add demo&Copyright Header

examples/bugc_robot_test/bugc_robot_test.ino

@@ -0,0 +1,160 @@
+/*
+ * SPDX-FileCopyrightText: 2025 M5Stack Technology CO LTD
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ *
+ * @Hardwares: M5StickC/M5stickC-Plus/M5stickC-Plus2 + Hat BugC2
+ * @Platform Version: Arduino M5Stack Board Manager v2.1.1
+ * @Dependent Library:
+ * M5GFX@^0.2.3: https://github.com/m5stack/M5GFX
+ * M5Unified@^0.2.2: https://github.com/m5stack/M5Unified
+ * M5HatBugC: https://github.com/m5stack/M5Hat-BugC
+ */
+
+#include <M5Unified.h>
+#include "M5Hatbugc.h"
+#include "img.h"
+
+M5HatBugC bugc;
+
+uint8_t bugc_motion_status = 0;
+bool bugc_enable           = false;
+uint32_t color1            = 0;
+uint32_t color2            = 0;
+
+void view_img(bugc_motion_t motion);  // Displays an image on the screen based on the motion type.
+void bugc_motion(bugc_motion_t motion, uint32_t color1,
+                 uint32_t color2);  // Handles motion behavior and sets colors for visual feedback.
+uint32_t generateRandomUint32();    // Generates a random 32-bit unsigned integer.
+void delay_ms(uint32_t ms);         //  Implements a non-blocking millisecond delay using millis().
+void setup()
+{
+    M5.begin();
+    M5.Display.begin();
+    Serial.begin(115200);
+    while (!bugc.begin(&Wire, BUGC_DEFAULT_I2C_ADDR, 0, 26, 400000U)) {
+        Serial.println("Couldn't find BugC");
+        delay(1000);
+    }
+    bugc.setAllMotorSpeed(0, 0, 0, 0);
+    view_img(MOVE_STOP);
+}
+
+void loop()
+{
+    if (bugc_enable) {
+        color1 = generateRandomUint32();
+        color2 = generateRandomUint32();
+        bugc_motion((bugc_motion_t)bugc_motion_status, color1, color2);
+        bugc_motion_status++;
+        bugc_motion_status = bugc_motion_status % 6;
+    } else {
+        view_img(MOVE_STOP);
+        delay_ms(1000);
+    }
+}
+
+void view_img(bugc_motion_t motion)
+{
+    float stickc_bat     = 0;
+    float bugc_bat       = 0;
+    uint16_t bat_voltage = bugc.getRawAdc12Bit();
+    bugc_bat             = ((float)bat_voltage / 4095.0 * 3.3) * 2.960784;
+    // Define a structure to store image configurations for each board
+    struct ImageConfig {
+        int width;                      // Width of the image
+        int height;                     // Height of the image
+        const uint16_t *image_data[7];  // Image data pointers for each motion type
+    };
+
+    // Predefine image configurations for different boards
+    static const ImageConfig imageConfigs[] = {
+        {80,
+         160,
+         {// Configuration for M5StickC
+          image_data_forward_80_160, image_data_backward_80_160, image_data_left_80_160, image_data_right_80_160,
+          image_data_right_rotation_80_160, image_data_left_rotation_80_160, image_data_stop_80_160}},
+        {135,
+         240,
+         {// Configuration for M5StickCPlus
+          image_data_forward_135_240, image_data_backward_135_240, image_data_left_135_240, image_data_right_135_240,
+          image_data_right_rotation_135_240, image_data_left_rotation_135_240, image_data_stop_135_240}},
+        {135,
+         240,
+         {// Configuration for M5StickCPlus2 (same as M5StickCPlus)
+          image_data_forward_135_240, image_data_backward_135_240, image_data_left_135_240, image_data_right_135_240,
+          image_data_right_rotation_135_240, image_data_left_rotation_135_240, image_data_stop_135_240}}};
+
+    // Get the current board type
+    m5::board_t board         = M5.getBoard();
+    const ImageConfig *config = nullptr;
+
+    // Select the corresponding image configuration based on the board type
+    switch (board) {
+        case m5::board_t::board_M5StickC:
+            stickc_bat = M5.Power.Axp192.getBatteryVoltage();
+            config     = &imageConfigs[0];
+            break;
+        case m5::board_t::board_M5StickCPlus:
+            stickc_bat = M5.Power.Axp192.getBatteryVoltage();
+            config     = &imageConfigs[1];
+            break;
+        case m5::board_t::board_M5StickCPlus2:
+            stickc_bat = M5.Power.getBatteryVoltage() / 1000.0;
+            config     = &imageConfigs[1];
+            break;
+        default:
+            return;  // Unknown board type, exit the function
+    }
+
+    // Validate the motion type and configuration before displaying the image
+    if (motion >= MOVE_FORWARD && motion <= MOVE_STOP && config) {
+        // Display the image for the specified motion and board type
+        M5.Display.pushImage(0, 0, config->width, config->height, config->image_data[motion]);
+    }
+    M5.Display.setCursor(1, 1);
+    M5.Display.setTextSize(1);
+    if (stickc_bat > 3.3) {
+        M5.Display.setTextColor(BLUE);
+    } else {
+        M5.Display.setTextColor(RED);
+    }
+    M5.Display.printf("stac:%.1fV\r\n", stickc_bat);
+    M5.Display.setCursor(1, 15);
+    M5.Display.setTextSize(1);
+    if (bugc_bat > 3.3) {
+        M5.Display.setTextColor(BLUE);
+    } else {
+        M5.Display.setTextColor(RED);
+    }
+    M5.Display.printf("bugc:%.1fV\r\n", bugc_bat);
+}
+
+void bugc_motion(bugc_motion_t motion, uint32_t color1, uint32_t color2)
+{
+    bugc.setAllLedColor(color1, color2);
+    bugc.move(motion, 50);
+    view_img(motion);
+    delay_ms(1000);
+    bugc.move(MOVE_STOP, 50);
+    view_img(MOVE_STOP);
+    delay_ms(2000);
+}
+
+uint32_t generateRandomUint32()
+{
+    uint32_t highPart = random(0, 0xFFFF);  // Generate high 16 bits
+    uint32_t lowPart  = random(0, 0xFFFF);  // Generate low 16 bits
+    return (highPart << 16) | lowPart;      // Combine high and low parts into a 32-bit number
+}
+void delay_ms(uint32_t ms)
+{
+    unsigned long startMillis = millis();
+    while (millis() - startMillis < ms) {
+        M5.update();
+        if (M5.BtnA.wasReleased() || M5.BtnA.pressedFor(500)) {  // BtnA pressed toggles BugC working state
+            bugc_enable = bugc_enable ^ true;
+        }
+    }
+}

examples/bugc_robot_test/img.h

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+/*
+ * SPDX-FileCopyrightText: 2025 M5Stack Technology CO LTD
+ *
+ * SPDX-License-Identifier: MIT
+ */
+
+#ifndef __IMG_H
+#define __IMG_H
+
+#ifdef __cplusplus
+
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "img/backward_jpg_80_160.h"
+#include "img/forward_jpg_80_160.h"
+#include "img/left_jpg_80_160.h"
+#include "img/right_jpg_80_160.h"
+#include "img/right_rotate_jpg_80_160.h"
+#include "img/left_rotate_jpg_80_160.h"
+#include "img/stop_jpg_80_160.h"
+
+#include "img/backward_jpg_135_240.h"
+#include "img/forward_jpg_135_240.h"
+#include "img/left_jpg_135_240.h"
+#include "img/right_jpg_135_240.h"
+#include "img/right_rotate_jpg_135_240.h"
+#include "img/left_rotate_jpg_135_240.h"
+#include "img/stop_jpg_135_240.h"
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __IMG_H */