Release notes 0.2.0

Note: This package requires firmware 0.3.0

Now all methods, set and get data in centimeters, you can change units by passing the unit parameters,

Available units are (first is default):

• distances: cm, mm, m, inch
• angles: deg, rad, %, rev
• linear velocities: cm/s, mm/s, m/s, inch/s, %
• angular velocities: deg/s, rad/s, %, rev/s, rpm (note: wheel speed default is in RPM)

Fixs:

• improved communication parser
• improved UART baud rate

New methods available:

• brake, stops motors
• get_color(<format>), return normalized color if format = 'rgb' or hsv values if format = 'hsv'
• get_color_label(<h>, <s>, <v>), return the string label of the detected color, such as 'red'
• color_calibration(<white/black>), pass 'white' or 'black' to calibrate upper or lower limit
• get_distance_top(<unit>), return distance above the robot in centimeters, use unit to change the unit
• get_distance_bottom(<unit>), return distance in the bottom part of robot in centimeters, use unit to change the unit
• set_behaviour(<behaviour>), set internal behaviours, at the moment 0 disable and 1 automatically turn off the illuminator when you lift the robot
• set_wheels_position(<left>, <right>, <unit = 'deg'>), set position of both wheels
• get_wheels_position(<left>, <right>, <unit = 'deg'>), get position of both wheels
• get_drive_speed(<linear_unit = 'cm/s'>, <angular_unit = 'deg/s'>), get drive speed

Introducing color calibration, how to

Generally default parameters could give you issues, so it is suggested to calibrate your sensor.
You need a white surface and a black surface.

Connect your robot to Labs for Micropython and type in REPL terminal:

>>> from arduino_alvik import ArduinoAlvik

>>> alvik = ArduinoAlvik()

>>> alvik.begin()

Now place your robot on the white surface and type:

>>> alvik.color_calibration('white')

Now place your robot on the black surface and type:

>>> alvik.color_calibration('black')

Press reset on Lab for Micropython.

You can now test using read_color_sensor.py in examples folder.

colors are tested on paper painted using acrilic marker pens, such as UNIPOSCA, or paper printed with an inkjet printer

This is the pre-release 0.1.0. It is a huge update despite the 0.0.7 pre-release.
Following you can find the major new API.

Note: this micropython package requires at least Arduino_AlvikCarrier version 0.2.0

Robot related commands:

• begin, initialize the robot

• rotate(<deg>), rotate the robot of deg, you can also set blocking to false and check accomplishment with is_target_reached()

• move(<mm>), drive straight the robot of mm, you can also set blocking to false and check accomplishment with is_target_reached()

• drive(<mm/s> , <deg/s>), set linear velocity and angular velocity of the robot

• (mm/s, deg/s) get_drive_speed(), get drive data

• (x, y, theta) = get_pose(), get the pose of the robot in the 2D environment

• reset_pose(<x>, <y>, <theta>), reset the pose of the robot, by default x ,y, theta are 0

• set_wheels_speed(<left rpm>, <right rpm>), replace old set_speeds()

• (<left rpm>, <right rpm>) = get_wheels_speed(), replace old get_speeds()

• (ax, ay, az, gx, gy, gz) = get_imu(), get data from IMU in g and deg/s

• (ax, ay, az) = get_accelerations(), get accelerometer data in g

• (gx, gy, gz) = get_gyros(), get angular velocity from gyroscope data in deg/s

• (roll, pitch, yaw) = get_orientation(), get orientation data from sensor fusioning

Wheel related commands:

• set_position(<deg>), set the absolute position of the wheel in degrees
• (deg) get_position(), get the position of the wheel in degrees
• reset(<initial position>), reset the absolute position of the wheel in degrees, intial position is 0 by default
• stop(), brake the wheel
• set_speed(<rpm>), set wheel speed in RPM
• (rpm) = get_speed(), get wheel speed in RPM

Other new commands:

• <led>.set_color(<R>, <G>, <B>), set color on led with boolean R, G, B values
• (R, G, B) = get_color_raw(), get color in raw format

This release is preliminary.

Check readme to flash firmware and install the library