Examples cleanup

examples/actuators/leds_setting.py

@@ -1,6 +1,6 @@
 from arduino_alvik import ArduinoAlvik
 from time import sleep_ms
-import sys
+
 
 alvik = ArduinoAlvik()
 alvik.begin()
@@ -34,4 +34,4 @@
     except KeyboardInterrupt as e:
         print('over')
         alvik.stop()
-        sys.exit()
+        break

examples/actuators/move_wheels.py

@@ -1,6 +1,6 @@
 from arduino_alvik import ArduinoAlvik
 from time import sleep_ms
-import sys
+
 
 alvik = ArduinoAlvik()
 alvik.begin()
@@ -33,4 +33,4 @@
     except KeyboardInterrupt as e:
         print('over')
         alvik.stop()
-        sys.exit()
+        break

examples/actuators/pose_example.py

@@ -1,82 +1,80 @@
 from arduino_alvik import ArduinoAlvik
 from time import sleep_ms
-import sys
+
 
 alvik = ArduinoAlvik()
 alvik.begin()
 
-while True:
-    try:
+try:
+
+    alvik.move(100.0, 'mm')
+    print("on target after move")
+
+    alvik.move(50.0, 'mm')
+    print("on target after move")
+
+    alvik.rotate(90.0, 'deg')
+    print("on target after rotation")
 
-        alvik.move(100.0, 'mm')
-        print("on target after move")
+    alvik.rotate(-45.00, 'deg')
+    print("on target after rotation")
 
-        alvik.move(50.0, 'mm')
-        print("on target after move")
+    x, y, theta = alvik.get_pose()
+    print(f'Current pose is x(cm)={x}, y(cm)={y}, theta(deg)={theta}')
 
-        alvik.rotate(90.0, 'deg')
-        print("on target after rotation")
+    alvik.reset_pose(0, 0, 0)
 
-        alvik.rotate(-45.00, 'deg')
-        print("on target after rotation")
+    x, y, theta = alvik.get_pose()
+    print(f'Updated pose is x(cm)={x}, y(cm)={y}, theta(deg)={theta}')
+    sleep_ms(500)
 
-        x, y, theta = alvik.get_pose()
-        print(f'Current pose is x(cm)={x}, y(cm)={y}, theta(deg)={theta}')
+    print("___________NON-BLOCKING__________________")
 
-        alvik.reset_pose(0, 0, 0)
+    alvik.move(50.0, 'mm', blocking=False)
 
-        x, y, theta = alvik.get_pose()
-        print(f'Updated pose is x(cm)={x}, y(cm)={y}, theta(deg)={theta}')
+    while not alvik.is_target_reached():
+        alvik.left_led.set_color(1, 0, 0)
+        sleep_ms(500)
+        alvik.left_led.set_color(0, 0, 0)
+        sleep_ms(500)
+    print("on target after move")
+
+    alvik.rotate(45.0, 'deg', blocking=False)
+    while not alvik.is_target_reached():
+        alvik.left_led.set_color(1, 0, 0)
+        sleep_ms(500)
+        alvik.left_led.set_color(0, 0, 0)
         sleep_ms(500)
+    print("on target after rotation")
 
-        print("___________NON-BLOCKING__________________")
-
-        alvik.move(50.0, 'mm', blocking=False)
-
-        while not alvik.is_target_reached():
-            alvik.left_led.set_color(1, 0, 0)
-            sleep_ms(500)
-            alvik.left_led.set_color(0, 0, 0)
-            sleep_ms(500)
-        print("on target after move")
-
-        alvik.rotate(45.0, 'deg', blocking=False)
-        while not alvik.is_target_reached():
-            alvik.left_led.set_color(1, 0, 0)
-            sleep_ms(500)
-            alvik.left_led.set_color(0, 0, 0)
-            sleep_ms(500)
-        print("on target after rotation")
-
-        alvik.move(100.0, 'mm', blocking=False)
-        while not alvik.is_target_reached():
-            alvik.left_led.set_color(1, 0, 0)
-            sleep_ms(500)
-            alvik.left_led.set_color(0, 0, 0)
-            sleep_ms(500)
-        print("on target after move")
-
-        alvik.rotate(-90.00, 'deg', blocking=False)
-        while not alvik.is_target_reached():
-            alvik.left_led.set_color(1, 0, 0)
-            sleep_ms(500)
-            alvik.left_led.set_color(0, 0, 0)
-            sleep_ms(500)
-        print("on target after rotation")
-
-        x, y, theta = alvik.get_pose()
-        print(f'Current pose is x(cm)={x}, y(cm)={y}, theta(deg)={theta}')
-
-        alvik.reset_pose(0, 0, 0)
-
-        x, y, theta = alvik.get_pose()
-        print(f'Updated pose is x={x}, y={y}, theta(deg)={theta}')
+    alvik.move(100.0, 'mm', blocking=False)
+    while not alvik.is_target_reached():
+        alvik.left_led.set_color(1, 0, 0)
         sleep_ms(500)
+        alvik.left_led.set_color(0, 0, 0)
+        sleep_ms(500)
+    print("on target after move")
+
+    alvik.rotate(-90.00, 'deg', blocking=False)
+    while not alvik.is_target_reached():
+        alvik.left_led.set_color(1, 0, 0)
+        sleep_ms(500)
+        alvik.left_led.set_color(0, 0, 0)
+        sleep_ms(500)
+    print("on target after rotation")
+
+    x, y, theta = alvik.get_pose()
+    print(f'Current pose is x(cm)={x}, y(cm)={y}, theta(deg)={theta}')
+
+    alvik.reset_pose(0, 0, 0)
+
+    x, y, theta = alvik.get_pose()
+    print(f'Updated pose is x={x}, y={y}, theta(deg)={theta}')
+    sleep_ms(500)
 
-        alvik.stop()
-        sys.exit()
+except KeyboardInterrupt as e:
+    print('Test interrupted')
 
-    except KeyboardInterrupt as e:
-        print('over')
-        alvik.stop()
-        sys.exit()
+finally:
+    alvik.stop()
+    print("END of pose example")

examples/actuators/set_servo.py

@@ -1,6 +1,6 @@
 from arduino_alvik import ArduinoAlvik
 from time import sleep_ms
-import sys
+
 
 alvik = ArduinoAlvik()
 alvik.begin()
@@ -19,4 +19,4 @@
     except KeyboardInterrupt as e:
         print('over')
         alvik.stop()
-        sys.exit()
+        break

examples/actuators/wheels_position.py

@@ -1,6 +1,6 @@
 from arduino_alvik import ArduinoAlvik
 from time import sleep, sleep_ms
-import sys
+
 
 alvik = ArduinoAlvik()
 alvik.begin()
@@ -62,4 +62,4 @@
     except KeyboardInterrupt as e:
         print('over')
         alvik.stop()
-        sys.exit()
+        break

examples/actuators/wheels_speed.py

@@ -1,6 +1,6 @@
 from arduino_alvik import ArduinoAlvik
 from time import sleep_ms
-import sys
+
 
 alvik = ArduinoAlvik()
 alvik.begin()
@@ -21,4 +21,4 @@
     except KeyboardInterrupt as e:
         print('over')
         alvik.stop()
-        sys.exit()
+        break

examples/arduino-runtime/blink.py

@@ -0,0 +1,28 @@
+from time import sleep_ms
+
+from arduino import start
+from arduino_alvik import ArduinoAlvik
+
+
+alvik = ArduinoAlvik()
+
+
+def setup():
+    alvik.begin()
+
+
+def loop():
+    print('blinking LEDs')
+    alvik.left_led.set_color(0, 0, 1)
+    alvik.right_led.set_color(0, 0, 1)
+    sleep_ms(500)
+    alvik.left_led.set_color(1, 0, 0)
+    alvik.right_led.set_color(1, 0, 0)
+    sleep_ms(500)
+
+
+def cleanup():
+    alvik.stop()
+
+
+start(setup=setup, loop=loop, cleanup=cleanup)

examples/arduino-runtime/line_follower.py

@@ -0,0 +1,64 @@
+from time import sleep_ms
+
+from arduino import start
+from arduino_alvik import ArduinoAlvik
+
+
+alvik = ArduinoAlvik()
+
+
+def calculate_center(left: int, center: int, right: int):
+    centroid = 0
+    sum_weight = left + center + right
+    sum_values = left + 2 * center + 3 * right
+    if sum_weight != 0:
+        centroid = sum_values / sum_weight
+        centroid = 2 - centroid
+    return centroid
+
+
+def run_line_follower(alvik):
+
+    kp = 50.0
+    line_sensors = alvik.get_line_sensors()
+    print(f' {line_sensors}')
+
+    error = calculate_center(*line_sensors)
+    control = error * kp
+
+    if control > 0.2:
+        alvik.left_led.set_color(1, 0, 0)
+        alvik.right_led.set_color(0, 0, 0)
+    elif control < -0.2:
+        alvik.left_led.set_color(1, 0, 0)
+        alvik.right_led.set_color(0, 0, 0)
+    else:
+        alvik.left_led.set_color(0, 1, 0)
+        alvik.right_led.set_color(0, 1, 0)
+
+    alvik.set_wheels_speed(30 - control, 30 + control)
+    sleep_ms(100)
+
+
+def setup():
+    alvik.begin()
+    alvik.left_led.set_color(0, 0, 1)
+    alvik.right_led.set_color(0, 0, 1)
+
+
+def loop():
+    while not alvik.get_touch_ok():
+        alvik.left_led.set_color(0, 0, 1)
+        alvik.right_led.set_color(0, 0, 1)
+        alvik.brake()
+        sleep_ms(100)
+
+    while not alvik.get_touch_cancel():
+        run_line_follower(alvik)
+
+
+def cleanup():
+    alvik.stop()
+
+
+start(setup=setup, loop=loop, cleanup=cleanup)

examples/arduino-runtime/read_tof.py

@@ -0,0 +1,26 @@
+from time import sleep_ms
+
+from arduino import start
+from arduino_alvik import ArduinoAlvik
+
+
+alvik = ArduinoAlvik()
+
+
+def setup():
+    alvik.begin()
+
+
+def loop():
+    L, CL, C, CR, R = alvik.get_distance()
+    T = alvik.get_distance_top()
+    B = alvik.get_distance_bottom()
+    print(f'T: {T} | B: {B} | L: {L} | CL: {CL} | C: {C} | CR: {CR} | R: {R}')
+    sleep_ms(100)
+
+
+def cleanup():
+    alvik.stop()
+
+
+start(setup=setup, loop=loop, cleanup=cleanup)

examples/communication/i2c_scan.py

@@ -1,5 +1,5 @@
 from time import sleep_ms
-import sys
+
 
 from arduino_alvik import ArduinoAlvik
 
@@ -22,4 +22,4 @@
         sleep_ms(100)
     except KeyboardInterrupt as e:
         alvik.stop()
-        sys.exit()
+        break

examples/communication/modulino.py

@@ -1,11 +1,12 @@
 from arduino_alvik import ArduinoAlvik
 from time import sleep_ms
-import sys
+
+
 try:
     from modulino import ModulinoPixels
 except ImportError as e:
-    print("ImportError: ModulinoPixels not installed")
-    sys.exit(-1)
+    print("\nImportError: ModulinoPixels not installed")
+    raise e
 
 alvik = ArduinoAlvik()
 alvik.begin()
@@ -32,4 +33,4 @@
 
     except KeyboardInterrupt as e:
         alvik.stop()
-        sys.exit()
+        break