Last changes to pytthton drivers for all sensors

src/Client/NewRobotPy/magnetometer.py

@@ -2,48 +2,9 @@ import math
 import py_qmc5883l
 import time
 
-# def calculate_angle(sensor):
-#     """
-#     Calculate the angle from 0 to 360 degrees using the QMC5883L magnetic sensor.
-
-#     Args:
-#         sensor (QMC5883L): An instance of the QMC5883L sensor.
-
-#     Returns:
-#         float: The calculated angle in degrees from 0 to 360.
-#     """
-#     # Get the raw magnetic sensor data
-#     x, y, z = sensor.get_magnet_raw()
-    
-#     if x is None or y is None:
-#         return None
-    
-#     # Calculate the angle in radians
-#     angle_rad = math.atan2(y, x)
-    
-#     # Convert the angle to degrees
-#     # angle_deg = math.degrees(angle_rad)
-    
-#     # Adjust the angle to the range of 0 to 360 degrees
-#     # if angle_deg < 0:
-#     #     angle_deg += 360
-    
-#     return angle_rad
-
-# # Example usage
-# if __name__ == "__main__":
-    # sensor = py_qmc5883l.QMC5883L()
-    
-    # while True:
-        
-    #     angle = calculate_angle(sensor)
-    #     print("Angle:", angle)
-    #     time.sleep(0.1)
 
 sensor = py_qmc5883l.QMC5883L(output_range=py_qmc5883l.RNG_8G)
 
-while True:
-    
-    m = sensor.get_bearing()
-    print(m)
-    time.sleep(0.1)
+
+m = sensor.get_bearing()
+print(m)

src/Client/NewRobotPy/stepper.py

@@ -12,14 +12,14 @@ direction1 = 23
 step1 = 22
 enable1 = 24
 
-direction2 = 14
-step2 = 15
-enable2 = 18
+direction2 = 20
+step2 = 26
+enable2 = 21
 
 GPIO.setup(enable1, GPIO.OUT, initial=GPIO.HIGH)
 GPIO.setup(enable2, GPIO.OUT, initial=GPIO.HIGH)
-GPIO.output(enable1, GPIO.HIGH)
-GPIO.output(enable2, GPIO.HIGH)
+# GPIO.output(enable1, GPIO.HIGH)
+# GPIO.output(enable2, GPIO.HIGH)
 
 def run_motor1(direction, steps):
     direction = not direction
@@ -60,11 +60,12 @@ def drive(direction, steps):
     # Wait for both threads to complete
     thread1.join()
     thread2.join()
+    
+        # sleep to stop inertia
+    time.sleep(0.5)
 
     GPIO.output(enable1, GPIO.HIGH)
     GPIO.output(enable2, GPIO.HIGH)
-
-    GPIO.cleanup()
     print("Driven succesfully")
     
 def turn(direction, steps):
@@ -101,11 +102,15 @@ def turn(direction, steps):
     # Wait for both threads to complete
     thread1.join()
     thread2.join()
+    
+    # sleep to stop inertia
+    time.sleep(0.5)
 
     GPIO.output(enable1, GPIO.HIGH)
     GPIO.output(enable2, GPIO.HIGH)
+    print("Turned succesfully")
 
-    GPIO.cleanup()
+    # GPIO.cleanup()
     
 
 if __name__ == "__main__":

src/Client/NewRobotPy/ultrasonic.py

@@ -0,0 +1,33 @@
+import serial
+import time
+
+def read_distance(serial_port):
+    # Open serial port
+    ser = serial.Serial(serial_port, 9600, timeout=1)
+    time.sleep(2)  # Wait for the serial connection to initialize
+    
+    # Command to read distance
+    read_distance_cmd = [0x22, 0x00, 0x00, 0x22]
+    
+    # Send the command
+    ser.write(bytearray(read_distance_cmd))
+    
+    # Read the response
+    response = ser.read(4)
+    
+    # Close serial port
+    ser.close()
+    
+    if len(response) == 4:
+        distance = (response[1] << 8) + response[2]
+        return distance
+    else:
+        return None
+
+if __name__ == "__main__":
+    port = '/dev/serial0'  # Replace with your actual serial port
+    
+
+            
+    distance = read_distance(port)
+    print(distance)