Added boilerplate

examples/boilerplate.py

@@ -0,0 +1,98 @@
+from pimoroni_yukon import Yukon
+
+# Perform system level imports here
+# e.g. import math
+
+# Import any slots needed for your modules
+# e.g. from pimoroni_yukon import SLOT1 as SLOT
+
+# Import any Yukon modules you are using
+# e.g. from pimoroni_yukon.modules import DualMotorModule
+
+# Import the logging level to use (if you wish to change from the default)
+# e.g. from pimoroni_yukon.logging import LOG_NONE, LOG_WARN, LOG_INFO, LOG_DEBUG
+
+from pimoroni_yukon.timing import ticks_ms, ticks_add  # This import is only needed if using .monitor_until_ms()
+
+# Perform any other imports here
+# e.g. from pimoroni_yukon.devices.stepper import OkayStepper
+
+"""
+This is a boilerplate example for Yukon. Use it as a base for your own programs.
+
+Press "Boot/User" to exit the program.
+"""
+
+# Constants
+SLEEP_TIME = 0.1
+
+# Place other constants here
+# e.g. VOLTAGE_LIMIT = 12
+
+# Variables
+yukon = Yukon()     # Create a new Yukon object. These optional keyword parameters are supported:
+                    # `voltage_limit`, `current_limit`, `temperature_limit`, and `logging_level`
+
+# Create your module objects here
+# e.g. module = DualMotorModule()
+
+# Place other variables here
+# e.g. button_state = False
+
+
+# Put any functions needed for your program here
+# e.g. def my_function():
+#          pass
+
+
+# Wrap the code in a try block, to catch any exceptions (including KeyboardInterrupt)
+try:
+    # Register your module with their respective slots
+    # e.g. yukon.register_with_slot(module, SLOT)
+
+    # Verify that the correct modules are attached to Yukon, and initialise them
+    # This is not necessary if your program uses Yukon's IO directly, or via proto modules
+    # yukon.verify_and_initialise()
+
+    # Set up any variables or objects that need initialised modules
+    # e.g. stepper = OkayStepper(module.motor1, module.motor2)
+
+    yukon.enable_main_output()                  # Turn on power to the module slots
+
+    # Enable any modules or objects
+    # e.g. module.enable()
+
+    current_time = ticks_ms()                   # Record the start time of the program loop. Only needed if using .monitor_until_ms()
+
+    # Loop until the BOOT/USER button is pressed
+    while not yukon.is_boot_pressed():
+
+        #######################
+        # Put your program here
+        #######################
+
+        # Choose one of three options for monitoring Yukon's sensors
+
+        # 1) Perform a single check of Yukon's internal voltage, current, and temperature sensors
+        # yukon.monitor_once()
+
+        # 2) Monitor sensors for a number of seconds, recording the min, max, and average for each
+        # yukon.monitored_sleep(SLEEP_TIME)
+
+        # 3) Advance the current time by a number of seconds
+        current_time = ticks_add(current_time, int(SLEEP_TIME * 1000))
+
+        # Monitor sensors until the current time is reached, recording the min, max, and average for each
+        # This approach accounts for the updates taking a non-zero amount of time to complete
+        yukon.monitor_until_ms(current_time)
+
+        # Print out any readings from the monitoring period that may be useful
+        yukon.print_readings(allowed="Vi_avg")
+
+# Reset the yukon instance if the program completes successfully or an exception occurs
+finally:
+    # Clean up any objects that hold on to hardware resources
+    # e.g. if stepper is not None:
+    #          stepper.release()
+
+    yukon.reset()

examples/modules/bench_power/multiple_powers.py

@@ -75,7 +75,7 @@ def voltage_from_index(index, offset=0.0):
         current_time = ticks_add(current_time, int(1000 / UPDATES))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
 finally:

examples/modules/big_motor/all_motors_no_encoders.py

@@ -84,7 +84,7 @@ def speed_from_index(index, offset=0.0):
         current_time = ticks_add(current_time, int(1000 / UPDATES))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
 finally:

examples/modules/big_motor/multiple_motors.py

@@ -93,7 +93,7 @@ def pio_and_sm_generator():
         current_time = ticks_add(current_time, int(1000 / UPDATES))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
 finally:

examples/modules/big_motor/position_control.py

@@ -114,7 +114,7 @@
         current_time = ticks_add(current_time, int(1000 * UPDATE_RATE))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
     module.motor.disable()      # Disable the motor

examples/modules/big_motor/position_on_velocity_control.py

@@ -131,7 +131,7 @@
         current_time = ticks_add(current_time, int(1000 * UPDATE_RATE))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
     module.motor.disable()      # Disable the motor

examples/modules/big_motor/single_motor.py

@@ -59,7 +59,7 @@
         current_time = ticks_add(current_time, int(1000 / UPDATES))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
 finally:

examples/modules/big_motor/tuning/position_on_velocity_tuning.py

@@ -114,7 +114,7 @@
         current_time = ticks_add(current_time, int(1000 * UPDATE_RATE))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
     module.motor.disable()      # Disable the motor

examples/modules/big_motor/tuning/position_tuning.py

@@ -97,7 +97,7 @@
         current_time = ticks_add(current_time, int(1000 * UPDATE_RATE))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
     module.motor.disable()      # Disable the motor

examples/modules/big_motor/tuning/velocity_tuning.py

@@ -99,7 +99,7 @@
         current_time = ticks_add(current_time, int(1000 * UPDATE_RATE))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
     module.motor.disable()      # Disable the motor

examples/modules/big_motor/velocity_control.py

@@ -116,7 +116,7 @@
         current_time = ticks_add(current_time, int(1000 * UPDATE_RATE))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
     module.motor.disable()      # Disable the motor

examples/modules/dual_motor/all_motors.py

@@ -81,7 +81,7 @@ def speed_from_index(index, offset=0.0):
         current_time = ticks_add(current_time, int(1000 / UPDATES))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
 finally:

examples/modules/dual_motor/multiple_motors.py

@@ -75,7 +75,7 @@ def speed_from_index(index, offset=0.0):
         current_time = ticks_add(current_time, int(1000 / UPDATES))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
 finally:

examples/modules/dual_motor/two_motors.py

@@ -62,7 +62,7 @@ def speed_from_index(index, offset=0.0):
         current_time = ticks_add(current_time, int(1000 / UPDATES))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
 finally:

examples/modules/dual_output/multiple_outputs.py

@@ -73,7 +73,7 @@ def state_from_index(index, offset=0.0):
         current_time = ticks_add(current_time, int(1000 / UPDATES))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
 finally:

examples/modules/led_strip/multiple_strips.py

@@ -99,7 +99,7 @@ def pio_and_sm_generator():
         current_time = ticks_add(current_time, int(SLEEP * 1000))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
 finally:

examples/modules/led_strip/single_strip.py

@@ -72,7 +72,7 @@ def update_rainbow(strip, offset):
         current_time = ticks_add(current_time, int(SLEEP * 1000))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
 finally:

examples/modules/quad_servo/all_servos.py

@@ -93,7 +93,7 @@ def angle_from_index(index, offset=0.0):
         current_time = ticks_add(current_time, int(1000 / UPDATES))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
 finally:

examples/modules/quad_servo/four_servos.py

@@ -74,7 +74,7 @@ def angle_from_index(index, offset=0.0):
         current_time = ticks_add(current_time, int(1000 / UPDATES))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
 finally:

examples/modules/quad_servo/multiple_servos.py

@@ -89,7 +89,7 @@ def angle_from_index(index, offset=0.0):
         current_time = ticks_add(current_time, int(1000 / UPDATES))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
 finally:

examples/modules/serial_servo/all_servos.py

@@ -90,7 +90,7 @@ def angle_from_index(index, offset=0.0):
         current_time = ticks_add(current_time, int(1000 / UPDATES))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
 finally:

examples/modules/serial_servo/drive_servo.py

@@ -80,7 +80,7 @@ def button_newly_pressed(btn):
         current_time = ticks_add(current_time, int(SLEEP * 1000))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
 finally:

examples/modules/serial_servo/move_servo.py

@@ -82,7 +82,7 @@ def button_newly_pressed(btn):
         current_time = ticks_add(current_time, int(SLEEP * 1000))
 
         # Monitor sensors until the current time is reached, recording the min, max, and average for each
-        # This approach accounts for the updates takinga non-zero amount of time to complete
+        # This approach accounts for the updates taking a non-zero amount of time to complete
         yukon.monitor_until_ms(current_time)
 
 finally:

examples/showcase/rover/main.py

@@ -145,7 +145,7 @@ def joystick_callback(x, y):
                 current_time = ticks_add(current_time, TIMESTEP_MS)
 
                 # Monitor sensors until the current time is reached, recording the min, max, and average for each
-                # This approach accounts for the updates takinga non-zero amount of time to complete
+                # This approach accounts for the updates taking a non-zero amount of time to complete
                 yukon.monitor_until_ms(current_time)
             except RuntimeError as e:
                 left_driver.disable()

examples/showcase/spidertank/main.py

@@ -173,7 +173,7 @@ def extent_to_displacements(x_extent, z_extent, percent):
             current_time = ticks_add(current_time, TIMESTEP_MS)
 
             # Monitor sensors until the current time is reached, recording the min, max, and average for each
-            # This approach accounts for the updates takinga non-zero amount of time to complete
+            # This approach accounts for the updates taking a non-zero amount of time to complete
             yukon.monitor_until_ms(current_time)
 
             # Get the average voltage recorded from monitoring, and print it out