Minor API improvements

Author: ksiegall

Examples/misc_examples.py

@@ -7,20 +7,6 @@
     as well as control a servo that may be connected.
 """
 
-# Does nothing until any button input is found
-def wait_for_button():
-    print("Waiting for button signal from either button")
-
-    # Wait until user command before running
-    while not board.is_button_pressed():
-        time.sleep(.01)
-
-    # Wait until user to release button before running
-    while board.is_button_pressed():
-        time.sleep(.01)
-
-    print("Button input found; Program starting")
-
 def test_leds():
     board.led_blink(3)
     time.sleep(1)
@@ -50,8 +36,8 @@ def ivp():
     print("Testing Servo")
     test_servo()
     print("Testing LEDs")
-    wait_for_button()
+    board.wait_for_button()
     test_leds()
     print("Testing Drivetrain:")
-    wait_for_button()
+    board.wait_for_button()
     test_drive()

XRPLib/board.py

@@ -1,4 +1,5 @@
 from machine import Pin, ADC, Timer
+import time
 
 class Board:
 
@@ -65,6 +66,20 @@ def is_button_pressed(self) -> bool:
         """
         return not self.button.value()
 
+    def wait_for_button(self):
+        """
+        Halts the program until the button is pressed
+        """
+
+        # Wait until user command before running
+        while not self.is_button_pressed():
+            time.sleep(.01)
+
+        # Wait until user to release button before running
+        while self.is_button_pressed():
+            time.sleep(.01)
+
+    
     def led_on(self):
         """
         Turns the LED on

XRPLib/differential_drive.py

@@ -94,17 +94,17 @@ def reset_encoder_position(self) -> None:
 
     def get_left_encoder_position(self) -> float:
         """
-        :return: the current position of the left motor's encoder in revolutions.
+        :return: the current position of the left motor's encoder in cm.
         :rtype: float
         """
-        return self.left_motor.get_position()
+        return self.left_motor.get_position()*math.pi*self.wheel_diam
 
     def get_right_encoder_position(self) -> float:
         """
-        :return: the current position of the right motor's encoder in revolutions.
+        :return: the current position of the right motor's encoder in cm.
         :rtype: float
         """
-        return self.right_motor.get_position()
+        return self.right_motor.get_position()*math.pi*self.wheel_diam
 
 
     def straight(self, distance: float, max_effort: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None) -> bool: