Merge branch 'KITT_class' into 'main'

KITT_class

.gitignore

@@ -0,0 +1,2 @@
+.idea/
+Manual/KITT_Simulator/__pycache__/

student_code/control.py

@@ -1,19 +1,69 @@
+from serial import Serial
+
+
 class KITT:
     def __init__(self, port, baudrate=115200):
-        self.serial = Serial(port, baudrate, rtscts=True)
+        # 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):
-        self.serial.write(command.encode())
+        # Send the command string over the serial connection
+        self.serial.write(command)
+        print(command)
 
     def set_speed(self, speed):
-        self.send_command(f'M{speed}\n')
+        # Send the motor speed command using send_command
+        # Use the format 'M<speed>\n'
+        self.send_command(f"M{speed}\n".encode())
+
 
     def set_angle(self, angle):
-        self.send_command(f'D{angle}\n')
+        # Send the steering angle command using send_command
+        # Use the format 'D<angle>\n'
+        self.send_command(f"D{angle}\n".encode())
+
 
     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 __del__(self):
+    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 close(self):
+        # Close the serial connection
+        # self.serial.close()
         self.serial.close()