Alvik Fight Club

1import network
2import espnow
3import struct
4import random
5import sys
6import machine
7
8from arduino_alvik import ArduinoAlvik
9from time import sleep_ms, ticks_add, ticks_diff, ticks_ms
10
11try:
12    from modulino import ModulinoPixels, ModulinoColor
13except ImportError as e:
14    print("ImportError: ModulinoPixels not installed")
15    sys.exit(-1)
16
17LINEAR_VELOCITY = 10  # (max 13cm/s)
18ANGULAR_VELOCITY = 75  # (max 320.8988764044944)
19FREEZE_FOR_SECONDS = 5
20REVERT_CONTROLLER_FOR_SECONDS = 10
21
22
23# A WLAN interface must be active to send()/recv()
24sta = network.WLAN(network.STA_IF)
25sta.active(True)
26e = espnow.ESPNow()
27e.active(True)
28
29a = ArduinoAlvik()
30a.begin()
31
32pixels = ModulinoPixels(a.i2c)
33
34
35STOP = 0
36GO_FORWARD = 1
37GO_BACKWARD = 2
38TURN_LEFT = 3
39TURN_RIGHT = 4
40LIFT = 5
41
42
43isPlayingReverted = False   # if true the controller action are reverted
44lifState = 0                # 0 = down, 1 = up
45
46lin = 0
47ang = 0
48
49def receiveAndExecuteFromEspNow():
50    global lifState
51    global lin
52    global ang
53    _, msg = e.recv(
54        timeout_ms=0
55    )  # TODO: See ESPNow.irecv() for a memory-friendly alternative.
56    if msg is None:
57        return
58    if len(msg) < 1:  # discard garbage
59        return
60    unpacked_message = struct.unpack("B", msg)
61    msg_type = unpacked_message[0]
62
63    if int(msg_type) == STOP:
64        lin, ang = 0, 0
65        a.drive(lin, ang)
66    elif int(msg_type) == GO_FORWARD:
67        lin = LINEAR_VELOCITY if isPlayingReverted else -LINEAR_VELOCITY
68        ang = 0
69        a.drive(lin, ang)
70    elif int(msg_type) == GO_BACKWARD:
71        lin = -LINEAR_VELOCITY if isPlayingReverted else LINEAR_VELOCITY
72        ang = 0
73        a.drive(lin, ang)
74    elif int(msg_type) == TURN_LEFT:
75        ang = -ANGULAR_VELOCITY if isPlayingReverted else ANGULAR_VELOCITY
76        a.drive(lin, ang)
77    elif int(msg_type) == TURN_RIGHT:
78        ang = ANGULAR_VELOCITY if isPlayingReverted else -ANGULAR_VELOCITY
79        a.drive(lin, ang)
80    elif int(msg_type) == LIFT:
81        if lifState == 0:
82            liftUp()
83            lifState = 1
84        else:
85            liftDown()
86            lifState = 0
87    else:
88        print("unknown command type ", msg_type)
89
90
91def liftUp():
92    a.set_servo_positions(0, 180)
93    sleep_ms(25)
94    a.set_servo_positions(5, 175)
95    sleep_ms(25)
96    a.set_servo_positions(10, 170)
97    sleep_ms(25)
98    a.set_servo_positions(15, 165)
99    sleep_ms(25)
100    a.set_servo_positions(20, 160)
101    sleep_ms(25)
102
103
104def liftDown():
105    a.set_servo_positions(15, 165)
106    sleep_ms(25)
107    a.set_servo_positions(10, 170)
108    sleep_ms(25)
109    a.set_servo_positions(15, 175)
110    sleep_ms(25)
111    a.set_servo_positions(0, 180)
112
113
114def showReadyToPlayLeds():
115    if not pixels.connected:
116        a.left_led.set_color(red=False, green=True, blue=False)
117        a.right_led.set_color(red=False, green=True, blue=False)
118        return
119    pixels.set_all_color(ModulinoColor.GREEN, 15)
120    pixels.show()
121
122
123def showEndAnimation():
124    if not pixels.connected:
125        a.left_led.set_color(red=True, green=False, blue=False)
126        a.right_led.set_color(red=True, green=False, blue=False)
127        sleep_ms(100)
128        a.left_led.set_color(red=False, green=False, blue=False)
129        a.right_led.set_color(red=False, green=False, blue=False)
130        sleep_ms(100)
131        return
132
133    for i in range(0, 8):
134        pixels.clear_all()
135        pixels.set_rgb(i, 255, 0, 0, 15)
136        pixels.show()
137        sleep_ms(50)
138
139    for i in range(7, -1, -1):
140        pixels.clear_all()
141        pixels.set_rgb(i, 255, 0, 0, 15)
142        pixels.show()
143        sleep_ms(50)
144
145
146def showRevertedAnimation(mapped):
147    if not pixels.connected:
148        a.left_led.set_color(red=True, green=False, blue=True)
149        a.right_led.set_color(red=True, green=False, blue=True)
150        sleep_ms(100)
151        a.left_led.set_color(red=False, green=False, blue=False)
152        a.right_led.set_color(red=False, green=False, blue=False)
153        sleep_ms(100)
154        return
155    pixels.clear_all()
156    pixels.set_range_color(0, mapped, ModulinoColor.VIOLET)
157    pixels.show()
158
159
160def showFreezeAnimation():
161    for x in range(0, FREEZE_FOR_SECONDS):
162        sleep_ms(500)
163        if not pixels.connected:
164          a.left_led.set_color(red=False, green=False, blue=True)
165          a.right_led.set_color(red=False, green=False, blue=True)
166        else:
167          pixels.set_all_color(ModulinoColor.BLUE, 15)
168          pixels.show()
169        sleep_ms(500)
170
171def showSlipAnimation():
172    if not pixels.connected:
173        print("pixels not connect, slip not")
174        return
175    pixels.set_all_color(ModulinoColor.YELLOW, 15)
176    pixels.show()
177
178
179def map_value(value, from_low, from_high, to_low, to_high):
180    return int(
181        (value - from_low) * (to_high - to_low) / (from_high - from_low) + to_low
182    )
183
184
185def countdown_color(color, ledoff_every_tick=2):
186    for i in range(7, 0, -ledoff_every_tick):
187        if not pixels.connected:
188          a.left_led.set_color(red=True, green=True, blue=True)
189          a.right_led.set_color(red=True, green=True, blue=True)
190        else:
191          pixels.set_range_color(0, i, color)
192          pixels.show()
193        sleep_ms(500)
194        if not pixels.connected:
195          a.left_led.set_color(red=False, green=False, blue=False)
196          a.right_led.set_color(red=False, green=False, blue=False)
197        else:
198          pixels.clear_all()
199          pixels.show()
200        sleep_ms(500)
201
202
203def calibrate_color():
204    print("Reading white color")
205    for i in range(7, 0, -2):
206      if not pixels.connected:
207        a.left_led.set_color(red=True, green=True, blue=True)
208        a.right_led.set_color(red=True, green=True, blue=True)
209      else:
210        pixels.set_range_color(0, i, ModulinoColor.WHITE)
211        pixels.show()
212      sleep_ms(500)
213      if not pixels.connected:
214        a.left_led.set_color(red=False, green=False, blue=False)
215        a.right_led.set_color(red=False, green=False, blue=False)
216      else:
217        pixels.clear_all()
218        pixels.show()
219      sleep_ms(500)
220
221    a.color_calibration("white")
222
223    print("Reading black color")
224    for i in range(7, 0, -2):
225        if not pixels.connected:
226          a.left_led.set_color(red=False, green=False, blue=True)
227          a.right_led.set_color(red=False, green=False, blue=True)
228        else:
229          pixels.set_range_color(0, i, ModulinoColor.BLUE)
230          pixels.show()
231        sleep_ms(500)
232        if not pixels.connected:
233          a.left_led.set_color(red=False, green=False, blue=False)
234          a.right_led.set_color(red=False, green=False, blue=False)
235        else:
236          pixels.clear_all()
237          pixels.show()
238        sleep_ms(500)
239    a.color_calibration("black")
240
241    if pixels.connected:
242      pixels.set_all_color(ModulinoColor.GREEN, 15)
243      pixels.show()
244    else:
245      a.left_led.set_color(red=False, green=True, blue=False)
246      a.right_led.set_color(red=False, green=True, blue=False)
247    sleep_ms(2000)
248
249    # hard-reset the board to refresh the calibration (read again the color from the file)
250    machine.reset()
251
252
253STATE_SETUP = -1
254STATE_INIT = 0
255STATE_PLAY = 1
256
257state = STATE_INIT
258
259deadline = 0
260while True:
261    try:
262        if state == STATE_SETUP:
263            calibrate_color()
264
265        if state == STATE_INIT:
266            a.drive(0, 0)
267            showEndAnimation()
268            if a.get_touch_ok():
269                state = STATE_SETUP
270            if a.get_color_label() is not "BLACK":
271                showReadyToPlayLeds()
272                state = STATE_PLAY
273
274        elif state == STATE_PLAY:
275            receiveAndExecuteFromEspNow()
276
277            if a.get_touch_ok():
278                state = STATE_SETUP
279
280            color = a.get_color_label()
281            if color == "BLACK":
282                state = STATE_INIT
283            elif color == "YELLOW":
284                showSlipAnimation()
285                deg = random.choice(
286                    [30.0, 45.0, 90.0, 130.0, 150.0, 180.0, 275.0, 360.0]
287                )
288                a.rotate(deg, "deg")
289                showReadyToPlayLeds()
290            elif color == "BLUE" or color == "LIGHT BLUE":
291                a.drive(0, 0)
292                showFreezeAnimation()
293                showReadyToPlayLeds()
294                while a.get_color_label() == "BLUE" or a.get_color_label() == "LIGHT BLUE":
295                    receiveAndExecuteFromEspNow()
296            elif color == "GREEN" or color == "LIGHT GREEN":
297                if not isPlayingReverted:
298                    deadline = ticks_add(
299                        ticks_ms(), REVERT_CONTROLLER_FOR_SECONDS * 1000
300                    )
301                    isPlayingReverted = True
302
303            if isPlayingReverted:
304                elapsed = ticks_diff(deadline, ticks_ms())
305                mapped = map_value(
306                    elapsed, 0, REVERT_CONTROLLER_FOR_SECONDS * 1000, 0, 7
307                )
308                showRevertedAnimation(mapped)
309                if elapsed < 0:
310                    showReadyToPlayLeds()
311                    isPlayingReverted = False
312    except AssertionError:
313        print("AssertionError")
314        # If calibration is not done correctly, the _limit() function can raise an AssertError
315        # See https://github.com/arduino/arduino-alvik-mpy/blob/80e66561a2ae06c69adddb3adc21ca88f91a57dd/arduino_alvik/arduino_alvik.py#L724
316        state = STATE_SETUP
317        continue
318    sleep_ms(50)

1import network
2
3# Initialize the WLAN interface
4wlan = network.WLAN(network.STA_IF)
5
6# Get and print the MAC address
7mac = wlan.config('mac')
8print("MAC Address:", ':'.join(['%02x' % b for b in mac]))

1import network
2import espnow
3import struct
4import sys
5from time import sleep
6
7from modulino import ModulinoKnob, ModulinoButtons
8
9
10ALVIK_MAC = "74:4d:bd:a2:08:74"
11
12sta = network.WLAN(network.STA_IF)  # Or network.AP_IF
13sta.active(True)
14e = espnow.ESPNow()
15e.active(True)
16
17
18def mac_str_to_bytes(mac_str):
19    mac_str = mac_str.replace(":", "")
20    return bytes.fromhex(mac_str)
21
22
23_mac_peer = mac_str_to_bytes(ALVIK_MAC)
24
25try:
26    e.add_peer(_mac_peer)
27except OSError as exp:
28    print(f"Skip to connect to network: {exp}")
29
30buttons = ModulinoButtons()
31if not buttons.connected:
32    print("🤷 No button modulino found")
33    sys.exit()
34
35knob = ModulinoKnob()
36if not knob.connected:
37    print("🤷 No knob modulino found")
38    sys.exit()
39knob.range = (-15, 15)  # (Optional) Set a value range
40
41STOP = 0
42GO_FORWARD = 1
43GO_BACKWARD = 2
44TURN_LEFT = 3
45TURN_RIGHT = 4
46LIFT = 5
47
48
49def stop():
50    e.send(_mac_peer, struct.pack("B", STOP), True)
51
52
53def go_forward():
54    e.send(_mac_peer, struct.pack("B", GO_FORWARD), True)
55
56
57def go_backward():
58    e.send(_mac_peer, struct.pack("B", GO_BACKWARD), True)
59
60
61def turn_left():
62    e.send(_mac_peer, struct.pack("B", TURN_LEFT), True)
63
64
65def turn_right():
66    e.send(_mac_peer, struct.pack("B", TURN_RIGHT), True)
67
68
69def lift():
70    e.send(_mac_peer, struct.pack("B", LIFT), True)
71
72
73buttons.on_button_a_press = lambda: go_forward()
74buttons.on_button_b_press = lambda: stop()
75buttons.on_button_c_press = lambda: go_backward()
76
77knob.on_press = lambda: lift()
78knob.on_rotate_clockwise = lambda _, __: turn_right()
79knob.on_rotate_counter_clockwise = lambda _, __: turn_left()
80
81while True:
82    knob.update()
83    buttons.update()
84
85    sleep(0.1)