# DotBots
This package contains a complete environment for controlling and visualizing
[DotBots](http://www.dotbots.org).
The DotBots hardware design can be found
[here (PCB)](https://github.com/DotBots/DotBot-pcb) and
[here (chassis)](https://github.com/DotBots/DotBot-chassis).
The firmware running on the DotBots can be found
[here](https://github.com/DotBots/DotBot-firmware-fresh).
This package can also be used to control devices running the SailBot firmware
application.
## Installation
Run `pip install dotbots`
## Setup
Flash the required firmwares on the DotBots and gateway board (use an
nRF52840DK board as gateway), as explained in
[the DotBots firmware repository](https://github.com/DotBots/DotBot-firmware-fresh).
## Usage
```
dotbots-controller --help
Usage: dotbots-controller [OPTIONS]
BotController, universal SailBot and DotBot controller.
Options:
-t, --type [joystick|keyboard] Type of your controller. Defaults to
'keyboard'
-p, --port TEXT Linux users: path to port in '/dev' folder ;
Windows users: COM port. Defaults to
'/dev/ttyACM0'
-b, --baudrate INTEGER Serial baudrate. Defaults to 1000000
-d, --dotbot-address TEXT Address in hex of the DotBot to control.
Defaults to FFFFFFFFFFFFFFFF
-g, --gw-address TEXT Gateway address in hex. Defaults to
0000000000000000
-s, --swarm-id TEXT Swarm ID in hex. Defaults to 0000
-w, --webbrowser Open a web browser automatically
-c, --calibrate Run controller in calibration mode
(lighthouse mode)
-D, --calibration-dir PATH Directory containing calibration files
-v, --verbose Run in verbose mode (all payloads received
are printed in terminal)
--help Show this message and exit.
```
By default, the controller expects the serial port to be `/dev/ttyACM0`, as on
Linux, use the `--port` option to specify another one if it's different. For
example, on Windows, you'll need to check which COM port is connected to the
gateway and add `--port COM3` if it's COM3.
Using the `--webbrowser` option, a tab will automatically open at
[http://localhost:8000/dotbots](http://localhost:8000/dotbots). The page maintains
a list of available DotBots, allows to set which one is active and controllable
and provide a virtual joystick to control it or change the color of the on-board
RGB LED.
### Lighthouse
The DotBots firmware comes with a cheap indoor positionning system based on
[Valve Lighthouse 2](https://www.valvesoftware.com/en/index/base-stations).
To get the positionning to work and the DotBots to be tracked in real-time the
system must be first calibrated by clicking the "Start calibration" or
"Update calibration" button below the grid map and then by following the
instructions there.
## Tests
To run the tests, install [tox](https://pypi.org/project/tox/) and use it:
```
tox
```
