Skip to content

Latest commit

 

History

History
99 lines (65 loc) · 3.65 KB

README.md

File metadata and controls

99 lines (65 loc) · 3.65 KB

Stand With Ukraine

Fast Wonder SDK

The Fast Wonder SDK is a Python library that facilitates communication with the Hiwonder TurboPi controller. It provides easy-to-use functions for controlling various peripherals such as RGB LEDs, buzzers, infrared sensors, and more, while ensuring reliable communication with checksum validation using CRC-8.

Features

  • Control RGB LEDs: Easily control the colors of RGB LEDs using indexed tuples.
  • Control BUZZER: Simple API to control the buzzer.
  • Control Infrared Sensors: Interface with infrared sensors to detect obstacles or follow lines.
  • Control Motors:
  • Reliable Communication: Ensures data integrity with CRC-8 checksum validation for communication.
  • Configurable Serial Communication: Adjust serial communication parameters such as baud rate, timeout, etc.

Installation

To get started with Fast Wonder SDK, follow these steps:

  1. Clone the repository: 
    git clone https://github.com/dmberezovskyii/fast-hiwonder.git

Usage

  1. Infra red sensors 
    from fast_hi_wonder import InfraredSensors

# Initialize the sensor with the default I2C address and bus
sensors = InfraredSensors()

# Read sensor data
sensor_states = sensors.read_sensor_data()

# Process sensor states
for i, state in enumerate(sensor_states):
    print(f"Sensor {i+1} is {'active' if state else 'inactive'}")
  2. Mecanum wheels

    Polar Coordinates

In polar coordinates, we describe a point (or movement) in space using two parameters:

  • Radius (r): The distance from the origin (0,0) to the point.
  • Angle (θ): The direction of the point relative to the X-axis (horizontal axis) in degrees or radians.

In the case of your mechanism:

  • Velocity: The distance the robot moves per unit of time.
  • Direction: The angle at which the robot is moving, measured from the X-axis.

Trigonometry and Coordinate Transformation

To control the robot's movement, we break the velocity down into two components — vx and vy:

  • vx: The velocity component along the X-axis (horizontal axis).
  • vy: The velocity component along the Y-axis (vertical axis).

To calculate these components, we use trigonometric functions:

  • vx (component along the X-axis) is calculated using the cosine of the direction angle: [ vx = \text{velocity} \times \cos(\text{direction}) ]

  • vy (component along the Y-axis) is calculated using the sine of the direction angle: [ vy = \text{velocity} \times \sin(\text{direction}) ]

Example

If the robot needs to move at a speed of 100 mm/s in the direction of 30 degrees (from the X-axis):

  • ( vx = 100 \times \cos(30^\circ) )

  • ( vy = 100 \times \sin(30^\circ) )

    chassis = Motors()

 # Move forward at 100 mm/s in the direction of 0 degrees (forward along the X-axis)
 chassis.set_velocity(100, 0, 0)

 # Rotate the chassis at an angular rate of 30 degrees per second
 chassis.set_velocity(100, 0, 30)

 # Translate the chassis based on Cartesian coordinates (e.g., moving diagonally)
 chassis.translation(50, 50)

 # Stop all motors and reset movement attributes
 chassis.reset_motors()

External Links

You can find more information about the TurboPi robot here.

Stand With Ukraine