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.