Merge pull request 'Update utils/BatteryDiagnostics.py' (#3) from dev into main

Reviewed-on: Arcmyx/pybricks-utils#3

utils/BatteryDiagnostics.py

@@ -4,30 +4,48 @@ from pybricks.tools import run_task, multitask
 from pybricks.tools import wait, StopWatch
 from pybricks.robotics import DriveBase
 from pybricks.hubs import PrimeHub
-
+import umath
 # Initialize hub and devices
 hub = PrimeHub()
-left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+class BatteryDiagnostics:
-right_motor = Motor(Port.B,Direction.CLOCKWISE) # Specify default direction
+    def __init__(self):
-left_arm = Motor(Port.C, Direction.CLOCKWISE) # Specify default direction
+        self.voltage = 0
-right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration
+        self.current = 0
-lazer_ranger = UltrasonicSensor(Port.E)
+    def printVoltage(self):
-color_sensor = ColorSensor(Port.F)
+        self.voltage = hub.battery.voltage()
+        if self.voltage > 7800:
+            print(f"Battery voltage is sufficient: {self.voltage}")
+        elif self.voltage < 7800 :
+            print(f"Charging needed: {self.voltage}")
+    def printCurrent(self):
+        self.current = hub.battery.current()
+        print("Battery current:", self.current)
+    def printAll(self):
+        timeelapsed = 0
+        voltageList = []
+        currentList = []
+        while True:
+            print("\n\n\n\n\n")
+            self.printVoltage()
+            voltageList.append(self.voltage)
+            self.printCurrent()
+            currentList.append(self.current)
+            wait(50)
+            timeelapsed += 50
+            
+            if(timeelapsed >= 3000):
+                break
+        print("Voltage deviation:", self.stdev(voltageList))
+        print("Current deviation:", self.stdev(currentList))
+    def stdev(self, vals):
+        data = vals
 
-# DriveBase configuration
+        # Calculate the mean
-WHEEL_DIAMETER = 68.8  # mm (adjust for your wheels)
+        mean = sum(data) / len(data)
-AXLE_TRACK = 180  # mm (distance between wheels)
-drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
-drive_base.settings(600, 500, 300, 200)
-drive_base.use_gyro(True)
 
-WALL_DISTANCE = 200  # mm
+        # Calculate the variance (sum of squared differences from the mean, divided by n-1 for sample standard deviation)
+        variance = sum([(x - mean) ** 2 for x in data]) / (len(data) - 1)
 
-if hub.battery.voltage() > 7800:
+        # Calculate the standard deviation (square root of the variance)
-    print(f"Battery voltage is sufficient: {hub.battery.voltage()}")
+        std_dev_manual = umath.sqrt(variance)
-elif hub.battery.voltage < 7800 :
+        return (std_dev_manual)
-    print(f"Charging needed: {hub.battery.voltage()}")
-
-print(hub.battery.current())
-print(hub.imu.heading())
-print(hub.system.info())