Rename Python methods used to set speed

Cargo.lock

@@ -299,7 +299,7 @@ dependencies = [
 
 [[package]]
 name = "controller"
-version = "0.6.0"
+version = "0.6.1"
 dependencies = [
  "bootloader-params",
  "build-support",

controller/Cargo.toml

@@ -4,7 +4,7 @@ description = "Firmware for DC Motor Driver Hat DFR0592"
 authors.workspace = true
 edition.workspace = true
 license.workspace = true
-version = "0.6.0"  # Update in python/controller.py as well
+version = "0.6.1"  # Update in python/controller.py as well
 
 [lints]
 workspace = true

controller/python/controller.py

@@ -64,18 +64,21 @@ class Controller:
             )
             raise WhoAmIMismatch(error)
 
-    def set_motor_speed(self, left: Optional[float], right: Optional[float]):
-        """Set the motor speed between -100 and 100. None means not to
+    def set_raw_motor_speed(self, left: Optional[float], right: Optional[float]):
+        """Set the motor speed between -127 and 127. None means not to
         change the motor value. Using None for both motors will put
-        the controller board in standby mode and motors will stop."""
+        the controller board in standby mode and motors will stop.
+
+        The speed set through this method will not be regulated by
+        the builtin PID controller."""
 
         def convert(v: Optional[float], arg: str):
             if v is None:
                 return -128
-            if not isinstance(v, Real) or v < -100 or v > 100:
+            if not isinstance(v, Real) or v < -127 or v > 127:
                 raise ValueError(
                     f"{arg} motor speed "
-                    "must be a number between -100 and 100, or None"
+                    "must be a number between -127 and 127, or None"
                 )
             return round(v)
 
@@ -84,19 +87,20 @@ class Controller:
             list(struct.pack("bb", convert(left, "left"), convert(right, "right"))),
         )
 
-    def get_motor_speed(self) -> Optional[tuple[int, int]]:
-        """Get the left and right motor speed as a tuple, or None if in standby."""
+    def get_raw_motor_speed(self) -> Optional[tuple[int, int]]:
+        """Get the left and right motor speed as a tuple, or None if in standby.
+        Each speed will be between -127 and 127."""
         (left, right) = self._read(self.MOTOR_SPEED, 2, "bb")
         return (left, right) if left != 0x80 and right != 0x80 else None
 
-    def set_automatic_motor_speed(self, left: int, right: int):
-        """Set the motor speed in ticks by 10th of seconds."""
+    def set_motor_speed(self, left: int, right: int):
+        """Set the motor speed in ticks by 100th of seconds. Each motor speed
+        must be comprised between -32767 and 32767."""
 
         def check(v: int, arg: str):
             if v < -32767 or v > 32767:
                 raise ValueError(
-                    f"{arg} automatic motor speed must be a number "
-                    + "between -32767 and 32767"
+                    f"{arg} motor speed must be a number " + "between -32767 and 32767"
                 )
             return v
 
@@ -105,24 +109,18 @@ class Controller:
             list(struct.pack("<hh", check(left, "left"), check(right, "right"))),
         )
 
-    def get_automatic_motor_speed(self):
-        """Get the left and right automatic motor speed as a tuple, or None if
-        the system is not in automatic mode."""
+    def get_motor_speed(self):
+        """Get the left and right motor speed as a tuple, or None if
+        the speed has been set by the raw mode method or if the
+        motors have been put into standby mode. The speed is in
+        ticks by 100th of seconds."""
         (left, right) = self._read(self.AUTOMATIC_MOTOR_SPEED, 4, "<hh")
         return (left, right) if left != -32768 else None
 
-    def set_left_motor_speed(self, speed: float):
-        """Set the left motor speed between -100 and 100."""
-        self.set_motor_speed(speed, None)
-
-    def set_right_motor_speed(self, speed: float):
-        """Set the right motor speed between -100 and 100."""
-        self.set_motor_speed(None, speed)
-
     def standby(self):
         """Stop the motors by putting the controller board in standby
         mode."""
-        self.set_motor_speed(None, None)
+        self.set_raw_motor_speed(None, None)
 
     def get_encoder_ticks(self) -> tuple[int, int]:
         """Retrieve the encoder ticks since the last time it was
@@ -134,9 +132,9 @@ class Controller:
     def get_status(self) -> dict[str, bool]:
         """Return a dict with status fields:
         - "moving": True if at least one motor is moving, False otherwise
-        - "automatic": True if the motors are in automatic mode, False otherwise"""
+        - "controlled": True if the motors are in controlled mode, False otherwise"""
         (status,) = self._read(self.STATUS, 1, "B")
-        return {"moving": (status & 1) != 0, "automatic": (status & 2) != 0}
+        return {"moving": (status & 1) != 0, "controlled": (status & 2) != 0}
 
     def set_motor_shutdown_timeout(self, duration: float):
         """Set the duration in seconds after which the motors will

controller/src/logic/pid_control.rs

@@ -77,5 +77,5 @@ fn build_speed_command(
         PidUnit::from_int(i32::from(measured_ticks)),
     )
     .round()
-    .clamp(-100, 100) as i8 as u8
+    .clamp(-127, 127) as i8 as u8
 }