Merge pull request 'dev' (#10) from dev into main

Reviewed-on: Arcmyx/pynamics-pybricks-utils#10

diagnostics-old/ColorSensorDiagnostics.py

@@ -1,49 +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()
-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-old/DriveBaseDiagnostics.py

@@ -1,49 +0,0 @@
-from pybricks.hubs import PrimeHub
-from pybricks.pupdevices import Motor
-from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
-from pybricks.robotics import DriveBase
-from pybricks.tools import wait, StopWatch
-
-from usys import stdin
-from uselect import poll
-
-hub = PrimeHub()
-port_map = {
-    "A": Port.A,
-    "B": Port.B,
-    "C": Port.C,
-    "D": Port.D,
-    "E": Port.E,
-    "F": Port.F,
-    }
-leftmotorport = input("Enter the left motor port: ")
-left_motor = Motor(port_map[leftmotorport], Direction.COUNTERCLOCKWISE)
-rightmotorport = input("Enter the right motor port: ")
-right_motor = Motor(port_map[rightmotorport],Direction.CLOCKWISE) # Specify default direction
-
-# 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)
-# 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")
-        else:
-            print("That key doesn't do anything.")

diagnostics-old/HubDiagnostics.py

@@ -1,33 +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
-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):
-        self.hub = PrimeHub()
-        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
-        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)

diagnostics-old/OtherFunctions.py

@@ -1,2 +0,0 @@
-def vprint(string, verbose):
-    print("[LOG (verbose enabled)]", string)

utils/MotorDiagnostics.py

@@ -41,7 +41,7 @@ class MotorDiagnostics:
     # 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%)
+    # Normalize load: map 10–20 as baseline (≈0%), 200 as max (≈100%)
     baseline = 15      # midpoint of idle range
     max_observed = 200 # heavy load/stall
     normalized_load = max(0, avg_load - baseline)
@@ -131,11 +131,11 @@ class MotorDiagnostics:
     print("\n FINAL MOTOR STATISTICS")
     final = (test180 + test540 + test1000) / 3
     print("Final motor health score:", str(final) + "%")
-    if final < 65:
+    if final < 80:
       print("Your motor is in need of attention. Make sure to clean it regularly and charge the Prime Hub.")
-    elif final < 85:
+    elif final < 90:
       print("Your motor is in OK condition. Make sure to clean it regularly and charge the Prime Hub.")
-    elif final < 95:
+    elif final < 97:
       print("Your motor is in great condition!")
     else:
       print("Your motor is in AMAZING condition!!!")