Updated mkdocs.yml

docs/index.md

@@ -1,30 +1,49 @@
 # Lego EV3 Segway
-Using ev3dev OS to self-balance a Lego Mindstorms EV3 robot.
+A segway robot is built with the LEGO MINDSTORMS EV3 robot kit and the EV3 Gyroscopic sensor. The self-balancing code is written in Python using EV3 MicroPython: which runs on top of the ev3dev Operating System (OS).
 
-(To be completed)
+Give a bit of background about segways here [think this should be the first sentence or paragraph...or?]
 
 ## Hardware
 
 ### Components
-This includes tools and misc like double sided tape
 
-Pictures of some components/sensors
+The following components are needed to setup this project:
+
+- LEGO MINDSTORMS EV3 Home Edition #31313
+- Gyroscopic Sensor 
 
 ### Assembly
 
 The Segway robot was built following this [guide](https://robotsquare.com/2014/07/01/tutorial-ev3-self-balancing-robot/).
 
+Actually this guide: https://www.youtube.com/watch?v=Jx9VuX15nqI. The robot square link is broken. 
+
+Be mindful that the color of some of the parts might be different. And it doesn't show how to connect the infrared sensor. Try and make it out using this link: https://www.youtube.com/watch?v=-dcGsilEEXQ
+
+or should i decouple this part and show them how to assemble it?
+
+Show better pictures
+
 <p align="center">
   <img src=images/ev3_segway.jpg>
 </p>
 
 ## Software
 
 ### Software architecture
+
+Visual Studio Code
+
 Software used
 
 ### Software install
-how to download and run the code
+how to download and run the code [ev3 micropython](https://pybricks.com/ev3-micropython/startinstall.html)
+
+state version of ev3 micropython we are using
+
+## Working principle
+
+Need to heavily reference Gyro Boy. Should I mention it in the intro for main.py as well?
 
 ## Video demonstration
 
@@ -33,20 +52,25 @@ how to download and run the code
 ### Channel 2
 
 ## Observations
-Note about some intermittent errors running the program - what error and how to fix it.
+Some intermittent errors running the program - elaborate, possible fix?
 
 Occasional delay when calibrating gyro sensor. Why?
 
 Issue with my remote - code not picking up two or more button presses correctly with repeatability.
 
+Gyro sensor is retired...suggest alternative
+
 Kit from 2016..age an issue?
 
 ## Future work/suggestions
 Upgrades to channel two: 
 if an obstacle is in its way, it will have to go back and turn left or right and proceed onto the driving to the beacon
 
 - For beacon channel 3 - moving around randomly (say for 5 seconds) and avoiding obstacles. Make your robot drive around a room while avoiding obstacles with the Infrared Sensor in Proximity mode.
+
 - For beacon channel 4 - actively avoiding objects that come too close.
 
 ## References
-https://pybricks.github.io/ev3-micropython/examples/gyro_boy.html
+- [Gyro Boy](https://pybricks.github.io/ev3-micropython/examples/gyro_boy.html)
+
+- [Ev3dev Micropython](https://www.ev3dev.org/news/2019/04/13/ev3-micropython/)

main.py

@@ -1,11 +1,21 @@
 #!/usr/bin/env pybricks-micropython
 
+'''
+This program balances the Lego Mindstorms Segway robot built using the LEGO Mindstorms Ev3 home edition and a gyroscopic sensor. 
+The robot makes use of an infrared sensor and beacon remote to have two control modes:
+
+- to control the robot movement while it is balancing and 
+
+- to follow the beacon remote as it is moved around in the range of the infrared sensor, also as the robot is 
+  balancing.
+
+'''
+
 # Import packages
 from ucollections import namedtuple
 from pybricks.hubs import EV3Brick
 from pybricks.ev3devices import Motor, InfraredSensor, GyroSensor
 from pybricks.parameters import Port, Color, Button
-#from pybricks.parameters import Port, Color, ImageFile, Button
 from pybricks.media.ev3dev import SoundFile, ImageFile
 from pybricks.tools import wait, StopWatch
 
@@ -18,17 +28,17 @@
 # Initialize gyro and infrared sensors
 gyro_sensor, infrared_sensor = GyroSensor(Port.S2), InfraredSensor(Port.S3)
 
-# Initialize timers, to measure how long loops run for further optimization
-single_loop_timer = StopWatch()     #
-control_loop_timer = StopWatch()    #
-fall_timer = StopWatch()            # 
-action_timer = StopWatch()          #
+# Initialize timers
+single_loop_timer = StopWatch()     
+control_loop_timer = StopWatch()    
+fall_timer = StopWatch()             
+action_timer = StopWatch()          
 
 # Initialize program constants
-GYRO_CALIBRATION_LOOP_COUNT = 200   #
-GYRO_OFFSET_FACTOR = 0.0005         # obtained from GyroBoy project
-TARGET_LOOP_PERIOD = 20             # milliseconds 
-prev_error = 0                      #
+GYRO_CALIBRATION_LOOP_COUNT = 200   # Number of iterations for gyro calibration
+GYRO_OFFSET_FACTOR = 0.0005         # Gyro offset factor (obtained from GyroBoy project)
+TARGET_LOOP_PERIOD = 20             # 20 milliseconds 
+prev_error = 0                      # Initial ... error
 
 """
 # "Robot motion/action definition"
@@ -232,8 +242,9 @@ def update_action():
 
         # Battery warning for voltage less than 7.5V
 	battery_voltage = (ev3.battery.voltage())/1000
-	if battery_voltage < 7.5:
-	    ev3.speaker.play_file(SoundFile.UH_OH)
+
+    if battery_voltage < 7.5:
+        ev3.speaker.play_file(SoundFile.UH_OH)
 
         # Make sure loop time is at least TARGET_LOOP_PERIOD. The output power
         # calculation above depends on having a certain amount of time in each loop. What??

mkdocs.yml

@@ -6,12 +6,12 @@ theme:
   name: material
   palette:
     - scheme: default
-      primary: teal
+      primary: indigo
       toggle:
         icon: material/toggle-switch-off-outline
         name: Switch to dark mode
     - scheme: slate
-      primary: teal
+      primary: indigo
       toggle:
         icon: material/toggle-switch
         name: Switch to light mode