fix git

jacobot/arduino/Car.cpp

@@ -1,88 +0,0 @@
-// Made by Linux_Hat
-#include "Car.h"
-#include "MotorEncoder.h"
-#define pi 3.1415
-
-Car::Car(MotorEncoder* m1, MotorEncoder* m2, float distance) 
-    : m_m1(m1), m_m2(m2), m_distance(distance) {
-}
-
-void Car::forward(float distance, double setPoint) { //distance : mm
-    const float m1_mmp = pi*(*m_m1).m_radius*2/(*m_m1).m_ratio; // mm/pulse for m1
-    const float m2_mmp = pi*(*m_m2).m_radius*2/(*m_m2).m_ratio; // mm/pulse for m2
-    double m1_duration = 0;
-    double m2_duration = 0;
-    m_m1->setPoint = setPoint;
-    m_m2->setPoint = setPoint/m2_mmp*m1_mmp;
-    while(m1_duration<distance/m1_mmp && m2_duration<distance/m2_mmp) {
-        if(m1_duration<distance/m1_mmp) {
-            m1_duration+=m_m1->duration;
-            m_m1->compute(0);
-            m_m1->advance();
-            m_m1->duration = 0;
-        } else {m_m1->stop();}
-        if(m2_duration<distance/m2_mmp) {
-            m2_duration+=m_m2->duration;
-            m_m2->compute(0);
-            m_m2->advance();
-            m_m2->duration = 0;
-        } else {m_m2->stop();}
-    }
-    m_m1->stop();
-    m_m2->stop();
-}
-
-void Car::turn(float angle, double setPoint) { //angle : degre
-    float distance = pi*m_distance/360*angle;
-    const float m1_mmp = pi*(*m_m1).m_radius*2/(*m_m1).m_ratio; // mm/pulse for m1
-    const float m2_mmp = pi*(*m_m2).m_radius*2/(*m_m2).m_ratio; // mm/pulse for m2
-    double m1_duration = 0;
-    double m2_duration = 0;
-    m_m1->setPoint = setPoint;
-    m_m2->setPoint = setPoint/m2_mmp*m1_mmp;
-    boolean m1_tmp = false;
-    boolean m2_tmp = false;
-    if(angle>0) {
-        while(!m1_tmp && !m2_tmp) {
-            if(m1_duration<distance/m1_mmp) {
-//                Serial.print("M1 cycle ");
-//                Serial.print(m1_duration);
-//                Serial.print("  ");
-//                Serial.println(m_m1->duration);
-                m1_duration+=m_m1->duration;
-                m_m1->compute(0);
-                m_m1->advance();
-                m_m1->duration = 0;
-            } else {m1_tmp = true; m_m1->stop();}
-            if(m2_duration<distance/m2_mmp) {
-//                Serial.print("M2 cycle ");
-//                Serial.print(m2_duration);
-//                Serial.print("  ");
-//                Serial.println(m_m2->duration);
-                m2_duration-=m_m2->duration;
-                m_m2->compute(0);
-                m_m2->back();
-                m_m2->duration = 0;
-            } else {m2_tmp = true; m_m2->stop();}
-        }
-    } else if(angle<0) {
-        while(!m1_tmp && !m2_tmp) {
-            if(m1_duration<distance/m1_mmp) {
-                m1_duration-=m_m1->duration;
-                m_m1->compute(0);
-                m_m1->back();
-                m_m1->duration = 0;
-            } else {m1_tmp = true; m_m1->stop();}
-            if(m2_duration<distance/m2_mmp) {
-                m2_duration+=m_m2->duration;
-                m_m2->compute(0);
-                m_m2->advance();
-                m_m2->duration = 0;
-            } else {m2_tmp = true; m_m2->stop();}
-        }
-    }
-    Serial.println(m1_tmp);
-    Serial.println("End");
-    m_m1->stop();
-    m_m2->stop();
-}

jacobot/arduino/Car.h

@@ -1,14 +0,0 @@
-// Made by Linux_Hat
-#pragma once
-#include "MotorEncoder.h"
-
-class Car {
-    private: 
-        float m_distance;// mm
-        MotorEncoder* m_m1;
-        MotorEncoder* m_m2;
-    public:
-        Car(MotorEncoder* m1, MotorEncoder* m2, float distance);
-        void forward(float distance, double setPoint);
-        void turn(float angle, double setPoint);
-};

jacobot/arduino/MotorEncoder.cpp

@@ -1,74 +0,0 @@
-// Made by Linux_Hat
-#include <PID_v1.h>
-#include <Arduino.h>
-#include "MotorEncoder.h"
-
-MotorEncoder::MotorEncoder(uint8_t encoder0pinA, uint8_t encoder0pinB, int E_left, int M_left, boolean orientation, float ratio, float radius) {
-    m_encoder0pinA = encoder0pinA; // pin 2 or 3
-    m_encoder0pinB = encoder0pinB;
-    m_E_left = E_left;// pwm pin !
-    m_M_left = M_left;
-    m_orientation = orientation;
-    m_ratio = ratio;
-    m_radius = radius;
-    setPoint = 0;
-    pinMode(m_encoder0pinB, INPUT);
-    pinMode(m_M_left, OUTPUT);  // L298P Control port settings DC motor driver board for the output mode
-    pinMode(m_E_left, OUTPUT);
-
-    // Initialize PID controller
-    myPID = new PID(&abs_duration, &val_output, &setPoint, Kp, Ki, Kd, DIRECT);
-    myPID->SetMode(AUTOMATIC);  // PID is set to automatic mode
-    myPID->SetSampleTime(100);  // Set PID sampling frequency to 100ms
-}
-
-void MotorEncoder::wheelSpeed() {
-  int Lstate = digitalRead(m_encoder0pinA);
-  if((encoder0PinALast == LOW) && Lstate==HIGH){
-    int val = digitalRead(m_encoder0pinB);
-    if(val == HIGH){
-      if(!m_orientation)  duration--;
-      else  duration++;
-    }
-    else if(val == LOW){
-     if(!m_orientation)  duration++;
-    else  duration--;
-    }
-  }
-  encoder0PinALast = Lstate;
-
-  
-}
-
-void MotorEncoder::EncoderHandlerInit(void (*ISR)(void)) {
-    pinMode(m_encoder0pinB, INPUT);  // Ensure encoder pin A is set as INPUT
-    attachInterrupt(m_encoder0pinA-2, ISR, CHANGE);
-}
-
-void MotorEncoder::advance() {
-    digitalWrite(m_M_left, LOW);
-    analogWrite(m_E_left, abs(val_output));
-}
-
-void MotorEncoder::back() {
-    digitalWrite(m_M_left, HIGH);
-    analogWrite(m_E_left, abs(val_output));
-}
-
-void MotorEncoder::stop() {
-    analogWrite(m_E_left, 0); 
-}
-
-void MotorEncoder::compute(int debug) {
-    abs_duration = abs(duration);
-    result = myPID->Compute();
-    if (result) {
-        if (debug) {
-            Serial.print("Pluse: ");
-            Serial.print(duration);
-            Serial.print("  Power: ");
-            Serial.println(val_output);
-        }
-        duration = 0;
-    }
-}

jacobot/arduino/MotorEncoder.h

@@ -1,34 +0,0 @@
-// Made by Linux_Hat
-#pragma once
-#include <PID_v1.h>
-#include <Arduino.h>
-
-class MotorEncoder {
-    private:
-        uint8_t encoder0PinALast; //the number of the pulses
-        boolean m_orientation; //the rotation orientation
-        boolean result;
-        PID* myPID;
-        double val_output; //Power supplied to the motor PWM value.
-        double Kp = 0.6, Ki = 5, Kd = 0;
-        uint8_t m_encoder0pinA; //A pin
-        uint8_t m_encoder0pinB; //B pin 
-        int m_E_left; //The enabling of L298PDC motor driver board connection to the digital interface port 5
-        int m_M_left;
-        double abs_duration;
-
-    public:
-        double setPoint;
-        float m_ratio; // how many pulse for a complete turn
-        float m_radius; // wheel radius in mm
-        double duration;
-
-        MotorEncoder(uint8_t encoder0pinA, uint8_t encoder0pinB, int E_left, int M_left, boolean orientation, float ratio, float radius);
-
-        void EncoderHandlerInit(void (*ISR)(void));
-        void wheelSpeed();
-        void advance();
-        void back();
-        void stop();
-        void compute(int debug);
-};

jacobot/arduino/README.md

@@ -1 +0,0 @@
-# JacoBot Arduino

jacobot/arduino/Radio.cpp

@@ -1,30 +0,0 @@
-// Made by Linux_Hat
-#include <RF24.h>
-#include <SPI.h>
-#include <Arduino.h>
-#include "Radio.h"
-#define tunnel "PIPE1"
-
-Radio::Radio(int canal, int pinCE, int pinCSN) {
-    m_canal = canal;
-    m_pinCE = pinCE;
-    m_pinCSN = pinCSN; 
-    radio = new RF24(m_pinCE, m_pinCSN);
-    if (!radio->begin()) {
-        Serial.println("Error while initialise the NRF module");
-        while (1); 
-    }
-    Serial.println("Module initialised");
-    radio->openReadingPipe(0, (uint8_t*)tunnel);
-    radio->setChannel(m_canal); 
-    radio->setPALevel(RF24_PA_MIN); 
-    radio->startListening();
-}
-
-char Radio::read() {
-    if (radio->available()) {
-        radio->read(&message, sizeof(message));
-        return *message;
-    }
-    return 0;
-}

jacobot/arduino/Radio.h

@@ -1,17 +0,0 @@
-// Made by Linux_Hat
-#pragma once
-#include <RF24.h>
-#include <SPI.h>
-#include <Arduino.h>
-
-class Radio {
-    public:
-        char* message;
-        Radio(int canal, int pinCE, int pinCSN);
-        char read();
-    private:
-        int m_canal;
-        int m_pinCE;
-        int m_pinCSN;
-        RF24* radio;
-};

jacobot/arduino/main.cpp

@@ -1,33 +0,0 @@
-// Made by Linux_Hat
-#include <Arduino.h>
-#include "Radio.h"
-#include "MotorEncoder.h"
-#include "Car.h"
-
-MotorEncoder m1(2, A4, 5, 4, false, 120, 3.3); // Initialise motor with pins
-MotorEncoder m2(3, 9, 10, 8, true, 120, 3.3); // Initialise motor with pins
-
-void encoder_handler_m1() {
-  m1.wheelSpeed();  // Call wheelSpeed() of the m1 MotorEncoder instance
-}
-
-void encoder_handler_m2() {
-  m2.wheelSpeed();  // Call wheelSpeed() of the m2 MotorEncoder instance 
-}
-
-//Radio radio(120, 6, 7);
-
-Car car(&m1, &m2, 110); // Initialise the car with motors and distance
-
-void setup() {
-  Serial.begin(9600);//Initialize the serial port
-
-  m1.EncoderHandlerInit(encoder_handler_m1);
-  m2.EncoderHandlerInit(encoder_handler_m2);
-  Serial.println("Car started");
-  car.turn(90, 20);
-  //car.forward(100,50);
-}
-
-void loop() {
-}

jacobot/arduino/radio.cpp

@@ -1,27 +0,0 @@
-#include <RF24.h>
-#include <SPI.h>
-#include <Arduino.h>
-#include "radio.h"
-
-Radio::Radio(int canal, int pinCE, int pinCSN) {
-    m_canal = canal;
-    m_pinCE = pinCE;
-    m_pinCSN = pinCSN;
-    radio = new RF24(pinCE, pinCSN);
-    if (!radio->begin()) {
-        Serial.println("Error while initialise the NRF module");
-        while (1); 
-    }
-    Serial.println("Module initialised");
-    radio->openReadingPipe(0, adresse);
-    radio->setChannel(canal); 
-    radio->setPALevel(RF24_PA_MIN); 
-    radio->startListening();
-}
-
-char Radio::read() {
-    if (radio->available()) {
-        radio->read(&message, sizeof(message));
-        return *message;
-    }
-}

jacobot/arduino/radio.h

@@ -1,18 +0,0 @@
-#pragma once
-#include <RF24.h>
-#include <SPI.h>
-#include <Arduino.h>
-#define tunnel "PIPE1"
-
-class Radio {
-    public:
-        Radio(int canal, int pinCE, int pinCSN);
-        char read();
-        char message[32];
-    private:
-        int m_canal;
-        int m_pinCE;
-        int m_pinCSN;
-        RF24* radio;
-        const byte adresse[6] = tunnel;
-};

jacovirt/README.md

@@ -0,0 +1 @@
+# JacoVirt

jacovirt/jacovirt/bot/jacobot.py

@@ -0,0 +1,160 @@
+import turtle
+from importlib import resources
+import math
+from time import sleep
+import redis
+
+r = redis.Redis(host="localhost")
+
+mobile = r.pubsub()
+
+mobile.subscribe('jacobot-instructions')
+
+poscubettox = 0
+poscubettoy = 0
+
+xstart = 0
+ystart = 0
+
+xmax = 5
+ymax = 5
+
+distance = 0
+angle = 0
+
+theme = 0
+
+def main():
+
+    def dark_theme():
+        global posxstart, posystart, distance, theme
+        with resources.path("jacovirt", 'Img') as img_folder :
+            turtle.bgpic(str(img_folder/ "bot" / "background" / "Background_dark.png"))
+            
+        turtle.shape(str(img_folder/ "bot" / "cubetto" /"Cubetto_forme_droite_dark.gif"))
+        turtle.shapesize(3,3,6)
+
+        distance = 84
+
+        posxstart = -211
+        posystart = 200
+
+        theme = 1
+
+    def light_theme():
+        global posxstart, posystart, distance, theme
+        with resources.path("jacovirt", 'Img') as img_folder :
+            turtle.bgpic(str(img_folder/ "bot" / "background" / "Background_light.png"))
+    
+        turtle.shape(str(img_folder/ "bot" / "cubetto" /"Cubetto_forme_droite_light.gif"))
+        turtle.shapesize(10,10,6)
+
+        distance = 90
+
+        posxstart = -226
+        posystart = 225
+
+        theme = 2
+
+    def cubetto_init():
+        global posxstart, posystart, distance
+        with resources.path("jacovirt", 'Img') as img_folder :
+            turtle.register_shape(str(img_folder/ "bot" / "cubetto" /"Cubetto_forme_haut_dark.gif"))
+            turtle.register_shape(str(img_folder/ "bot" / "cubetto" /"Cubetto_forme_bas_dark.gif"))
+            turtle.register_shape(str(img_folder/ "bot" / "cubetto" /"Cubetto_forme_gauche_dark.gif"))
+            turtle.register_shape(str(img_folder/ "bot" / "cubetto" /"Cubetto_forme_droite_dark.gif"))
+            turtle.register_shape(str(img_folder/ "bot" / "cubetto" /"Cubetto_forme_haut_light.gif"))
+            turtle.register_shape(str(img_folder/ "bot" / "cubetto" /"Cubetto_forme_bas_light.gif"))
+            turtle.register_shape(str(img_folder/ "bot" / "cubetto" /"Cubetto_forme_gauche_light.gif"))
+            turtle.register_shape(str(img_folder/ "bot" / "cubetto" /"Cubetto_forme_droite_light.gif"))
+            
+        dark_theme()
+            
+        turtle.penup()
+        turtle.goto(posxstart, posystart)
+
+    def cubetto_forme_init():
+        global angle, theme
+        with resources.path("jacovirt", 'Img') as img_folder :
+            if angle == 360 or angle == -360:
+                angle=0
+            if angle == 0:
+                if theme == 1:
+                    turtle.shape(str(img_folder/ "bot" / "cubetto" /"Cubetto_forme_droite_dark.gif"))
+                elif theme == 2:
+                    turtle.shape(str(img_folder/ "bot" / "cubetto" /"Cubetto_forme_droite_light.gif"))
+            if angle == 90 or angle == -270:
+                if theme == 1:
+                    turtle.shape(str(img_folder/ "bot" / "cubetto" /"Cubetto_forme_haut_dark.gif"))
+                elif theme == 2:
+                    turtle.shape(str(img_folder/ "bot" / "cubetto" /"Cubetto_forme_haut_light.gif"))
+            if angle == 180 or angle == -180:
+                if theme == 1:
+                    turtle.shape(str(img_folder/ "bot" / "cubetto" /"Cubetto_forme_gauche_dark.gif"))
+                elif theme == 2:
+                    turtle.shape(str(img_folder/ "bot" / "cubetto" /"Cubetto_forme_gauche_light.gif"))
+            if angle == 270 or angle == -90:
+                if theme == 1:
+                    turtle.shape(str(img_folder/ "bot" / "cubetto" /"Cubetto_forme_bas_dark.gif"))
+                elif theme == 2:
+                    turtle.shape(str(img_folder/ "bot" / "cubetto" /"Cubetto_forme_bas_light.gif"))
+
+    def cubetto_forward():
+        global xmax, ymax, xstart, ystart, distance, poscubettox, poscubettoy
+
+        FuturXRight = (poscubettox+1)
+        FuturXLeft = (poscubettox-1)
+        FuturYTop = (poscubettoy-1)
+        FuturYBottom = (poscubettoy+1)
+
+        turtle.forward(distance)
+
+        if angle == 0 and FuturXRight <= xmax:
+            poscubettox += 1
+            
+        elif (angle == 90 or angle == -270) and FuturYTop >= ystart:
+            poscubettoy -= 1
+
+        elif (angle == 180 or angle == -180) and FuturXLeft >= xstart:
+            poscubettox -= 1
+
+        elif (angle == 270 or angle == -90) and FuturYBottom <= ymax:
+            poscubettoy += 1
+
+        else:
+            print("You are out of the carpet !")
+            exit()
+
+    def cubetto_left():
+        global angle
+        turtle.left(90)
+        angle += 90
+        cubetto_forme_init()
+
+    def cubetto_right():
+        global angle
+        turtle.right(90)
+        angle -= 90
+        cubetto_forme_init()
+
+    cubetto_init()
+    
+    while True:
+        for m_recu in mobile.listen():
+
+            if m_recu:
+                m_data = m_recu["data"]
+
+            if m_data == b"FORWARD":
+                cubetto_forward()
+            elif m_data == b"LEFT":
+                cubetto_left()
+            elif m_data == b"RIGHT":
+                cubetto_right()
+            elif m_data == b"INIT":
+                cubetto_init()
+            elif m_data == b"EXIT":
+                exit()
+            sleep(0.3)
+
+main()

jacovirt/jacovirt/pad/window.py

@@ -0,0 +1,48 @@
+import arcade
+
+
+# Screen title and size
+SCREEN_TITLE = "Jaco Pad"
+SCREEN_MULTILPLIER = 1
+SCREEN_WIDTH = int(1000* SCREEN_MULTILPLIER)
+SCREEN_HEIGHT = int(1000* SCREEN_MULTILPLIER)
+
+# Window color
+BACKGROUND_COLOR = (133, 100, 100)
+
+
+
+class Pad(arcade.Window):
+    """Main application class"""
+
+    def __init__(self):
+        # Init parent class
+        super().__init__(int(SCREEN_WIDTH), int(SCREEN_HEIGHT), SCREEN_TITLE)
+        # Set background color
+        arcade.set_background_color(BACKGROUND_COLOR)
+
+    def setup(self):
+        """Set up the pad"""
+        ...
+
+    def on_draw(self):
+        """Render the screen"""
+
+        # Clear the screen
+        self.clear()
+    
+    def on_key_press(self, symbol, modifiers):
+        """Called when the user presses key"""
+        if symbol == arcade.key.R:
+            self.setup()
+            print("Restart !")
+
+        if symbol == arcade.key.Q:
+            arcade.exit()
+
+
+def main():
+    """Main method"""
+    window = Pad()
+    window.setup()
+    arcade.run()

jacovirt/pyproject.toml

@@ -0,0 +1,23 @@
+[tool.poetry]
+name = "jacovirt"
+version = "0.1.0"
+description = ""
+authors = ["LPH"]
+readme = "README.md"
+
+[tool.poetry.dependencies]
+python = "^3.11"
+arcade = "^2.6.17"
+redis = "^5.0.3"
+
+
+[build-system]
+requires = ["poetry-core"]
+build-backend = "poetry.core.masonry.api"
+
+[tool.poetry.scripts]
+jacovirt-bot = "jacovirt.jacobot:main"
+jacovirt-pad = "jacovirt.pad.window:main"
+
+[[tool.poetry.include]]
+path = "jacovirt/jacovirt/Img/*"