Merge pull request 'dev' (#12) from dev into main

Reviewed-on: Arcmyx/pynamics#12

README.md

@@ -13,6 +13,7 @@ Included utilities:
 - 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.
 
+Please set your window size to 90% on small screens for best results with the ASCII art.               
 This code is licensed under the Creative Commons Attribution 4.0 International License (CC BY 4.0). 
 
 Without the confusing legal speak, this means that you are free to:

diagnostics/BatteryDiagnostics.py

@@ -1,24 +1,18 @@
-from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.tools import wait
-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):
+    def __init__(self, hub):
         self.voltage = 0
         self.current = 0
+        self.hub = hub
     def printVoltage(self):
-        self.voltage = hub.battery.voltage()
+        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 = hub.battery.current()
+        self.current = self.hub.battery.current()
         print("Battery current:", self.current)
     def printAll(self):
         timeelapsed = 0
@@ -39,17 +33,17 @@ class BatteryDiagnostics:
         print("Voltage deviation:", self.stdev(voltageList))
         print("Current deviation:", self.stdev(currentList))
     def stdev(self, vals):
-        data = vals
+        DATA = vals
-        if len(data) < 2:
+        if len(DATA) < 2:
             return 0
         # Calculate the mean
-        mean = sum(data) / len(data)
+        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)
+        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)
+        STD_DEV_MANUAL = umath.sqrt(VARIANCE)
         
 
-        return (std_dev_manual)
+        return (STD_DEV_MANUAL)

diagnostics/ColorSensorDiagnostics.py

@@ -0,0 +1,48 @@
+from pybricks.parameters import Color, Port, Stop
+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,
+            "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):
+        self.initializeColorSensor()
+        stopwatch = StopWatch()
+        while stopwatch.time() < 5000:
+            print("HSV output:", self.colorsensor.hsv())
+            print("Detected color:", self.colorsensor.color())

diagnostics/DriveBaseDiagnostics.py

@@ -0,0 +1,165 @@
+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.hub = hub
+        self.motorclass = motorclass
+        self.dbclass = dbclass
+        self.drive_base = None
+        self.PORT_MAP = {
+            "A": Port.A,
+            "B": Port.B,
+            "C": Port.C,
+            "D": Port.D,
+            "E": Port.E,
+            "F": Port.F,
+            }
+    def initializeDriveBase(self):
+
+        print("DriveBase setup:")
+        print("1 = Load from savefile (paste JSON)")
+        print("2 = Use defaults")
+        print("3 = Enter values manually")
+
+        choice = input("Choose an option: ")
+
+        # Default values
+        WHEEL_DIAMETER = 68.8
+        AXLE_TRACK = 180
+        DRIVE_SETTINGS = (600, 2000, 300, 2000)
+
+        # Motor ports (None until set)
+        leftmotorport = Port.A
+        rightmotorport = Port.B
+
+        # -----------------------------
+        # OPTION 1: LOAD SAVEFILE
+        # -----------------------------
+        if choice == "1":
+            print("Paste JSON:")
+            raw = input("> ")
+
+            # --- wheel ---
+            if "\"wheel\"" in raw:
+                part = raw.split("\"wheel\"")[1]
+                part = part.split(":")[1]
+                part = part.split(",")[0]
+                WHEEL_DIAMETER = float(part)
+
+            # --- axle ---
+            if "\"axle\"" in raw:
+                part = raw.split("\"axle\"")[1]
+                part = part.split(":")[1]
+                part = part.split(",")[0]
+                AXLE_TRACK = float(part)
+
+            # --- settings ---
+            if "\"settings\"" in raw:
+                part = raw.split("\"settings\"")[1]
+                part = part.split("[")[1]
+                part = part.split("]")[0]
+                nums = part.split(",")
+                DRIVE_SETTINGS = (int(nums[0]), int(nums[1]), int(nums[2]), int(nums[3]))
+
+                            # --- left motor port ---
+                if "\"left_port\"" in raw:
+                    part = raw.split("\"left_port\"")[1]
+                    part = part.split("\"")[1]   # first quoted value
+                    leftmotorport = part
+
+                # --- right motor port ---
+                if "\"right_port\"" in raw:
+                    part = raw.split("\"right_port\"")[1]
+                    part = part.split("\"")[1]
+                    rightmotorport = part
+
+
+            print("Loaded config.")
+
+        # -----------------------------
+        # OPTION 3: MANUAL ENTRY
+        # -----------------------------
+        elif choice == "3":
+            WHEEL_DIAMETER = float(input("Wheel diameter: "))
+            AXLE_TRACK = float(input("Axle track: "))
+
+            print("Enter drive settings:")
+            s1 = int(input("Straight speed: "))
+            s2 = int(input("Straight accel: "))
+            s3 = int(input("Turn rate: "))
+            s4 = int(input("Turn accel: "))
+            DRIVE_SETTINGS = (s1, s2, s3, s4)
+
+            # Ask for motor ports HERE (manual only)
+            leftmotorport = input("Left motor port: ")
+            rightmotorport = input("Right motor port: ")
+
+        # -----------------------------
+        # OPTION 2: DEFAULTS
+        # -----------------------------
+        else:
+            pass
+
+        # -----------------------------
+        # CREATE MOTORS
+        # -----------------------------
+        left_motor = self.motorclass(leftmotorport, Direction.COUNTERCLOCKWISE)
+        right_motor = self.motorclass(rightmotorport, Direction.CLOCKWISE)
+
+        # -----------------------------
+        # CREATE DRIVEBASE
+        # -----------------------------
+        self.drive_base = self.dbclass(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
+        self.drive_base.settings(*DRIVE_SETTINGS)
+        self.drive_base.use_gyro(True)
+
+        print("DriveBase initialized.")
+        return DRIVE_SETTINGS
+
+
+    
+    def printAll(self):
+        self.driveRobot()
+    def driveRobot(self):
+        drivesettings = self.initializeDriveBase()
+        print(drivesettings)
+        keyboard = poll()
+        keyboard.register(stdin)
+
+        last_key_time = StopWatch()
+        last_key_time.reset()
+
+        while True:
+            key = None
+
+            # Check for keypress immediately
+            if keyboard.poll(0):
+                key = stdin.read(1).upper()
+                last_key_time.reset()
+
+            # Process key
+            if key:
+                if key == "W":
+                    self.drive_base.drive(drivesettings[0], 0)
+                elif key == "A":
+                    self.drive_base.drive(drivesettings[0], -180)
+                elif key == "S":
+                    self.drive_base.drive(-drivesettings[0], 0)
+                elif key == "D":
+                    self.drive_base.drive(drivesettings[0], 180)
+                elif key == "X":
+                    break
+
+            # Auto-stop if no key for 120 ms
+            if last_key_time.time() > 120:
+                self.drive_base.stop()
+
+            # Tiny manual delay to avoid 100% CPU
+            # (much faster than wait())
+            for _ in range(200):
+                pass

diagnostics/FullDiagnostics.py

@@ -3,13 +3,19 @@ from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSenso
 from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
 from pybricks.robotics import DriveBase
 from pybricks.tools import wait, StopWatch
-hub = PrimeHub()
+HUB = PrimeHub()
 from BatteryDiagnostics import BatteryDiagnostics
 from MotorDiagnostics import MotorDiagnostics
-battery = BatteryDiagnostics()
+from ColorSensorDiagnostics import ColorSensorDiagnostics
-motor = MotorDiagnostics()
+from DriveBaseDiagnostics import DriveBaseDiagnostics
-clearConfirmation = input("Do you want to clear the console before proceeding? Y/N (default: yes): ")
+from HubDiagnostics import HubDiagnostics
-if(clearConfirmation == "Y" or clearConfirmation == "y" or clearConfirmation == "yes" or clearConfirmation == ""):
+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 == ""):
     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("""
  ███████████  █████ █████ ██████   █████   █████████   ██████   ██████ █████   █████████   █████████ 
@@ -23,20 +29,24 @@ 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.               
           """
           )
 while True:
     
-    print("\nWhat diagnostic do you want to perform?")
+    print("\nWhich diagnostic do you want to perform?")
-    print("Enter 'b' for Battery diagnostics")
+    print("Enter 'b' for battery diagnostics")
-    print("Enter 'm' for Motor diagnostics")
+    print("Enter 'm' for motor diagnostics")
-    print("Enter 'q' to Quit")
+    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()
 
     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.")
+        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.")
@@ -45,10 +55,20 @@ 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!")
         break
+    elif choice == "db":
+        print("----------------------DRIVEBASE DIAGNOSTICS----------------------")
+        drivebase.printAll()
+    elif choice == "cs":
+        print("---------------------COLOR SENSOR DIAGNOSTICS---------------------")
+        colorsensor.printAll()
+        print("Color sensor diagnostics completed.")
         
     else:
         print("Invalid choice. Please enter 'b', 'm', or 'q'.")

diagnostics/HubDiagnostics.py

@@ -0,0 +1,35 @@
+from pybricks.tools import wait, StopWatch
+from pybricks.parameters import Port
+from pybricks import version
+import OtherFunctions as debug
+import usys
+
+
+class HubDiagnostics:
+    def __init__(self, hub):
+        self.hub = hub
+        self.port_map = {
+            "A": Port.A,
+            "B": Port.B,
+            "C": Port.C,
+            "D": Port.D,
+            "E": Port.E,
+            "F": Port.F,
+        }
+    def printAbout(self):
+        print("Pybricks version information:", version)
+        print("MicroPython information:", usys.implementation)
+        print("MicroPython version:", usys.version)
+    def testLightSources(self, verbose):
+        v = verbose
+        self.hub.display.off()
+        for x in range(5):
+            for y in range(5):
+                debug.log(f"Turning on pixel at position {x}, {y}...", v)
+                self.hub.display.pixel(x, y, brightness=100)
+                wait(100)
+                debug.log(f"Turning off pixel at position {x}, {y}...", v)
+                self.hub.display.pixel(x, y, brightness=0)
+    def printAll(self):
+        self.printAbout()
+        self.testLightSources(False)

diagnostics/MotorDiagnostics.py

@@ -1,14 +1,10 @@
-from pybricks.hubs import PrimeHub
+from pybricks.parameters import Direction, Port, Stop
-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):
+  def __init__(self, hub, motorclass):
       self.testmotor = None
+      self.motorclass = motorclass
       self.port_map = {
         "A": Port.A,
         "B": Port.B,
@@ -19,44 +15,40 @@ class MotorDiagnostics:
       }
 
   def stdev(self, vals):
-    data = vals
+    DATA = vals
-    if len(data) < 2:
+    if len(DATA) < 2:
         return 0
     # Calculate the mean
-    mean = sum(data) / len(data)
+    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)
+    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)
-    std_dev_manual = umath.sqrt(variance)
 
 
-    return (std_dev_manual)
+    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)
+    ACCURACY = max(0, 100 - abs(avg_speed - desired) / desired * 100)
 
     # Stability: penalize deviation relative to desired
-    stability = max(0, 100 - (stdev_speed / desired) * 100)
+    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 = 15      # midpoint of idle range
-    max_observed = 200 # heavy load/stall
+    MAX_OBSERVED = 200 # heavy load/stall
-    normalized_load = max(0, avg_load - baseline)
+    NORMALIZED_LOAD = max(0, avg_load - BASELINE)
-    load_pct = min(100, (normalized_load / (max_observed - baseline)) * 100)
+    LOAD_PCT = min(100, (NORMALIZED_LOAD / (MAX_OBSERVED - BASELINE)) * 100)
 
-    load_score = max(0, 100 - load_pct)
+    LOAD_SCORE = max(0, 100 - LOAD_PCT)
 
     # Final score: average of the three
-    return (accuracy + stability + load_score) / 3
+    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"}
+    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"
@@ -64,11 +56,13 @@ class MotorDiagnostics:
         "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()
-
+      if motorinput not in VALID_PORTS:
+        print("That is not a valid port. Please enter A-F.")
+        continue
       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])
+            self.testmotor = self.motorclass(self.port_map[motorinput])
             print(f"Motor initialized on port {motorinput}.")
         else:
             print(f"Reusing existing motor on port {motorinput}.")
@@ -89,16 +83,16 @@ class MotorDiagnostics:
     
     motorspeeds = []
     motorloads = []
-    target_angle = speed * 3
+    TARGET_ANGLE = speed * 3
     print("\n", speed, "DEGREES PER SECOND TEST")
-    self.testmotor.run_angle(speed, target_angle, Stop.HOLD, False)
+    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()
+    MAX_SPEED, MAX_ACCEL, MAX_TORQUE = self.testmotor.control.limits()
 
 
     print("Desired motor speed: ", str(speed))
@@ -117,25 +111,25 @@ class MotorDiagnostics:
     else:
       print("No load samples collected.")
       avgload = 0
-    score = self.health_score(speed, avg, self.stdev(motorspeeds), avgload)
+    SCORE = self.health_score(speed, avg, self.stdev(motorspeeds), avgload)
-    print("Health score for this test:", str(score) + "%")
+    print("Health score for this test:", str(SCORE) + "%")
-    return 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()
+    MAX_SPEED, MAX_ACCEL, MAX_TORQUE = self.testmotor.control.limits()
-    print("Maximum motor speed:", max_speed)
+    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:
+    if final < 65:
       print("Your motor is in need of attention. Make sure to clean it regularly and charge the Prime Hub.")
-    elif final < 90:
+    elif final < 85:
       print("Your motor is in OK condition. Make sure to clean it regularly and charge the Prime Hub.")
-    elif final < 97:
+    elif final < 95:
       print("Your motor is in great condition!")
     else:
       print("Your motor is in AMAZING condition!!!")

diagnostics/OtherFunctions.py

@@ -0,0 +1,3 @@
+def log(string, verbose):
+    if(verbose):
+        print("[LOG (verbose)]", string)