Merge pull request #59 from systemetric/2026-changes

2026 changes

Author: OldUser101

robot/game_config/__init__.py

@@ -17,8 +17,11 @@
 BLUE = (255, 0, 0)  # Blue
 WHITE = (255, 255, 255)  # White
 
+SECTOR = TEAM   # 2026 ONLY, ALIAS `TEAM` AS `SECTOR`
+
 __all__ = (
     "TEAM",
+    "SECTOR",
     "TARGET_TYPE",
     "MARKER",
     "TARGET_MARKER",

robot/game_config/markers.py

@@ -24,7 +24,7 @@
 class MARKER_TYPE(enum.Enum): # Keep something like this to determine if a marker is a wall or not.
     TARGET = enum.auto()
     ARENA = enum.auto()
-    ARENA_OBJECT = enum.auto()
+    TREE = enum.auto()
 
 
 class BASE_MARKER: # Base marker class that TARGET_MARKER and ARENA_MARKER derive from.
@@ -79,10 +79,10 @@ def __repr__(self) -> str:
 
 class ARENA_OBJECT_MARKER(BASE_MARKER): # A non-interactable object in the arena, that is not a wall.
     def __init__(self, id: int) -> None:
-        super().__init__(id, MARKER_TYPE.ARENA_OBJECT)
+        super().__init__(id, MARKER_TYPE.TREE)
 
     def __repr__(self) -> str:
-        return f"<Marker(ARENA_OBJECT)/>"
+        return f"<Marker(TREE)/>"
 
 class TARGET_MARKER(BASE_MARKER): # This is a game object rather than a wall. Add properties you want to keep track of
     def __init__(

robot/game_config/targets.py

@@ -5,8 +5,8 @@
 """
 class TARGET_TYPE(enum.Enum): 
 
-    SUPPLY_L = "SUPPLY_L" # This matches T0, for example.
-    SUPPLY_H = "SUPPLY_H"
+    SUPPLY_CRATE = "SUPPLY_L" # This matches T0, for example.
+    SUPPLY_DROP = "SUPPLY_H"
 
     # There is no T value for ARENA, so there is no way that the assignment of team to a marker can accidentally assign ARENA if the logic goes wrong.
 

robot/greengiant.py

@@ -160,6 +160,7 @@ def _decrement_pin_index(index):
 _GG_MOTOR_ERROR_STATE = 40
 _GG_SYSTEM_ERROR_STATE = 41
 
+V_ZEN = (10.1)
 
 def read_high_low_data(bus, address):
     """Fetches and combines data stored across two bytes"""
@@ -250,8 +251,14 @@ def get_version(self):
         return self._bus.read_byte_data(_GG_I2C_ADDR, _GG_VERSION)
 
     def get_battery_voltage(self):
-        # both GG and PiLow use a 1/3 divider and a 4.096v reference giving a max readable voltage of ~12.3v
-        return read_high_low_data(self._bus, _GG_BATTERY_V_H)
+        # Firmware version 12 and later reports voltage differently
+        if self._version < 12:
+            # both GG and PiLow use a 1/3 divider and a 4.096v reference giving a max readable voltage of ~12.3v
+            return read_high_low_data(self._bus, _GG_BATTERY_V_H) * _GG_BATTERY_MAX_READING / _GG_BATTERY_ADC_MAX
+        else:
+            # Hardware change for Cambridge brains in Nov 2025 to use a zener diode
+            return ((read_high_low_data(self._bus, _GG_BATTERY_V_H) / 65535) * 4.096) + V_ZEN
+
 
     def get_fvr_reading(self):
         """Return the fixed voltage reading. The number read here is sampling the 4.096v reference using the VCC rail (GG only)

robot/wrapper.py

@@ -34,8 +34,6 @@ class to their respecitve classes
 # this boot cycle. This is to highlight weird behaviour in the arena
 COPY_STAT_FILE = "/tmp/usb_file_uploaded"
 
-V_ZEN = (10.1)
-
 def setup_logging(level):
     """Display the just the message when logging events
     Sets the logging level to `level`"""
@@ -167,14 +165,13 @@ def report_hardware_status(self):
         """Print out a nice log message at the start of each robot init with
         the hardware status"""
 
-        battery_voltage = ((self._green_giant.get_battery_voltage() / 65535) * 4.096) + V_ZEN
+        battery_voltage = self._green_giant.get_battery_voltage()
         battery_str = "Battery Voltage: %.2fv" % battery_voltage
         # GG cannot read voltages above 12.2v
-        #if battery_voltage > 12.2:
-        #   battery_str = "Battery Voltage: > 12.2v"
-        # if battery_voltage < 11.5:
-        #   self._warnings.append("Battery voltage below 11.5v, consider "
-        #                          "changing for a charged battery")
+        if battery_voltage > 12.2:
+           battery_str = "Battery Voltage: > 12.2v"
+        elif battery_voltage < 11.5:
+            self._warnings.append("Battery voltage below 11.5v, consider changing for a charged battery")
 
         if self._gg_version < 3:
             self._warnings.append(