ENES193 Library

Package Download and Installation

In this section, you will download the package and upload it to your microcontroller through Thonny IDE.

1. To download the package, click the green <> Code drop down at the top of the page. Then click Download ZIP.
2. Open Thonny and navigate to Tools > Manage packages...
3. Using Install from local file, find the file on your computer and upload it to your device.

Usage

from enes193.tank import tank -> import tank functions

from enes193 import Enes193 -> import vision system functions

To use the package, you have to direct the compiler to include it in your code. Add it manually by typing the above at the very top of your file.

Tank Library

Functions

tank.turn_off_motors() sets the pwm of both motors to 0.

tank.set_left_PWM(pwm) sets motors on left speeds to specified pwm (pwm: -1023 to 1023).

tank.set_right_PWM(pwm) sets motors right speeds to specified pwm (pwm: -1023 to 1023).

tank.read_distance_sensor() reads and returns distance in centimeters.

tank.set_servo(deg) sets servo motor to specified angle (deg: 0-180).

ENES193 Library (Vision System Communication)

Functions

Enes193.begin()

Enes193.begin(team_name: str, team_type: str, aruco_id: int, room_num: int)

Example: Enes193.begin("LTFs", "FIRE", 105, 1116)

Establishes communication with the Vision System and allows for the use of all other enes193 commands

• team_name: Name of the team that will show up in the Vision System
• team_type: Type of mission your team is running.
  • Valid Mission Types: 'DATA', 'HYDROGEN' 'MATERIAL', 'FIRE', 'WATER', 'SEED'
• aruco_id: ID of your Aruco Marker
• room_num: The number of the classroom in which you are located (1116 or 1120)

Enes193.x and similar

The Aruco Marker has 4 values

• x: x-coordinate of the Aruco Marker (from 0.0 to 4.0), -1 if aruco is not visible
• y: y-coordinate of the Aruco Marker (From 0.0 to 2.0), -1 if aruco is not visible
• theta: angle of the Aruco Marker (from -pi radians to pi radians), -1 if aruco is not visible
• visibility: whether the ArUco marker is visible (true or false)

These values can be queried by using the following commands:

• Enes193.getX()
• Enes193.getY()
• Enes193.getTheta()
• Enes193.isVisible()

Enes193.get variants will make sure you get the latest data available to you about your OTV's location. There is no need to save these as a separate variable.

Enes193.is_connected()

Enes193.is_connected()

Returns true if the Acebott is connected to the Vision System, false otherwise. Note: Enes193.begin will not return until this function is true.

Enes193.print()

Enes193.print(message: str)

Example: Enes193.print("On our way to mission site.")

Sends a message to the vision system with a new line. Any messages sent after will be printed in a new line below the ' println'

Enes193.mission()

Enes193.mission(type: str, message: str*)

Sends value for a mission objective.

• type: what type of mission call you are sending
• message: mission value associated with the mission type.

All the definitions defined in the Enes100 package correlate to an integer. To save you the trouble, you can call the uppercase definition like 'TOPOGRAPHY' for Fire teams or 'MATERIAL_TYPE' for Material Identification teams.

*For some mission calls below, the value i will denote an integer value. In that case, i should be an int NOT a str.

Valid calls for DATA:

• Enes193.mission(CYCLE, i) i is the duty cycle percent (ex. 10, 30, 50, 70, 90)
• Enes193.mission(MAGNETISM, MAGNETIC)
• Enes193.mission(MAGNETISM, NOT_MAGNETIC)

Valid calls for HYDROGEN:

• Enes193.mission(LED_COLOR, COLOR) COLOR options are WHITE, RED, YELLOW, GREEN, and BLUE
• Enes193.mission(VOLTAGE_OUTPUT, VOLTAGE_3) * VOLTAGE options are VOLTAGE_1 through VOLTAGE_5*

Valid calls for MATERIAL:

• Enes193.mission(WEIGHT, HEAVY)
• Enes193.mission(WEIGHT, MEDIUM)
• Enes193.mission(WEIGHT, LIGHT)
• Enes193.mission(MATERIAL_TYPE, FOAM)
• Enes193.mission(MATERIAL_TYPE, PLASTIC)

Valid calls for FIRE:

• Enes193.mission(NUM_CANDLES, i) i is an integer (0, 1, 2, 3, 4, 5)
• Enes193.mission(TOPOGRAPHY, TOP_A)
• Enes193.mission(TOPOGRAPHY, TOP_B)
• Enes193.mission(TOPOGRAPHY, TOP_C)

Valid calls for SEED:

• Enes193.mission(LOCATION, plot) where plot is "BOTH" "NEITHER" "ADJACENT" or "DIAGONAL" for plantable substrate.

Valid calls for WATER:

• Enes193.mission(DEPTH, i) i is in mm
• Enes193.mission(WATER_TYPE, FRESH_UNPOLLUTED)
• Enes193.mission(WATER_TYPE, FRESH_POLLUTED)