Merge pull request #40 from sfe-SparkFro/update_ivp

Update installation_verification.py

Author: ksiegall

Examples/installation_verification.py

@@ -1,27 +1,84 @@
 from XRPLib.defaults import *
-from .drive_examples import *
-from .misc_examples import *
 import time
 
 # Installation Verification Program
 def ivp():
+    # Print welcome message
+    print("------------------------------------------")
+    print("Running Installation Verification Program!")
+    print("------------------------------------------")
+    print()
+    print("Welcome to the XRP! This example code will help")
+    print("you verify that everything is working on your robot.")
+    print("After each test, press the user button to continue.")
+    print()
+    
+    # Flash LED at 5Hz
+    print("Flashing LED")
+    board.led_blink(5)
+    
+    # Wait for user to press button
+    print("Press user button to test reflectance sensor")
+    board.wait_for_button()
+    
+    # Stop blinking LED
+    board.led_off()
+    
+    # Print reflectance values until button is pressed
     while not board.is_button_pressed():
-        print(f"Left Reflectance: {reflectance.get_left()}, Right Reflectance: {reflectance.get_right()}")
+        print(f"Reflectance    Left: {reflectance.get_left():.3f}    Right: {reflectance.get_right():.3f}    Press user button to test range sensor")
         time.sleep(0.1)
+    
+    # Wait until button is released
     while board.is_button_pressed():
-        time.sleep(.01)
+        time.sleep(0.1)
+    
+    # Print range values until button is pressed
     while not board.is_button_pressed():
-        print(f"Ultrasonic Distance: {rangefinder.distance()}")
+        print(f"Range    Distance: {rangefinder.distance():.1f}    Press user button to test servo")
         time.sleep(0.1)
+    
+    # Wait until button is released
     while board.is_button_pressed():
-        time.sleep(.01)
-    print("Testing Servo")
-    test_servo()
-    print("Testing LEDs")
+        time.sleep(0.1)
+    
+    # Print warning and wait for button press
+    print()
+    print("The next test will move the servo, so keep your hands clear!")
+    print("Also please make sure the power switch is turned on!")
+    print("Press user button to test servo")
     board.wait_for_button()
-    test_leds()
-    print("Testing Drivetrain:")
+    
+    # Test servo
+    print("Testing servo")
+    time.sleep(1)
+    servo_one.set_angle(90)
+    time.sleep(1)
+    servo_one.set_angle(0)
+    time.sleep(1)
+    servo_one.set_angle(180)
+    
+    # Print warning and wait for button press
+    print()
+    print("The next test will drive the motors, so place the robot on a flat surface!")
+    print("Also please make sure the power switch is turned on!")
+    print("Press user button to test drivetrain")
     board.wait_for_button()
-    test_drive()
+    
+    # Test drivetrain
+    print("Testing drivetrain")
+    time.sleep(1)
+    drivetrain.straight(25, 0.8)
+    time.sleep(1)
+    drivetrain.turn(90,0.8)
+    time.sleep(1)
+    drivetrain.turn(90, -0.8)
+    time.sleep(1)
+    drivetrain.straight(-25,0.8)
+    
+    print()
+    print("-----------------------------------")
+    print("All tests complete! Happy roboting!")
+    print("-----------------------------------")
 
 ivp()