Multidrive remote + touch interface fix

requirements.txt

@@ -1,5 +1,5 @@
-git+https://github.com/2bndy5/Adafruit_CircuitPython_LSM9DS1.git
-git+https://github.com/2bndy5/CircuitPython_MPU6050.git
+adafruit_circuitpython_lsm9ds1==2.0.5
+adafruit_circuitpython_mpu6050==1.0.1
 git+https://github.com/DVC-Viking-Robotics/Drivetrain.git
 git+https://github.com/DVC-Viking-Robotics/GPS_Serial.git
 circuitpython-nrf24l01==1.1.0

webapp/inputs/HWconfig_template.json

@@ -13,17 +13,56 @@
                 }
             ],
             "type":"Tank",
-            "max speed":"85"
+            "max speed":"85",
+            "name":"integrated drive"
         },
         {
             "motors":[
                 {
-                    "driver":"NRF24L01",
-                    "address":"5,8",
-                    "name":"rfpi0"
+                    "driver":"NRF24L01tx",
+                    "address":"5,4",
+                    "name":"rfpi0",
+                    "cmd_template":"llb"
                 }
             ],
-            "type":"External"
+            "type":"nRF24L01",
+            "name":"RF 2.4GHz"
+        },
+        {
+            "motors":[
+                {
+                    "driver":"ROBOCLAW",
+                    "address":"/dev/ttyUSB0"
+                }
+            ],
+            "type":"Roboclaw",
+            "name":"MIEL"
+        },
+        {
+            "motors":[
+                {
+                    "driver":"Solenoid",
+                    "address":"22,13"
+                }
+            ],
+            "switch_pin":"4",
+            "type":"Locomotive",
+            "name":"Railroad drive"
+        },
+        {
+            "motors":[
+                {
+                    "driver":"BiMotor",
+                    "address":"22,13"
+                },
+                {
+                    "driver":"BiMotor",
+                    "address":"17,18"
+                }
+            ],
+            "type":"Automotive",
+            "max speed":"85",
+            "name":"RC Car drive"
         }
     ],
     "IMU":[
@@ -53,4 +92,4 @@
             "address":"/dev/ttyACM0"
         }
     ]
-}
+}

webapp/inputs/config.py

@@ -6,12 +6,14 @@
     pass  # addressed by has_gpio_pins variable
 from gps_serial import GPSserial
 from .check_platform import ON_RASPI, ON_JETSON
+from .ext_node import ROBOCLAW
 
 if ON_RASPI:
-    from drivetrain.drivetrain import Tank, Automotive, External
-    from drivetrain.motor import Solenoid, BiMotor, PhasedMotor, NRF24L01, USB
+    from drivetrain import Tank, Automotive, Locomotive, Solenoid, BiMotor, PhasedMotor, NRF24L01tx
     from adafruit_lsm9ds1 import LSM9DS1_I2C
-    from circuitpython_mpu6050 import MPU6050
+    from adafruit_mpu6050 import MPU6050
+    from circuitpython_nrf24l01 import RF24
+    from digitalio import DigitalInOut as Dio
 
 from .imu import MAG3110
 
@@ -58,7 +60,7 @@
         '27': board.D27,
     }
 
-d_train = []
+d_train = {}
 IMUs = []
 gps = []
 nav = None
@@ -67,7 +69,7 @@
     if 'Drivetrains' in SYSTEM_CONF['Check-Hardware']:
         # handle drivetrain
         for d in SYSTEM_CONF['Drivetrains']:
-            if d['type'] in ('Tank', 'Automotive', 'External'):
+            if d['type'] in ('Tank', 'Automotive', 'Locomotive', 'nRF24L01', 'Roboclaw'):
                 # instantiate motors
                 motors = []
                 for m in d['motors']:
@@ -83,18 +85,19 @@
                         motors.append(BiMotor(pins))
                     elif m['driver'].startswith('PhasedMotor') and len(pins) == 2 and has_gpio_pins:
                         motors.append(PhasedMotor(pins))
-                    elif m['driver'].startswith('NRF24L01') and has_gpio_pins:
-                        motors.append(
-                            NRF24L01(SPI_BUS, pins, bytes(m['name'].encode('utf-8'))))
-                    elif m['driver'].startswith('USB'):
-                        motors.append(USB(m['address']))
+                    elif m['driver'].startswith('ROBOCLAW'):
+                        d_train[d["name"]] = ROBOCLAW(m['address'])
+                    elif m['driver'].startswith('NRF24L01tx') and has_gpio_pins:
+                        d_train[d["name"]] = NRF24L01tx(
+                            RF24(SPI_BUS, Dio(pins[0]), Dio(pins[1])),
+                                address=bytes(m['name'].encode()),
+                                cmd_template=m['cmd_template'])
                 if d['type'].startswith('Tank') and has_gpio_pins:
-                    d_train.append(Tank(motors, int(d['max speed'])))
+                    d_train[d["name"]] = Tank(motors, int(d['max speed']))
                 elif d['type'].startswith('Automotive') and has_gpio_pins:
-                    d_train.append(Automotive(motors, int(d['max speed'])))
-                elif d['type'].startswith('External'):
-                    if motors:
-                        d_train.append(External(motors[0]))
+                    d_train[d["name"]] = Automotive(motors, int(d['max speed']))
+                elif d['type'].startswith('Locomotive') and has_gpio_pins:
+                    d_train[d["name"]] = Locomotive(motors, RPI_PIN_ALIAS[d['switch_pin']])
 
     if 'IMU' in SYSTEM_CONF['Check-Hardware']:
         for imu in SYSTEM_CONF['IMU']:

webapp/inputs/ext_node.py

@@ -1,6 +1,7 @@
 """
 A collection of wrapper classes that extend communication with external devices (ie arduino or another raspberry pi)
 """
+from webapp.outputs.roboclaw_3 import Roboclaw
 
 class EXTnode():
     """
@@ -29,3 +30,33 @@ def get_all_data(self):
         if temp:
             self.heading = float(temp[0])
         return self.heading
+
+class ROBOCLAW:
+    def __init__(self, address, claw_address=0x80):
+        self._address = claw_address
+        self._device = Roboclaw(address, 38400)
+        self._device.Open()
+
+    def go(self, cmds):
+        if len(cmds) < 2:
+            raise ValueError('Commands list needs to be atleast 2 items long')
+        cmds[0] = max(-65535, min(65535, cmds[0]))
+        cmds[1] = max(-65535, min(65535, cmds[1]))
+        left = cmds[1]
+        right = cmds[1]
+        if not cmds[1]:
+            # if forward/backward axis is null ("turning on a dime" functionality)
+            # re-apply speed governor to only axis with a non-zero value
+            right = cmds[0]
+            left = cmds[0] * -1
+        else:
+            # if forward/backward axis is not null and left/right axis is not null
+            # apply differential to motors accordingly
+            offset = (65535 - abs(cmds[0])) / 65535.0
+            if cmds[0] > 0:
+                right *= offset
+            elif cmds[0] < 0:
+                left *= offset
+        # send translated commands to motors
+        self._device.ForwardBackwardM1(self._address, int(left * 127 / 131070 + 64))
+        self._device.ForwardBackwardM2(self._address, int(right * 127 / 131070 + 64))