update

Author: Sylwester Dawida

python/.idea/workspace.xml

@@ -7,7 +7,7 @@
 
 SoftwareSerial arlo(4, 5); // RX | TX
 #define LOCKLED 12
-#define halfTurn 500
+#define halfTurn 44
 
 //napięcia na pinach 3.3V
 //command frame dates and meaining
@@ -75,17 +75,17 @@ char formatBuff[30];
 
 //changing steps with settings
 const int turnOffest = halfTurn / (2 * 5); //18 deg
-const int speedOffest = 127 / 8; //max 127
-const int stepOffest = 80;
+const int speedOffest = 127 / 10; //max 127
+const int stepOffest = halfTurn/4;
 
 const int minSpeed = 10;
 const int maxSpeed = 120;
-const int maxStep = 800;
-const int minStep = 50;
+const int maxStep = 255;
+const int minStep = 10;
 const int maxTurn = halfTurn; //180 deg
 const int minTurn = halfTurn / 18; //10 deg
 //default
-int step = halfTurn;
+int step = halfTurn/2;
 int speed = 50;
 int turn = halfTurn / 4;
 
@@ -217,19 +217,19 @@ void setExecutionParameters() {
     if (command == forward) {
       leftEnd = step;
       rightEnd = step;
-      drive_speed(speed, speed, step);
+      drive_speed(-speed, -speed, step);
     } else if (command == backward) {
       leftEnd = step;
       rightEnd = step;
-      drive_speed(-speed, -speed, step);
+      drive_speed(speed, speed, step);
     } else if (command == turnLeft) {
       leftEnd = turn;
       rightEnd = turn;
-      drive_speed(-speed, speed, turn);
+      drive_speed(speed, -speed, turn);
     } else if (command == turnRight) {
       leftEnd = turn;
       rightEnd = turn;
-      drive_speed(speed, -speed, turn);
+      drive_speed(-speed, speed, turn);
     } else if (command == turnAround) {
       leftEnd = halfTurn;
       rightEnd = halfTurn;
@@ -292,7 +292,7 @@ char cleft = 127 + left;
 arlo.write(cleft);
 char cright = 127 + right;
 arlo.write(cright);
-char cend = 200; //endD;
+char cend = endD;
 arlo.write(cend);
 }
 

python/C_code/arduinoTestCode/arduinoTestCode.ino

@@ -26,6 +26,7 @@ void getData() {
   char c = 1;
   while(1){
     //dprint(xbee, "begin\n"); 
+    //freqout(4, 500, 2000);  
     while(c != 184)
       c = fdserial_rxChar(xbee);
     myWait();
@@ -46,7 +47,7 @@ void getData() {
     //dprint(xbee, "You typed: %d %d %d\n", speedR, speedL, end);
     myWait();
     c = fdserial_rxChar(xbee);
-    end = 2 * (int)c;
+    end = 4 * (int)c;
     if(!end){
      emergency = 1;
      continue; 
@@ -60,16 +61,18 @@ void getData() {
         }                   
     }      
     commandEnded = 0; 
+    //freqout(4, 500, 3000);  
     dprint(xbee, "r");        
+    //freqout(4, 500, 3000);  
   }  
 }
 
 int main()
 {
   int ticksL = 0;
   int ticksR = 0; 
-  freqout(2, 2000, 3000);   
-  print("starting\n");
+  freqout(4, 500, 2000);   
+  //print("starting\n");
   cog_run(getData, 128);  
 
 
@@ -78,20 +81,21 @@ int main()
 
   while(1)
   {
-    print("before\n");
+    //print("before\n");
     while(!ready)
       ;
-      
-    print("before2\n");
+    freqout(4, 500, 3000);
+    //print("before2\n");
     drive_clearTicks();
     drive_speed(speedL, speedR);
     ticksR = 0;
-    print("before3\n");                        // 20/127 of full power to motors
+    //print("before3\n");                        // 20/127 of full power to motors
     while(abs(ticksR) < end && !emergency)
       drive_getTicks(&ticksL, &ticksR);
     drive_speed(0,0);
     emergency = 0;
     ready = 0;
-    print("before4\n");
+    freqout(4, 500, 3000);
+    //print("before4\n");
   }  
 }

python/C_code/arlo2.0.binary

@@ -195,11 +195,13 @@ class SerialComunicator(object):
 
     def __init__(self, fnct):
         self.connected = False
-        self.port = 'COM7'  ##port com
+        self.nmb = 9
+        self.port = 'COM{}'.format(self.nmb)  ##port com
         self.secourityCode = b'QV9JKMNASKJNWKJSNKWJ'
         self.serial_port = serial.Serial()
         self.baud = 9600
         self.data = b''
+        self.gotData = b''
         self.event = threading.Event()
         self.onDataFunction = fnct
         self.disc = False
@@ -222,10 +224,19 @@ def runRx(self):
             data = self.serial_port.read(9999999999)
             if len(data) > 0:
                 print("raw Data: {}".format(data))
+                if self.gotData:
+                    self.gotData += data
+                    if len(self.gotData) == 5:
+                        self.onDataFunction(self.gotData)
+                        self.gotData = b''
                 if data[0] == 3:
-                    #print("command: {}".format(data[1:]))
-                    self.onDataFunction(data[1:])
-
+                    data = data[1:]
+                    if len(data) != 5:
+                        self.gotData = data
+                    else:
+                        #print("command: {}".format(data[1:]))
+                        self.onDataFunction(data)
+                        self.gotData = b''
 
     async def run(self, loop):
         self.print("Running communicator interface")