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Merge pull request #1 from arduino-libraries/devel
0.3.0
2 parents 654489d + 3246c65 commit 0a65c78

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9 files changed

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‎examples/bridge_firmware_updater/bridge_firmware_updater‎

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/*
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This file is part of the Arduino_Alvik library.
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Copyright (c) 2024 Arduino SA
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This Source Code Form is subject to the terms of the Mozilla Public
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License, v. 2.0. If a copy of the MPL was not distributed with this
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file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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/*
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You can use this sketch to make your Arduino Nano ESP32 an USB-to-serial adapter.
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This allows to flash firmware into the Arduino Alvik Carrier via Arduino Nano ESP32.
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Please refer to Arduino_AlvikCarrier library available at https://github.com/arduino-libraries/Arduino_AlvikCarrier
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*/
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#include "Arduino_Alvik.h"
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unsigned long baud = 115200;
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int rts = -1;
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int dtr = -1;
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static void onLineChange(void* arg, esp_event_base_t event_base, int32_t event_id, void* event_data) {
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if (event_base == ARDUINO_USB_CDC_EVENTS) {
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arduino_usb_cdc_event_data_t * data = (arduino_usb_cdc_event_data_t*)event_data;
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switch (event_id) {
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case ARDUINO_USB_CDC_LINE_CODING_EVENT:
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auto baud = data->line_coding.bit_rate;
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Serial0.updateBaudRate(baud);
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while (Serial0.available()) {
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Serial0.read();
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}
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break;
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}
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}
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}
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void setup() {
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Serial.onEvent(onLineChange);
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Serial.enableReboot(false);
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Serial.begin(baud);
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Serial.setRxBufferSize(0);
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Serial.setRxBufferSize(2048);
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Serial0.setRxBufferSize(8192);
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Serial0.setTxBufferSize(8192);
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Serial0.begin(baud, SERIAL_8E1);
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Serial0.flush();
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pinMode(BOOT_STM32, OUTPUT);
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pinMode(RESET_STM32, OUTPUT);
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digitalWrite(BOOT_STM32,HIGH);
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delay(1000);
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digitalWrite(RESET_STM32,LOW);
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delay(1000);
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digitalWrite(RESET_STM32,HIGH);
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}
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void loop() {
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int len = 0;
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uint8_t auc_buffer[488];
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while (Serial.available() && len < sizeof(auc_buffer)) {
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auc_buffer[len++] = Serial.read();
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}
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if (len) {
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Serial0.write(auc_buffer, len);
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}
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len = 0;
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while (Serial0.available() && len < sizeof(auc_buffer)) {
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auc_buffer[len++] = Serial0.read();
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}
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if (len) {
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Serial.write(auc_buffer, len);
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}
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}

‎examples/color_calibration/color_calibration.ino‎

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}
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void loop() {
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int16_t color[3];
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int color[3];
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float rgb[3];
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float hsv[3];
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alvik.get_color_raw(color[0], color[1], color[2]);

‎examples/drive/drive.ino‎

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/*
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This file is part of the Arduino_Alvik library.
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Copyright (c) 2024 Arduino SA
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This Source Code Form is subject to the terms of the Mozilla Public
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License, v. 2.0. If a copy of the MPL was not distributed with this
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file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#include "Arduino_Alvik.h"
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Arduino_Alvik alvik;
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void setup() {
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alvik.begin();
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}
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void loop() {
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alvik.drive(10, 45);
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delay(10000);
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alvik.drive(10, -45);
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delay(10000);
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}

‎examples/line_follower/line_follower.ino‎

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/*
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This file is part of the Arduino_Alvik library.
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Copyright (c) 2024 Arduino SA
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This Source Code Form is subject to the terms of the Mozilla Public
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License, v. 2.0. If a copy of the MPL was not distributed with this
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file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#include "Arduino_Alvik.h"
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Arduino_Alvik alvik;
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int line_sensors[3];
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float error = 0;
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float control = 0;
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float kp = 50.0;
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void setup() {
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Serial.begin(115200);
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while((!Serial)&&(millis()>3000));
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alvik.begin();
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alvik.left_led.set_color(0,0,1);
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alvik.right_led.set_color(0,0,1);
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while(!alvik.get_touch_ok()){
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delay(50);
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}
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}
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void loop() {
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while (!alvik.get_touch_cancel()){
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alvik.get_line_sensors(line_sensors[0], line_sensors[1], line_sensors[2]);
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Serial.print(line_sensors[0]);
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Serial.print("\t");
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Serial.print(line_sensors[1]);
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Serial.print("\t");
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Serial.print(line_sensors[2]);
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Serial.print("\n");
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error = calculate_center(line_sensors[0], line_sensors[1], line_sensors[2]);
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control = error * kp;
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if (control > 0.2){
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alvik.left_led.set_color(1,0,0);
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alvik.right_led.set_color(0,0,0);
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}
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else{
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if (control < -0.2){
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alvik.left_led.set_color(0,0,0);
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alvik.right_led.set_color(1,0,0);
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}
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else{
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alvik.left_led.set_color(0,1,0);
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alvik.right_led.set_color(0,1,0);
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}
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}
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alvik.set_wheels_speed(30-control, 30+control);
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delay(100);
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}
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while (!alvik.get_touch_ok()){
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alvik.left_led.set_color(0,0,1);
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alvik.right_led.set_color(0,0,1);
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alvik.brake();
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delay(100);
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}
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}
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float calculate_center(const int left, const int center, const int right){
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float centroid = 0.0;
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float sum_weight = left + center + right;
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float sum_values = left + center * 2 + right * 3;
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if (sum_weight!=0.0){ // divide by zero protection
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centroid=sum_values/sum_weight;
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centroid=-centroid+2.0; // so it is right on robot axis Y
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}
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return centroid;
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}

‎examples/remote_control/remote_control.ino‎

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/*
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This file is part of the Arduino_Alvik library.
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Copyright (c) 2024 Arduino SA
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This Source Code Form is subject to the terms of the Mozilla Public
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License, v. 2.0. If a copy of the MPL was not distributed with this
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file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// This example shows how to interface 2 Alvik robots via ESPnow.
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// 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.
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#include "Arduino_Alvik.h"
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#include <esp_now.h>
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#include <WiFi.h>
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Arduino_Alvik alvik;
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uint8_t broadcastAddress[] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
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uint8_t myData;
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esp_now_peer_info_t peerInfo;
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int alvik_mode = -1; // 0 is receiver, 1 is sender
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bool led_blink = false;
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void setup() {
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Serial.begin(115200);
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while((!Serial)&&(millis()>3000));
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alvik.begin();
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WiFi.mode(WIFI_STA);
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if (esp_now_init() != ESP_OK) {
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Serial.println("Error initializing ESP-NOW");
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return;
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}
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while (alvik_mode == -1){
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if (alvik.get_touch_cancel()){
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alvik_mode = 0;
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}
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if (alvik.get_touch_ok()){
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alvik_mode = 1;
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}
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}
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if (alvik_mode == 0){
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esp_now_register_recv_cb(OnDataRecv);
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}
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else{
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memcpy(peerInfo.peer_addr, broadcastAddress, 6);
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peerInfo.channel = 0;
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peerInfo.encrypt = false;
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if (esp_now_add_peer(&peerInfo) != ESP_OK){
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Serial.println("Failed to add peer");
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return;
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}
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}
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}
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void loop() {
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if (alvik_mode==0){
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alvik.left_led.set_color(led_blink, !led_blink, 0);
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alvik.right_led.set_color(!led_blink, led_blink, 0);
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delay(500);
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}
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else{
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if (alvik.get_touch_any()){
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if (alvik.get_touch_up()){
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myData = 'F';
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esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
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}
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if (alvik.get_touch_down()){
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myData = 'B';
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esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
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}
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if (alvik.get_touch_left()){
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myData = 'L';
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esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
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}
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if (alvik.get_touch_right()){
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myData = 'R';
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esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
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}
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if (alvik.get_touch_center()){
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myData = 'S';
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esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
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}
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}
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alvik.left_led.set_color(0, 0, led_blink);
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alvik.right_led.set_color(0, 0, led_blink);
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delay(100);
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}
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led_blink = !led_blink;
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}
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void OnDataRecv(const uint8_t * mac, const uint8_t *incomingData, int len){
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Serial.print(incomingData[0]);
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switch (incomingData[0]){
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case 'F':
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alvik.drive(7, 0);
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break;
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case 'B':
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alvik.drive(-7, 0);
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break;
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case 'L':
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alvik.drive(0, 45);
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break;
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case 'R':
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alvik.drive(0, -45);
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break;
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case 'S':
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alvik.brake();
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break;
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}
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Serial.println();
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}

‎library.properties‎

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

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