Merge branch 'main' of https://github.com/AlanWang611/SET2023

electrical_code/drive/movement_2motors/movement_2motors.ino

@@ -11,6 +11,7 @@ int angle;
 int FBdirection;
 int dist;
 String inputString;
+char inputArr[8];
 
 
 
@@ -79,6 +80,8 @@ void turnRight(int delay_time) {
 void setup() {
   Serial.begin(115200);
   // Initialize all motor pins as outputs
+  pinMode(2, OUTPUT);
+
   pinMode(leftMotor1, OUTPUT);
   pinMode(leftMotor2, OUTPUT);
   pinMode(rightMotor1, OUTPUT);
@@ -88,36 +91,44 @@ void setup() {
 }
 
 void  loop() {
+  Serial.print("Hello");
   while (!Serial.available());
 
+  digitalWrite(2, HIGH);
+  delay(2000);
+  digitalWrite(2, LOW);
+
   // Receiving Data from Computer
   if (Serial.available() > 0) {
-    inputString = Serial.readStringUntil('\n');
+    Serial.readBytes(inputArr, 8);
   }
+      inputString = String(inputArr);
   // 1 character - direction (1 as left and 0 as right)
   // 3 characters - angle
   // 1 character - direction (1 as forward and 0 as backward)
   // 3 characters - distance
   LRdirection = inputString.substring(0, 1).toInt();
   angle = inputString.substring(1, 4).toInt();
   FBdirection = inputString.substring(4, 5).toInt();
-  String dist_str = inputString.substring(5, 8);
-  while (dist_str.length() < 3) {
-    dist_str = "0" + dist_str;
-  }
-  dist = dist_str.toInt();
+  dist = inputString.substring(5, 8).toInt();
+
+  Serial.print(dist);
 
   if(LRdirection == 1){
+    Serial.print("left");
     turnLeft(angle * 10);
   }
   else{
+    Serial.print("right");
     turnRight(angle * 10);
   }
   if(FBdirection == 1){
-      goForward(dist * 10);
+    Serial.print("forward");
+    goForward(dist * 10);
   }
   else {
-  goBackward(dist * 10);
+    Serial.print("backward");
+    goBackward(dist * 10);
   }
 }
 

electrical_code/wheels.py

@@ -6,6 +6,7 @@ class Wheels:
 
     def __init__(self, port_num):
         self.arduino = serial.Serial(port=port_num, baudrate=115200, timeout=0.1)
+        self.arduino.flush()
 
     def write_serial(self, x):
         self.arduino.write(bytes(x, 'utf-8'))
@@ -33,16 +34,18 @@ def turnLeft(self, angle):
     def goForward(self, dist):
         print('hello')
         command = "00001" + str(dist).zfill(3)
+        print("forward: " + command)
         self.write_serial(command)
         time.sleep(dist*(self.time_divisor)/1000)
 
 
     def goBackward(self, dist):
         command = "00000" + str(dist).zfill(3)
+        print("backward: " + command)
         self.write_serial(command)
         time.sleep(dist*(self.time_divisor)/1000)
 
 
-if __name__ == "__main__":
-    myFirstWheel = Wheels("your_port_number_here")
-    myFirstWheel.move(direction, angle_value, distance_value)
+# if __name__ == "__main__":
+#     myFirstWheel = Wheels("your_port_number_here")
+#     myFirstWheel.move(direction, angle_value, distance_value)

electrical_code/wheels_test.py

@@ -3,9 +3,11 @@
 # Instantiate the Wheels class with your port number
 myFirstWheel = Wheels("COM5")
 
+
 # Test movement commands
+# myFirstWheel.move(1,000,110)
 myFirstWheel.goForward(100)  # Go forward 100 units
-# myFirstWheel.goBackward("50")  # Go backward 50 units
+myFirstWheel.goBackward(111)  # Go backward 50 units
 # myFirstWheel.turnRight("90")  # Turn right by 90 degrees
 # myFirstWheel.turnLeft("45")  # Turn left by 45 degrees