# Comms

Code for **wired** communication from Slave Arduinos to Master Arduino, and then Master Arduino to Raspberry Pi.<br/>

### Code Description

- `RPi/` is working code for the Raspberry Pi
	- `RPICOM.py` is the main python file that should be run on the Raspberry Pi.
	- `offsets.txt` is the text file for the IMU offsets. This is not present in this repo but will be auto-generated by the `RPICOM.py` file. If the robot is interrupted and needs to be resumed, the IMUs will start at their default position; however, the offsets file allows the IMUs to use the position they last stopped at. Each line starts at 1.00 0.00 0.00 0.00 as these are the base quaternion values.
	- `log.txt` is the log file of what the RPi recieved. This is not present in this repo but will be auto-generated by the `RPICOM.py` file.
- `Arduino/` is working code for the master and slave Arduinos.
	- `MasterCode/MasterCode.ino` is the code for the Master Arduino
	- `SlaveCode/SlaveCode.ino` is the code for the Slave Arduinos, which reads actual IMU data.
	- `SlaveFakeCode/SlaveFakeCode.ino` is Slave Arduino code which generates fake IMU data, but in the real format to be sent to the Master Arduino.
	- `blank/blank.ino` is blank code for the Arduinos needed to reset during setup.
- `Prev/` is previous code used for testing systems and debugging errors (not final code, and may be unstable)<br/>


### Setup and Run

**Make sure you install python beforehand**

1. Open terminal and clone the `engine-software` if not cloned already

```
git clone https://github.com/PotentiaRobotics/engine-software.git

```

2. `Cd` into this directory

```
cd engine-software/comms/

```

3. Plug in Master and Slave Arduinos and identify which one is master, and which one(s) are slaves. 

4. Allow permission to flash code

```
chmod 777 /dev/ttyACM*
```

5. Open Arduino IDE and upload `blank/blank.ino` to all Arduinos.

**Do not open serial monitor on any Arduino**


6. Upload `SlaveCode/SlaveCode.ino` or `SlaveFakeCode/SlaveFakeCode.ino` to the Slave Arduinos in Arduino IDE

7. `Cd` into `RPi/`

```
cd RPi/
```

8. Install pyserial

```
pip3 install pyserial
```

9. Upload `MasterCode/MasterCode.ino` to the Master Arduino in Arduino IDE

10. Run the python code.

```
python3 RPICOM.py
```