_blink, !led_blink, 0);
+    alvik.right_led.set_color(!led_blink, led_blink, 0);
+    delay(500);
+  }
+  else{
+    if (alvik.get_touch_any()){
+      if (alvik.get_touch_up()){
+        myData = 'F';
+        esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
+      }
+      if (alvik.get_touch_down()){
+        myData = 'B';
+        esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
+      }
+      if (alvik.get_touch_left()){
+        myData = 'L';
+        esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
+      }
+      if (alvik.get_touch_right()){
+        myData = 'R';
+        esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
+      }
+      if (alvik.get_touch_center()){
+        myData = 'S';
+        esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
+      }
+    }
+    alvik.left_led.set_color(0, 0, led_blink);
+    alvik.right_led.set_color(0, 0, led_blink);
+    delay(100);
+  }
+  led_blink = !led_blink;
+}
+
+void OnDataRecv(const uint8_t * mac, const uint8_t *incomingData, int len){
+  Serial.print(incomingData[0]);
+  switch (incomingData[0]){
+    case 'F':
+      alvik.drive(7, 0);
+      break;
+    case 'B':
+      alvik.drive(-7, 0);
+      break;
+    case 'L':
+      alvik.drive(0, 45);
+      break;
+    case 'R':
+      alvik.drive(0, -45);
+      break;
+    case 'S':
+      alvik.brake();
+      break;
+  }
+  Serial.println();
+}

library.properties

@@ -1,5 +1,5 @@
 name=Arduino_Alvik
-version=0.2.0
+version=0.3.0
 author=Arduino, Giovanni di Dio Bruno, Lucio Rossi
 maintainer=Arduino <[email protected]>
 sentence=Library to code Arduino Alvik robot