Merge pull request 'dev' (#14) from dev into main

Reviewed-on: #14

diagnostics/ColorSensorDiagnostics.py

@@ -4,7 +4,6 @@ from pybricks.tools import wait, StopWatch
 class ColorSensorDiagnostics:
     def __init__(self, hub, colorsensorclass):
         self.colorsensor = None
-        self.colorsensorclass = colorsensorclass
         self.PORT_MAP = {
             "A": Port.A,
             "B": Port.B,
@@ -13,6 +12,7 @@ class ColorSensorDiagnostics:
             "E": Port.E,
             "F": Port.F,
         }
+        self.colorsensorclass = colorsensorclass
     def initializeColorSensor(self):
         VALID_PORTS = {"A", "B", "C", "D", "E", "F"}
         while True:

diagnostics/FullDiagnostics.py

@@ -8,11 +8,9 @@ from BatteryDiagnostics import BatteryDiagnostics
 from MotorDiagnostics import MotorDiagnostics
 from ColorSensorDiagnostics import ColorSensorDiagnostics
 from DriveBaseDiagnostics import DriveBaseDiagnostics
-from HubDiagnostics import HubDiagnostics
 battery = BatteryDiagnostics(HUB)
 motor = MotorDiagnostics(HUB, Motor)
 colorsensor = ColorSensorDiagnostics(HUB, ColorSensor)
-hubdiags = HubDiagnostics(HUB)
 drivebase = DriveBaseDiagnostics(HUB, Motor, DriveBase)
 CLEARCONFIRM = input("Clear the console before proceeding? Y/N (default: yes): ")
 if(CLEARCONFIRM == "Y" or CLEARCONFIRM == "y" or CLEARCONFIRM == "yes" or CLEARCONFIRM == ""):
@@ -27,9 +25,8 @@ 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.  
-Please set your window size to 90% on small screens for best results with the ASCII art.               
+The free and open source diagnostics tool for LEGO® Education SPIKE™ Prime robots, designed for FIRST Lego League.
+Developed by Team 65266, Lego Dynamics.                                                
           """
           )
 while True:
@@ -38,8 +35,6 @@ while True:
     print("Enter 'b' for battery diagnostics")
     print("Enter 'm' for motor diagnostics")
     print("Enter 'cs' for color sensor diagnostics")
-    print("Enter 'h' for hub diagnostics")
-    print("Enter 'db' for drive base diagnostics")
     print("Enter 'q' to quit")
 
     choice = input("Your choice: ").strip().lower()
@@ -55,20 +50,17 @@ while True:
         print("------------------------MOTOR DIAGNOSTICS------------------------")
         motor.fullTest()
         print("Motor diagnostics completed.")
-    elif choice == "h":
-        print("-------------------------HUB DIAGNOSTICS-------------------------")
-        hubdiags.printAll()
-        print("Hub diagnostics completed.")
+
     elif choice == "q":
-        print("Diagnostics completed successfully. Exiting with code 0. Good luck in the robot game!")
+        print("Diagnostics completed successfully. Exiting program.")
         break
-    elif choice == "db":
-        print("----------------------DRIVEBASE DIAGNOSTICS----------------------")
-        drivebase.printAll()
     elif choice == "cs":
         print("---------------------COLOR SENSOR DIAGNOSTICS---------------------")
         colorsensor.printAll()
         print("Color sensor diagnostics completed.")
-        
+    elif choice == "db":
+        print("----------------------DRIVE BASE DIAGNOSTICS----------------------")
+        drivebase.printAll()
+        print("Drivebase diagnostics completed.")
     else:
         print("Invalid choice. Please enter 'b', 'm', or 'q'.")

diagnostics/MotorDiagnostics.py

@@ -4,7 +4,6 @@ import umath
 class MotorDiagnostics:
   def __init__(self, hub, motorclass):
       self.testmotor = None
-      self.motorclass = motorclass
       self.port_map = {
         "A": Port.A,
         "B": Port.B,
@@ -13,7 +12,7 @@ class MotorDiagnostics:
         "E": Port.E,
         "F": Port.F,
       }
-
+      self.motorclass = motorclass
   def stdev(self, vals):
     DATA = vals
     if len(DATA) < 2:
@@ -37,7 +36,7 @@ class MotorDiagnostics:
     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
+    BASELINE = 10      # 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)