Upload files to "diagnostics"

diagnostics/BatteryDiagnostics.py

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+from pybricks.tools import wait
+import umath
+class BatteryDiagnostics:
+    def __init__(self, hub):
+        self.voltage = 0
+        self.current = 0
+        self.hub = hub
+    def printVoltage(self):
+        self.voltage = self.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 = self.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("--------------FINAL RESULTS OF BATTERY DIAGNOSTICS---------------")
+        print("Voltage deviation:", self.stdev(voltageList))
+        print("Current deviation:", self.stdev(currentList))
+    def stdev(self, vals):
+        DATA = vals
+        if len(DATA) < 2:
+            return 0
+        # Calculate the mean
+        MEAN = sum(DATA) / len(DATA)
+
+        # 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]) / float(len(DATA) - 1)
+        
+        # Calculate the standard deviation (square root of the variance)
+        STD_DEV_MANUAL = umath.sqrt(VARIANCE)
+        
+
+        return (STD_DEV_MANUAL)

diagnostics/ColorSensorDiagnostics.py

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+from pybricks.parameters import Color, Port, Stop
+from pybricks.tools import wait, StopWatch
+
+class ColorSensorDiagnostics:
+    def __init__(self, hub, colorsensorclass):
+        self.colorsensor = None
+        self.PORT_MAP = {
+            "A": Port.A,
+            "B": Port.B,
+            "C": Port.C,
+            "D": Port.D,
+            "E": Port.E,
+            "F": Port.F,
+        }
+    def initializeColorSensor(self):
+        VALID_PORTS = {"A", "B", "C", "D", "E", "F"}
+        while True:
+            colorinput = input(
+            "This will test your color sensor.\n"
+            "Enter the port for the color sensor you would like to test (A, B, C, D, E, or F): "
+            ).strip().upper()
+            if colorinput not in VALID_PORTS:
+                print("Invalid port. Please enter A-F.")
+                continue
+            try:
+                if self.colorsensor is None:
+                    self.colorsensor = self.colorsensorclass(self.PORT_MAP[colorinput])
+                    print(f"Color Sensor initialized on port {colorinput}.")
+                else:
+                    print(f"Reusing existing color sensor on port {colorinput}.")
+                break
+
+            except OSError as e:
+                if e.errno == 16:  # EBUSY
+                    print(f"Port {colorinput} is already in use. Reusing existing color sensor.")
+                    break
+                else:
+                    print(f"Error initializing color sensor on port {colorinput}: {e}")
+                    print("Make sure a color sensor is actually connected to this port.")
+                    self.colorsensor = None
+        self.colorsensor.detectable_colors(Color.RED, Color.YELLOW, Color.GREEN, Color.BLUE, Color.WHITE, Color.NONE)
+    def printAll(self):
+        while True:
+            print("HSV output:", self.colorsensor.hsv)
+            print("Detected color:", self.colorsensor.color())

diagnostics/DriveBaseDiagnostics.py

@@ -0,0 +1,51 @@
+from pybricks.parameters import Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+
+from usys import stdin
+from uselect import poll
+
+class DriveBaseDiagnostics:
+    def __init__(self, hub, motorclass, dbclass):
+        self.PORT_MAP = {
+            "A": Port.A,
+            "B": Port.B,
+            "C": Port.C,
+            "D": Port.D,
+            "E": Port.E,
+            "F": Port.F,
+            }
+    def initializeDriveBase():
+        leftmotorport = input("Enter the left motor port: ")
+        left_motor = self.motorclass(port_map[leftmotorport], Direction.COUNTERCLOCKWISE)
+        rightmotorport = input("Enter the right motor port: ")
+        right_motor = self.motorclass(port_map[rightmotorport],Direction.CLOCKWISE)
+        # DriveBase configuration
+        WHEEL_DIAMETER = 68.8  # mm
+        AXLE_TRACK = 180  # mm
+        drive_base = self.dbclass(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
+        drive_base.settings(600, 500, 300, 200)
+        drive_base.use_gyro(True)
+    def driveRobot():
+        # Register the standard input so we can read keyboard presses.
+        keyboard = poll()
+        keyboard.register(stdin)
+
+        while True:
+            # Check if a key has been pressed.
+            if keyboard.poll(0):
+                # Read the key and print it.
+                key = stdin.read(1)
+                print("You pressed:", key)
+                if(key == "W"):
+                    print("Insert robot go forward code here")
+                elif(key == "A"):
+                    print("Insert robot go left code here")
+                elif(key == "S"):
+                    print("Insert robot go backwards code here")
+                elif(key == "D"):
+                    print("Insert robot go right code here")
+                elif(key == "X")
+                    break
+                else:
+                    print("That key doesn't do anything.")

diagnostics/FullDiagnostics.py

@@ -0,0 +1,59 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+HUB = PrimeHub()
+from BatteryDiagnostics import BatteryDiagnostics
+from MotorDiagnostics import MotorDiagnostics
+from ColorSensorDiagnostics import ColorSensorDiagnostics
+battery = BatteryDiagnostics(HUB)
+motor = MotorDiagnostics(HUB, Motor)
+colorsensor = ColorSensorDiagnostics(HUB, ColorSensor)
+CLEARCONFIRM = input("Clear the console before proceeding? Y/N (default: yes): ")
+if(CLEARCONFIRM == "Y" or CLEARCONFIRM == "y" or CLEARCONFIRM == "yes" or CLEARCONFIRM == ""):
+    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("""
+ ███████████  █████ █████ ██████   █████   █████████   ██████   ██████ █████   █████████   █████████ 
+▒▒███▒▒▒▒▒███▒▒███ ▒▒███ ▒▒██████ ▒▒███   ███▒▒▒▒▒███ ▒▒██████ ██████ ▒▒███   ███▒▒▒▒▒███ ███▒▒▒▒▒███
+ ▒███    ▒███ ▒▒███ ███   ▒███▒███ ▒███  ▒███    ▒███  ▒███▒█████▒███  ▒███  ███     ▒▒▒ ▒███    ▒▒▒ 
+ ▒██████████   ▒▒█████    ▒███▒▒███▒███  ▒███████████  ▒███▒▒███ ▒███  ▒███ ▒███         ▒▒█████████ 
+ ▒███▒▒▒▒▒▒     ▒▒███     ▒███ ▒▒██████  ▒███▒▒▒▒▒███  ▒███ ▒▒▒  ▒███  ▒███ ▒███          ▒▒▒▒▒▒▒▒███
+ ▒███            ▒███     ▒███  ▒▒█████  ▒███    ▒███  ▒███      ▒███  ▒███ ▒▒███     ███ ███    ▒███
+ █████           █████    █████  ▒▒█████ █████   █████ █████     █████ █████ ▒▒█████████ ▒▒█████████ 
+▒▒▒▒▒           ▒▒▒▒▒    ▒▒▒▒▒    ▒▒▒▒▒ ▒▒▒▒▒   ▒▒▒▒▒ ▒▒▒▒▒     ▒▒▒▒▒ ▒▒▒▒▒   ▒▒▒▒▒▒▒▒▒   ▒▒▒▒▒▒▒▒▒  
+                                                                                                     
+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.                                                
+          """
+          )
+while True:
+    
+    print("\nWhich diagnostic do you want to perform?")
+    print("Enter 'b' for battery diagnostics")
+    print("Enter 'm' for motor diagnostics")
+    print("Enter 'cs' for color sensor diagnostics")
+    print("Enter 'q' to quit")
+
+    choice = input("Your choice: ").strip().lower()
+
+    if choice == "b":
+        print("-----------------------BATTERY DIAGNOSTICS-----------------------")
+        print("This test will check the battery voltage and current. It will measure these over a period of 3 seconds and provide average and deviation values. Your voltage should be above 7800 mV for optimal performance.")
+        input("Press Enter to begin the battery diagnostics.")
+        battery.printAll()
+        print("Battery diagnostics completed.")
+
+    elif choice == "m":
+        print("------------------------MOTOR DIAGNOSTICS------------------------")
+        motor.fullTest()
+        print("Motor diagnostics completed.")
+
+    elif choice == "q":
+        print("Diagnostics completed successfully. Exiting with code 0. Good luck in the robot game!")
+        break
+    elif choice == "cs":
+        print("---------------------COLOR SENSOR DIAGNOSTICS---------------------")
+        break
+    else:
+        print("Invalid choice. Please enter 'b', 'm', or 'q'.")

diagnostics/HubDiagnostics.py

@@ -0,0 +1,28 @@
+from pybricks.tools import wait, StopWatch
+from pybricks import version
+from OtherFunctions import vprint
+import usys
+
+print("Pybricks version information:", version)
+print("MicroPython information:", usys.implementation)
+print("MicroPython version:", usys.version)
+class HubDiagnostics:
+    def __init__(self, hub):
+        self.port_map = {
+            "A": Port.A,
+            "B": Port.B,
+            "C": Port.C,
+            "D": Port.D,
+            "E": Port.E,
+            "F": Port.F,
+        }
+    def testLightSources(self, verbose):
+        v = verbose
+        self.hub.display.off()
+        for x in range(5):
+            for y in range(5):
+                vprint(f"Turning on pixel at position {x}, {y}...", v)
+                display.pixel(x, y, brightness=100)
+                wait(100)
+                vprint(f"Turning off pixel at position {x}, {y}...", v)
+                display.pixel(x, y, brightness=0)