ver 1.0.1

README.md

@@ -9,11 +9,12 @@
 
 
 
-## How to Install Micropython library
+## How to Install the Micropython library
 
 ### 1. install mpremote
 
 [mpremote](https://docs.micropython.org/en/latest/reference/mpremote.html) is needed to upload files on the [Arduino® Nano ESP32](https://store.arduino.cc/products/nano-esp32?gad_source=1&gclid=Cj0KCQiA2KitBhCIARIsAPPMEhLtIxV_s7KyLJO4-69RdR1UeFTdgGK_XmI8w7xdbur4gs1oJU4Jl68aAhbaEALw_wcB).
+Minimum suggested mpremote release is 1.22.0
 
 ```shell
 (venv)$ pip install mpremote
@@ -34,13 +35,26 @@ Windows
 ***Note: The -p parameter is optional***
 
 
-__NOTE: DO NOT USE LAB FOR MICROPYTHON TO UPLOAD BIN FILES__
+__WARNING: do not open bin files with Arduino Lab for Micropython 0.8.0 because they will be corrupted__
+
+### 2.1  mip (MicroPython Package Manager)
+This is the recommended method for boards which can connect to Internet. Make sure your board is connected to the Internet and
+run the following MicroPython script using your favourite editor:
+
+```py
+import mip
+
+mip.install('github:arduino/arduino-alvik-mpy')
+
+```
 
 <br>
 <br>
 
 ### 3. Update firmware on your Arduino® Alvik
 
+Download the latest [Arduino Alvik Carrier Firmware code](https://github.com/arduino-libraries/Arduino_AlvikCarrier) (to compile the firmware using Arduino IDE) or the [pre-compiled firmware](https://github.com/arduino-libraries/Arduino_AlvikCarrier/releases/latest)
+
 Go into `utilities` folder and run:
 ```shell
 Linux
@@ -142,4 +156,15 @@ It is possible to stop the robot at any time by pressing the `CANCEL touch butto
 <br>
 <br>
 
-__Note: not open bin files with Arduino Lab for Micropython because they will be corrupted__
+__WARNING: do not open bin files with Arduino Lab for Micropython 0.8.0 because they will be corrupted__
+
+
+<br>
+<br>
+<br>
+
+
+## Useful links
+- [Arduino_Alvik](https://github.com/arduino-libraries/Arduino_Alvik): Arduino library required to program Alvik
+- [Arduino_AlvikCarrier](https://github.com/arduino-libraries/Arduino_AlvikCarrier): Arduino library required to build the firmware
+- [Arduino Alvik product page](https://store.arduino.cc/pages/alvik)

arduino_alvik/__init__.py

@@ -1 +1,10 @@
+"""
+Arduino Alvik micropython library
+"""
+
+__author__ = "Lucio Rossi <[email protected]>, Giovanni Bruno <[email protected]>"
+__license__ = "MPL 2.0"
+__version__ = "1.0.1"
+__maintainer__ = "Lucio Rossi <[email protected]>, Giovanni Bruno <[email protected]>"
+
 from .arduino_alvik import *

arduino_alvik/arduino_alvik.py

@@ -251,9 +251,9 @@ def is_target_reached(self) -> bool:
         if self._last_ack == self._waiting_ack:
             self._packeter.packetC1B(ord('X'), ord('K'))
             uart.write(self._packeter.msg[0:self._packeter.msg_size])
-            sleep_ms(100)
-            self._last_ack = 0x00
             self._waiting_ack = None
+            self._last_ack = 0x00
+            sleep_ms(100)
             return True
         return False
 
@@ -971,10 +971,27 @@ def print_status(self):
         Prints the Alvik status
         :return:
         """
-        for a in vars(self):
-            if str(a).startswith('_'):
-                continue
-            print(f'{str(a).upper()} = {getattr(self, str(a))}')
+        print('---ALVIK STATUS---')
+        print(f'VERSION: {self._version}')
+
+        print('---SENSORS---')
+        print(f'TOF: T:{self._top_tof} B:{self._bottom_tof} L:{self._left_tof} CL:{self._center_left_tof}' +
+              f' C:{self._center_tof} CR:{self._center_right_tof} R:{self._right_tof}')
+        print(f'LINE: L:{self._left_line} C:{self._center_line} R:{self._right_line}')
+        print(f'ACC: X:{self._ax} Y:{self._ay} Z:{self._az}')
+        print(f'GYR: X:{self._gx} Y:{self._gy} Z:{self._gz}')
+        print(f'POS: X:{self._x} Y:{self._y} TH:{self._theta}')
+        print(f'IMU: ROLL:{self._roll} PITCH:{self._pitch} YAW:{self._yaw}')
+        print(f'COLOR: R:{self._red} G:{self._green} B:{self._blue}')
+        print(f'BATT(%) {self._battery_perc}')
+
+        print('---COMMUNICATION---')
+        print(f'TOUCH BYTE: {self._touch_byte}')
+        print(f'LAST ACK: {self._last_ack}')
+
+        print('---MOTORS---')
+        print(f'LINEAR VEL: {self._linear_velocity}')
+        print(f'ANGULAR VEL: {self._angular_velocity}')
 
     def on_touch_ok_pressed(self, callback: callable, args: tuple = ()) -> None:
         """

package.json

@@ -10,7 +10,7 @@
         ["arduino_alvik/stm32_flash.py", "github:arduino/arduino-alvik-mpy/arduino_alvik/stm32_flash.py"]
     ],
     "deps": [
-        ["github:arduino/ucPack-mpy", "0.1.5"]
+        ["github:arduino/ucPack-mpy", "0.1.6"]
     ],
-    "version": "1.0.0"
+    "version": "1.0.1"
 }