Modify I2C and other constants

lib/cube/__init__.py

@@ -2,5 +2,4 @@ from .buzzer import Buzzer
 from .i2c_guard import I2CGuard
 from .sh1106 import SH1106_I2C
 from .esp_config import Esp
-from .i2c_master import I2C_master
-from .i2c_slave import I2C_slave
\ No newline at end of file
+from .i2c_master import I2C_master
\ No newline at end of file

lib/menu_display.py

@@ -37,7 +37,8 @@ def display_fill_programs(robot, program_list, current_program):
     robot.display.centered_text('< Programs >', DISPLAY_TITLE_POS, 1)
     if len(program_list) > 0:
         robot.display.centered_text(program_list[current_program][0][:-3], DISPLAY_PROG_POS, 1)
-        display_fill_arrows(robot)
+        if len(program_list) > 1:
+            display_fill_arrows(robot)
     else:
         robot.display.centered_text("cube is empty", DISPLAY_PROG_POS, 1)
 

lib/robot.py

+from micropython import const
 from machine import Pin, I2C, Timer, WDT
 from time import sleep, ticks_ms
 
@@ -6,7 +7,9 @@ from lib import nxt, ev3, OC
 
 from lib.hw_defs.ports import SENSOR_PORT_PINS, MOTOR_PORT_PINS
 from lib.hw_defs.pins import *
-from lib.robot_consts import Sensor,Button, BAT_VOLTAGE_TURNOFF, BAT_TURNOFF_PERIODS, BAT_MEASURE_PERIOD, I2C_FREQ, PCF_CHECK_PERIOD, FW_VERSION
+from lib.robot_consts import Sensor,Button, BAT_VOLTAGE_TURNOFF, BAT_TURNOFF_PERIODS, BAT_MEASURE_PERIOD
+from lib.robot_consts import I2C_INTERNAL_BUS, I2C_INTERNAL_FREQ, PCF_CHECK_PERIOD, DISPLAY_WIDTH, DISPLAY_HEIGHT, FW_VERSION
+from lib.robot_consts import WDT_TIMEOUT, WDT_FEED_TIMER_PERIOD 
 
 import motors_ll
 import brick_ll
@@ -23,8 +26,8 @@ class Robot:
         # Set pins 0, 1 to input to correctly initialize HW UART0
         Pin(0, mode=Pin.IN)
         Pin(1, mode=Pin.IN)
-        self.i2c = I2C(1,sda=Pin(INTERNAL_I2C_SDA_PIN), 
-            scl=Pin(INTERNAL_I2C_SCK_PIN), freq=I2C_FREQ)
+        self.i2c = I2C(I2C_INTERNAL_BUS,sda=Pin(INTERNAL_I2C_SDA_PIN), 
+            scl=Pin(INTERNAL_I2C_SCK_PIN), freq=I2C_INTERNAL_FREQ)
         self.i2c_lock = I2CGuard()
         self.mutex = None
         self.sensors = Sensors()
@@ -37,7 +40,7 @@ class Robot:
         self.battery = brick_ll.Battery()
         self.buzzer = Buzzer()
         self.led = brick_ll.Led()
-        self.display = SH1106_I2C(128, 64, self.i2c, self.i2c_lock, rotate=180)
+        self.display = SH1106_I2C(DISPLAY_WIDTH, DISPLAY_HEIGHT, self.i2c, self.i2c_lock, rotate=180)
         self.buttons = brick_ll.Buttons()
         self.buttons.pressed_since()
         self.esp = Esp(self.buttons)
@@ -59,10 +62,10 @@ class Robot:
         self.battery_timer.init(mode=Timer.PERIODIC, period=BAT_MEASURE_PERIOD,
                                 callback=self.check_battery_low)
         
-        self.wdt = WDT(timeout=4000)
-        print("Watch Dog Timer initialised with timeout 4 s.")
+        self.wdt = WDT(timeout=WDT_TIMEOUT)
+        print(f"Watch Dog Timer initialised with timeout {WDT_TIMEOUT/10} s.")
         self.wdt_feed_timer = Timer(-1)
-        self.wdt_feed_timer.init(period=3500, mode=Timer.PERIODIC,
+        self.wdt_feed_timer.init(period=WDT_FEED_TIMER_PERIOD, mode=Timer.PERIODIC,
                                  callback=self.wdt_feed)
     
     # Function called with a timer to feed Watch Dog Timer to prevent rebooting
@@ -169,11 +172,10 @@ class Robot:
     # Check if the battery voltage is too low,
     # if it is make buzzer sound, show info on the display and turn off the cube
     def check_battery_low(self, p):
-        print(self.battery.voltage() , self.battery_low_counter)
         if self.battery.voltage() < BAT_VOLTAGE_TURNOFF:
             self.battery_low_counter += 1
             if self.battery_low_counter >= BAT_TURNOFF_PERIODS:
-                #self.buzzer.set_freq_duty(1000, 0.05)
+                self.buzzer.set_freq_duty(1000, 0.05)
                 self.display.fill(0)
                 self.display.text('Battery low!', 15, 30, 1)
                 self.display.show()

lib/robot_consts.py

@@ -75,18 +75,26 @@ class Color:
     BROWN: Color = const(7)
 
 
-BAT_MEASURE_PERIOD = const(1000)	# ms
-BAT_TURNOFF_PERIODS = 2
-BAT_VOLTAGE_MAX = 8.4
-BAT_VOLTAGE_MIN = 6.2
-BAT_VOLTAGE_TURNOFF = (BAT_VOLTAGE_MIN+0.1)			# Volts
+BAT_MEASURE_PERIOD = const(1000)    # ms
+BAT_TURNOFF_PERIODS = const(2)
+BAT_VOLTAGE_MAX = const(8.4)
+BAT_VOLTAGE_MIN = const(6.2)
+BAT_VOLTAGE_TURNOFF = (BAT_VOLTAGE_MIN+0.1) # Volts
 
-PCF_CHECK_PERIOD = const(50)		# ms
-I2C_SLAVE_READ_PERIOD = const(1)	# ms
+PCF_CHECK_PERIOD = const(50)        # ms
 
-I2C_FREQ = const(400000)			# Hz
+I2C_NXT_UTZ_BUS = const(0)
+I2C_INTERNAL_BUS = const(1)
+
+I2C_INTERNAL_FREQ = const(400000)           # Hz
 I2C_NXT_UTZ_FREQ = const(30000)             # Hz
-I2C_MULTICUBE_FREQ = const(100000)
+I2C_MULTICUBE_FREQ = const(100000)          # Hz
 
-ESP_BAUDRATE = const(115200)		# bps
+ESP_BAUDRATE = const(115200)    # bps
 ESP32_COMMAND_PIN = const(8)
+
+DISPLAY_WIDTH = const(128)
+DISPLAY_HEIGHT = const(64)
+
+WDT_TIMEOUT = const(4000)      # ms
+WDT_FEED_TIMER_PERIOD = const(3500) # ms
\ No newline at end of file

main/main.py

@@ -332,7 +332,7 @@ def main():
             current_program = menu_list[current_menu]
             display_fill_programs(robot, program_list, current_program)
             # Check if OK button was pressed and start user program
-            if ok_pressed:
+            if ok_pressed and len(program_list) > 0:
                 robot_state = 1
                 program_name = program_list[current_program][0]
                 program_path = "./programs/" + program_name