Merge pull request 'dev' (#11) from dev into main

Reviewed-on: Arcmyx/pynamics-pybricks-utils#11

README.md

@@ -1,10 +1,17 @@
-# Team 65266 Lego Dynamics - Pybricks Utils
+# Team 65266 Lego Dynamics - PYNAMICS - Pybricks Utilities
 
 A collection of Pybricks utilities to assist in your FLL robot programming with Python. Created by FLL team 65266, Lego Dynamics.
 
+<img src="https://codes.fll-65266.org/Arcmyx/pynamics-pybricks-utils/raw/branch/main/pynamics-screenshot.png" alt="Pynamics screenshot" width="670">
+
+How to use this:
+
+- Download the repository by clicking on the "Code" tab, clicking the "< > Code" button, then downloading as a ZIP. Additionally, you can also use ```git clone https://codes.fll-65266.org/Arcmyx/pybricks-utils.git```. Unzip the archive and open code.pybricks.com. Then choose which folder you'd like to use, and open each file in pybricks by using the import button. For example, to use the diagnostics tool, simply open each program in the ```diagnostics``` folder into Pybricks. Then, follow the instructions for each utility.
+
 Included utilities:
-- Diagnostics - a program that prints out useful information like battery life, etc.
-- Color Sensor Tests - a program that identifies what color the sensor is detecting. If you'd like, you can use our color ranges in your own programs.
+
+- Diagnostics - a program that allows you to diagnose issues and test parts of your robot, such as battery, motor, and color sensor. Open each program in the ```diagnostics``` folder in Pybricks, connect your robot, switch to the ```FullDiagnostics.py``` file and press run.
+- Color Sensor Tests (UPCOMING) - a program that identifies what color the sensor is detecting. If you'd like, you can use our color ranges in your own programs.
 
 This code is licensed under the Creative Commons Attribution 4.0 International License (CC BY 4.0). 
 
@@ -15,4 +22,4 @@ Without the confusing legal speak, this means that you are free to:
 Under the following condition:
 - Attribution (BY) — You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use. Essentially, give us credit, link this repository, and don't take the credit for our work, because that's just sad.
 
-For the full legal details, please review the CC BY 4.0 Legal Code.
+For the full legal details, please review the CC BY 4.0 Legal Code (read the [LICENSE](LICENSE) file here).

diagnostics/BatteryDiagnostics.py

@@ -35,6 +35,7 @@ class BatteryDiagnostics:
             
             if(timeelapsed >= 3000):
                 break
+        print("--------------FINAL RESULTS OF BATTERY DIAGNOSTICS---------------")
         print("Voltage deviation:", self.stdev(voltageList))
         print("Current deviation:", self.stdev(currentList))
     def stdev(self, vals):

diagnostics/FullDiagnostics.py

@@ -8,6 +8,9 @@ from BatteryDiagnostics import BatteryDiagnostics
 from MotorDiagnostics import MotorDiagnostics
 battery = BatteryDiagnostics()
 motor = MotorDiagnostics()
+clearConfirmation = input("Do you want to clear the console before proceeding? Y/N (default: yes): ")
+if(clearConfirmation == "Y" or clearConfirmation == "y" or clearConfirmation == "yes" or clearConfirmation == ""):
+    print("Clearing console... \n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n")
 print("""
  ███████████  █████ █████ ██████   █████   █████████   ██████   ██████ █████   █████████   █████████ 
 ▒▒███▒▒▒▒▒███▒▒███ ▒▒███ ▒▒██████ ▒▒███   ███▒▒▒▒▒███ ▒▒██████ ██████ ▒▒███   ███▒▒▒▒▒███ ███▒▒▒▒▒███
@@ -18,19 +21,12 @@ print("""
  █████           █████    █████  ▒▒█████ █████   █████ █████     █████ █████ ▒▒█████████ ▒▒█████████ 
 ▒▒▒▒▒           ▒▒▒▒▒    ▒▒▒▒▒    ▒▒▒▒▒ ▒▒▒▒▒   ▒▒▒▒▒ ▒▒▒▒▒     ▒▒▒▒▒ ▒▒▒▒▒   ▒▒▒▒▒▒▒▒▒   ▒▒▒▒▒▒▒▒▒  
                                                                                                      
- The free & open-source diagnostics tool for LEGO® Education SPIKE™ Prime
- Designed for FIRST LEGO League teams
- Developed by Team 65266 — Lego Dynamics
-                                      
+The free and open source diagnostics tool for the LEGO® Education SPIKE™ Prime robots, designed for FIRST Lego League.
+Developed by Team 65266, Lego Dynamics.                                                
           """
           )
-clearConfirmation = input("Do you want to clear the console before proceeding? Y/N (default: yes): ")
-yeses = ["Y", "YES", "Yes", "yes", ""]
-if(clearConfirmation in yeses):
-    print("Clearing console... \n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n")
 while True:
     
-
     print("\nWhat diagnostic do you want to perform?")
     print("Enter 'b' for Battery diagnostics")
     print("Enter 'm' for Motor diagnostics")

diagnostics/MotorDiagnostics.py

@@ -9,6 +9,15 @@ hub = PrimeHub()
 class MotorDiagnostics:
   def __init__(self):
       self.testmotor = None
+      self.port_map = {
+        "A": Port.A,
+        "B": Port.B,
+        "C": Port.C,
+        "D": Port.D,
+        "E": Port.E,
+        "F": Port.F,
+      }
+
   def stdev(self, vals):
     data = vals
     if len(data) < 2:
@@ -31,11 +40,18 @@ class MotorDiagnostics:
 
     # Stability: penalize deviation relative to desired
     stability = max(0, 100 - (stdev_speed / desired) * 100)
-    max_speed, max_accel, max_torque = self.testmotor.control.limits()
-    # Load: penalize load percentage directly
-    load_pct = (avg_load / max_torque) * 100 if max_torque else 0
+
+    # Normalize load: map 10 to 20 as baseline (around 0%), 200 as max (around 100%)
+    baseline = 15      # midpoint of idle range
+    max_observed = 200 # heavy load/stall
+    normalized_load = max(0, avg_load - baseline)
+    load_pct = min(100, (normalized_load / (max_observed - baseline)) * 100)
+
     load_score = max(0, 100 - load_pct)
 
+    # Final score: average of the three
+    return (accuracy + stability + load_score) / 3
+
 
     # Final score: average of the three
     return (accuracy + stability + load_score) / 3
@@ -49,12 +65,24 @@ class MotorDiagnostics:
         "Enter the port for the motor you would like to test (A, B, C, D, E, or F): "
       ).strip().upper()
 
-      if motorinput in valid_ports:
-        self.testmotor = Motor(Port[motorinput])
+      try:
+        # Only create a new Motor if we don't already have one
+        if self.testmotor is None:
+            self.testmotor = Motor(self.port_map[motorinput])
             print(f"Motor initialized on port {motorinput}.")
-        break  # exit the loop once a valid port is entered
         else:
-        print("Invalid port. Please enter A, B, C, D, or E, or F.")
+            print(f"Reusing existing motor on port {motorinput}.")
+        break
+
+      except OSError as e:
+        if e.errno == 16:  # EBUSY
+          print(f"Port {motorinput} is already in use. Reusing existing motor.")
+          # Do not overwrite self.testmotor here — keep the existing reference
+          break
+        else:
+          print(f"Error initializing motor on port {motorinput}: {e}")
+          print("Make sure a motor is actually connected to this port.")
+          self.testmotor = None
 
   def testSpeed(self, speed):
     self.testmotor.reset_angle(0)
@@ -62,40 +90,53 @@ class MotorDiagnostics:
     motorspeeds = []
     motorloads = []
     target_angle = speed * 3
-
+    print("\n", speed, "DEGREES PER SECOND TEST")
     self.testmotor.run_angle(speed, target_angle, Stop.HOLD, False)
-    while abs(self.testmotor.speed()) > 5:
+    stopwatchmotor = StopWatch()
+    while stopwatchmotor.time() < 3000:
         wait(20)
         motorspeeds.append(self.testmotor.speed())
         motorloads.append(self.testmotor.load())
     
     max_speed, max_accel, max_torque = self.testmotor.control.limits()
-    print("Maximum motor speed (deg/s):", max_speed)
 
-    print("Desired motor speed (degrees per second): ", str(speed))
+
+    print("Desired motor speed: ", str(speed))
     if motorspeeds:
       avg = sum(motorspeeds) / len(motorspeeds)
-      print("Average motor speed (degrees per second):", avg)
-      print("Motor speed deviation (this measures how much your motor deviates from the average speed):", str(self.stdev(motorspeeds)))
+      print("Average motor speed:", avg)
+      print("Motor speed deviation:", str(self.stdev(motorspeeds)))
     else:
       print("No speed samples collected.")
       avg = 0
     if motorloads:
       avgload = sum(motorloads) / len(motorloads)
-      print("Average motor load (mNm):", avgload)
-      print("Motor load deviation (this measures how much your motor load deviates from the average load):", str(self.stdev(motorloads)))
+
+      print("Average motor load:", avgload)
+      print("Motor load deviation:", str(self.stdev(motorloads)))
     else:
       print("No load samples collected.")
       avgload = 0
-   
     score = self.health_score(speed, avg, self.stdev(motorspeeds), avgload)
-    print("Health score for this test:", score)
+    print("Health score for this test:", str(score) + "%")
     return score
   def fullTest(self):
     self.initializeMotor()
+    print("Load measurements are in mNm. Speed measurements are in degrees per second.")
+    max_speed, max_accel, max_torque = self.testmotor.control.limits()
+    print("Maximum motor speed:", max_speed)
     test180 = self.testSpeed(180)
     test540 = self.testSpeed(540)
     test1000 = self.testSpeed(1000)
+    print("\n FINAL MOTOR STATISTICS")
     final = (test180 + test540 + test1000) / 3
-    print("Final motor health score:", final)
-    # print final health scores here as a combination of the 3 speeds, include speeds individual scores and total score
+    print("Final motor health score:", str(final) + "%")
+    if final < 80:
+      print("Your motor is in need of attention. Make sure to clean it regularly and charge the Prime Hub.")
+    elif final < 90:
+      print("Your motor is in OK condition. Make sure to clean it regularly and charge the Prime Hub.")
+    elif final < 97:
+      print("Your motor is in great condition!")
+    else:
+      print("Your motor is in AMAZING condition!!!")
+    self.testmotor.stop()