Merge remote-tracking branch 'origin/Module4' into Module4

# Conflicts:
#	student_code/car.py

student_code/car.py

@@ -0,0 +1,91 @@
+from serial import Serial
+#from Manual.KITT_Simulator.serial_simulator import Serial
+
+
+class KITT:
+    current_speed = 150
+    current_angle = 150
+    beacon_state = False
+
+    def __init__(self, port, baudrate=115200):
+        # Initialize the serial connection
+        # self.serial = Serial(port, baudrate, rtscts=True)
+        self.serial = Serial(port, baudrate,rtscts=True)
+        # Initialize beacon parameters here using send_command
+        # Set carrier frequency, bit frequency, repetition count, and code pattern
+        carrier_frequency_value = 10000
+        carrier_frequency = carrier_frequency_value.to_bytes(2, byteorder='big')
+        self.send_command(b"F"+carrier_frequency+b"\n")
+
+
+        bit_frequency_value = 5000
+        bit_frequency = bit_frequency_value.to_bytes(2, byteorder='big')
+        self.send_command(b"B"+bit_frequency+b"\n")
+
+
+        desired_repetition_frequency = 2  # Replace with your value
+        repetition_count_value = bit_frequency_value // desired_repetition_frequency
+        repetition_count = repetition_count_value.to_bytes(2, byteorder='big')
+        # Ensure repetition_count_value is at least 32
+        repetition_count_value = max(repetition_count_value, 32)
+        repetition_count = repetition_count_value.to_bytes(2, byteorder='big')
+        self.send_command(b"R"+repetition_count+b"\n")
+
+        code_value = 0x67676767 # Replace with your code
+        code = code_value.to_bytes(4, byteorder='big')
+        self.send_command(b"C"+code+b"\n")
+
+    def send_command(self, command):
+        # Send the command string over the serial connection
+        self.serial.write(command)
+        #print(command)
+
+    def set_speed(self, speed):
+        # Send the motor speed command using send_command
+        # Use the format 'M<speed>\n'
+        self.send_command(f"M{speed}\n".encode())
+        self.current_speed = speed
+
+    def get_speed(self):
+        return self.current_speed
+
+    def set_angle(self, angle):
+        # Send the steering angle command using send_command
+        # Use the format 'D<angle>\n'
+        self.send_command(f"D{angle}\n".encode())
+        self.current_angle = angle
+
+    def get_angle(self):
+        return self.current_angle
+
+    def stop(self):
+        # Stop the car by setting speed and angle to neutral (150)
+        # Call set_speed and set_angle with 150
+        self.set_speed(150)
+        self.set_angle(150)
+
+    def start_beacon(self):
+        # Send commands to start the beacon
+        # Use the command 'A1\n'
+        self.send_command(b"A1\n")
+
+    def stop_beacon(self):
+        # Send commands to stop the beacon
+        # Use the command 'A0\n'
+        self.send_command(b"A0\n")
+
+    def toggle_beacon(self):
+        if self.beacon_state:
+            self.beacon_state = False
+            self.stop_beacon()
+        else:
+            self.beacon_state = True
+            self.start_beacon()
+
+    def get_beacon_state(self):
+        return self.beacon_state
+
+    def close(self):
+        # Close the serial connection
+        # self.serial.close()
+        self.serial.close()