Add diagnostics/ColorSensorDiagnostics.py

Reviewed-on: Arcmyx/pynamics-pybricks-utils#8

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

@@ -0,0 +1,55 @@
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+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()
+class BatteryDiagnostics:
+    def __init__(self):
+        self.voltage = 0
+        self.current = 0
+    def printVoltage(self):
+        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("--------------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

@@ -0,0 +1,49 @@
+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()
+class ColorSensorDiagnostics:
+    def __init__(self):
+        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 = ColorSensor(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 printOutput(self):
+        while True:
+            print("HSV output:", self.colorsensor.hsv)
+            print("Detected color:", self.colorsensor.color())

diagnostics/FullDiagnostics.py

@@ -0,0 +1,54 @@
+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
+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("""
+ ███████████  █████ █████ ██████   █████   █████████   ██████   ██████ █████   █████████   █████████ 
+▒▒███▒▒▒▒▒███▒▒███ ▒▒███ ▒▒██████ ▒▒███   ███▒▒▒▒▒███ ▒▒██████ ██████ ▒▒███   ███▒▒▒▒▒███ ███▒▒▒▒▒███
+ ▒███    ▒███ ▒▒███ ███   ▒███▒███ ▒███  ▒███    ▒███  ▒███▒█████▒███  ▒███  ███     ▒▒▒ ▒███    ▒▒▒ 
+ ▒██████████   ▒▒█████    ▒███▒▒███▒███  ▒███████████  ▒███▒▒███ ▒███  ▒███ ▒███         ▒▒█████████ 
+ ▒███▒▒▒▒▒▒     ▒▒███     ▒███ ▒▒██████  ▒███▒▒▒▒▒███  ▒███ ▒▒▒  ▒███  ▒███ ▒███          ▒▒▒▒▒▒▒▒███
+ ▒███            ▒███     ▒███  ▒▒█████  ▒███    ▒███  ▒███      ▒███  ▒███ ▒▒███     ███ ███    ▒███
+ █████           █████    █████  ▒▒█████ █████   █████ █████     █████ █████ ▒▒█████████ ▒▒█████████ 
+▒▒▒▒▒           ▒▒▒▒▒    ▒▒▒▒▒    ▒▒▒▒▒ ▒▒▒▒▒   ▒▒▒▒▒ ▒▒▒▒▒     ▒▒▒▒▒ ▒▒▒▒▒   ▒▒▒▒▒▒▒▒▒   ▒▒▒▒▒▒▒▒▒  
+                                                                                                     
+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("\nWhat diagnostic do you want to perform?")
+    print("Enter 'b' for Battery diagnostics")
+    print("Enter 'm' for Motor 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 the voltage and current over a period of 3 seconds and provide average values 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
+
+    else:
+        print("Invalid choice. Please enter 'b', 'm', or 'q'.")

diagnostics/MotorDiagnostics.py

@@ -0,0 +1,142 @@
+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
+import umath
+
+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:
+        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)
+  def health_score(self, desired, avg_speed, stdev_speed, avg_load):
+    # Speed accuracy: penalize % error
+    accuracy = max(0, 100 - abs(avg_speed - desired) / desired * 100)
+
+    # Stability: penalize deviation relative to desired
+    stability = max(0, 100 - (stdev_speed / desired) * 100)
+
+    # 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
+  def initializeMotor(self):
+    valid_ports = {"A", "B", "C", "D", "E", "F"}
+    while True:
+      motorinput = input(
+        "This test will run your motor at 3 speeds: 180, 540, and 1000 degrees per second.\n"
+        "Please make sure your motor is not under any load (for example, your hand) during the test.\n"
+        "If you want to test the wheel's load, note that this will affect the load measurements.\n"
+        "Enter the port for the motor you would like to test (A, B, C, D, E, or F): "
+      ).strip().upper()
+
+      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}.")
+        else:
+            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)
+    
+    motorspeeds = []
+    motorloads = []
+    target_angle = speed * 3
+    print("\n", speed, "DEGREES PER SECOND TEST")
+    self.testmotor.run_angle(speed, target_angle, Stop.HOLD, False)
+    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("Desired motor speed: ", str(speed))
+    if motorspeeds:
+      avg = sum(motorspeeds) / len(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:", 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:", 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:", 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()

utils/BatteryDiagnostics.py

@@ -1,33 +0,0 @@
-from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
-from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
-from pybricks.tools import run_task, multitask
-from pybricks.tools import wait, StopWatch
-from pybricks.robotics import DriveBase
-from pybricks.hubs import PrimeHub
-
-# Initialize hub and devices
-hub = PrimeHub()
-left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
-right_motor = Motor(Port.B,Direction.CLOCKWISE) # Specify default direction
-left_arm = Motor(Port.C, Direction.CLOCKWISE) # Specify default direction
-right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration
-lazer_ranger = UltrasonicSensor(Port.E)
-color_sensor = ColorSensor(Port.F)
-
-# DriveBase configuration
-WHEEL_DIAMETER = 68.8  # mm (adjust for your wheels)
-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
-
-if hub.battery.voltage() > 7800:
-    print(f"Battery voltage is sufficient: {hub.battery.voltage()}")
-elif hub.battery.voltage < 7800 :
-    print(f"Charging needed: {hub.battery.voltage()}")
-
-print(hub.battery.current())
-print(hub.imu.heading())
-print(hub.system.info())

utils/ColorSensorTests-old.py

@@ -1,69 +0,0 @@
-from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
-from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
-from pybricks.tools import run_task, multitask
-from pybricks.tools import wait, StopWatch
-from pybricks.robotics import DriveBase
-from pybricks.hubs import PrimeHub
-
-# Initialize hub and devices
-hub = PrimeHub()
-
-color_sensor = ColorSensor(Port.F)
-
-# Color Settings
-# https://docs.pybricks.com/en/latest/parameters/color.html
-print("Default Detected Colors:", color_sensor.detectable_colors())
-
-# Custom color Hue, Saturation, Brightness value for Lego bricks
-Color.MAGENTA = Color(315,100,60)
-Color.BLUE = Color(240,100,100)
-Color.CYAN = Color(180,100,100)
-Color.RED = Color(350, 100, 100)
-LEGO_BRICKS_COLOR = [
-    Color.BLUE, 
-    Color.GREEN, 
-    Color.WHITE,
-    Color.RED, 
-    Color.YELLOW, 
-    Color.MAGENTA, 
-    Color.NONE
-]
-magenta_counter = 0
-stable_color = None
-real_color = None
-#Update Detectable colors
-color_sensor.detectable_colors(LEGO_BRICKS_COLOR)
-print(f'Yellow:{Color.YELLOW} : {Color.YELLOW.h}, {Color.YELLOW.s}, {Color.YELLOW.v}')
-print("Updated Detected Colors:", color_sensor.detectable_colors())
-async def main():  
-    while True:
-        global magenta_counter, stable_color, real_color
-        color_reflected_percent = await color_sensor.reflection()
-        print("Reflection: ", color_reflected_percent)
-        if color_reflected_percent > 15:
-            color_detected = await color_sensor.color()
-
-            if color_detected == Color.MAGENTA:
-                magenta_counter += 1
-            else:
-                magenta_counter = 0
-                stable_color = color_detected
-
-            # Only accept magenta if it's been stable for a while - usually triggers before other colors so we gotta do this :|
-            if magenta_counter > 10:
-                stable_color = Color.MAGENTA
-                if stable_color != Color.MAGENTA:
-                    stable_color = await color_sensor.color()
-
-            real_color = stable_color
-            #if(color_detected != Color.NONE):
-            #    return
-            
-            print("Magenta counter: ", magenta_counter)
-            if real_color is not None:
-                print(f'Detected color: {real_color} : {real_color.h}, {real_color.s}, {real_color.v}')
-            else:
-                print("No valid color detected yet.")
-        await wait(50)
-
-run_task(main())

utils/FullDiagnostics.py

@@ -1,35 +0,0 @@
-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
-battery = BatteryDiagnostics()
-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")
-
-while True:
-    print("\nWhat diagnostic do you want to perform?")
-    print("Enter 'b' for Battery diagnostics")
-    print("Enter 'm' for Motor diagnostics")
-    print("Enter 'q' to Quit")
-
-    choice = input("Your choice: ").strip().lower()
-
-    if choice == "b":
-        print("-----------------------BATTERY DIAGNOSTICS-----------------------")
-        battery.printAll()
-
-    elif choice == "m":
-        print("------------------------MOTOR DIAGNOSTICS------------------------")
-        # motor.printAll()  # call your motor diagnostics here
-        print("Motor diagnostics would run here.")
-
-    elif choice == "q":
-        print("Diagnostics completed successfully. Exiting with code 0. Good luck in the robot game!")
-        break
-
-    else:
-        print("Invalid choice. Please enter 'b', 'm', or 'q'.")