saving Arni 0.1.0 firmware

bluetooth/esp32/arni/README.md

@@ -8,7 +8,7 @@ driven by an Odrive.
 ```
 upy put  bluetooth/esp32/arni/ble_advertising.py ble_advertising.py
 upy put bluetooth/esp32/arni/robot.py robot.py
-upy put bluetooth/esp32/ble_arni_odrive_controller.py main.py
+upy put bluetooth/esp32/arni/ble_arni_odrive_controller.py main.py
 ```
 
 Confirm with `upy ls`
@@ -16,7 +16,7 @@ Confirm with `upy ls`
 ## Usage
 
 With the ESP32 and Odrive powered on open the Dabble and connect. This
-does not support Joystick yet. This is a work in progress
+does not support Joystick yet. This is a work in progress.
 
 ### Buttons
 

bluetooth/esp32/arni/ble_arni_odrive_controller.py

@@ -99,12 +99,9 @@ class BLEUART:
     def _advertise(self, interval_us=500000):
         self._ble.gap_advertise(interval_us, adv_data=self._payload)
 
-
-
-
 def main():
     import time
-
+    # Pin 17 white wire to odrive gpio2. Grey pin 16 wire to odrive gpio1
     robot_uart = UART(2, baudrate=115200, tx=17, rx=16)
     arni = ArniRobot(robot_uart)
     robot_controller = RobotController(arni)
@@ -121,7 +118,7 @@ def main():
         # for count, v in enumerate(data):
         #     print("Index: {0} | Value: {1} | Binary: {2} | Hex: {3}".format(count,v,bin(v), hex(v)))
         if len(data) == 8:
-            print("Recieved {} data".format(data))
+            print("Received {} data".format(data))
             robot_controller.interpret((data[5],data[6]))
 
     # Will execute this function on every received packet

bluetooth/esp32/arni/robot.py

@@ -50,7 +50,7 @@ class RobotController:
         :return:
         """
         self._interpret_buttons(dabble_bytes[0])
-        self._interpret_arrows(dabble_bytes[1])
+        self._interpret_arrows(dabble_bytes[0], dabble_bytes[1])
 
     def _interpret_buttons(self, button_byte):
         if button_byte & (1 << DABBLE_START_BIT):
@@ -60,9 +60,21 @@ class RobotController:
                 self.robot.set_idle()
             else:
                 self.robot.set_active()
-
-    def _interpret_arrows(self, arrow_byte):
-        if arrow_byte & (1 << DABBLE_UP_BIT):
+        # Speed control
+        if button_byte & (1 << DABBLE_TRIANGLE_BIT):
+            self.robot._vel += 0.2
+        elif button_byte & (1 << DABBLE_CROSS_BIT):
+            self.robot._vel -= 0.2
+
+
+    def _interpret_arrows(self, button_byte, arrow_byte):
+        # Spin overrides arrow pad
+        if button_byte & (1 << DABBLE_CIRCLE_BIT):
+            self.robot.right_spin()
+        elif button_byte & (1 << DABBLE_SQUARE_BIT):
+            self.robot.left_spin()
+        # Arrow Pad assessment
+        elif arrow_byte & (1 << DABBLE_UP_BIT):
             self.robot.forward()
         elif arrow_byte & (1 << DABBLE_DOWN_BIT):
             self.robot.reverse()
@@ -119,11 +131,19 @@ class ArniRobot:
 
     def right(self):
         """Hard turn right."""
-        return self._uart.write('v 0 0 0\nv 1 -{0} 0\n'.format(self._vel))
+        return self._uart.write('v 0 {0} 0\nv 1 -{1} 0\n'.format(self._vel/8,self._vel))
+
+    def right_spin(self):
+        """Spins clockwise in place."""
+        return self._uart.write('v 0 -{0} 0\nv 1 -{0} 0\n'.format(self._vel, self._vel))
 
     def left(self):
         """Hard turn left."""
-        return self._uart.write('v 0 {0} 0\nv 1 0 0\n'.format(self._vel))
+        return self._uart.write('v 0 {0} 0\nv 1 -{1} 0\n'.format(self._vel,self._vel/8))
+
+    def left_spin(self):
+        """Spins counter-clockwise in place."""
+        return self._uart.write('v 0 {0} 0\nv 1 {0} 0\n'.format(self._vel, self._vel))
 
     def right_forward(self):
         """Right turn while moving forward."""