From c87ef96477e6f58b332fc870981aad7cc25e65e5 Mon Sep 17 00:00:00 2001
From: Danny Staple <danny@orionrobots.co.uk>
Date: Wed, 28 Dec 2022 11:27:16 +0000
Subject: [PATCH] Move the computer folder up - a bit easier to manage.
 Integrate fixes found in earlier examples.

---
 .../computer/display_from_robot.py            |  89 --------
 ch-13/full-version/computer/test_arena.py     |  24 ---
 ..._motion_graph.py => display_from_robot.py} |  24 +--
 .../{computer => }/find_devices.py            |   0
 ch-13/full-version/{computer => }/poetry.lock | 202 ++++++------------
 .../{computer => }/pyproject.toml             |   1 -
 .../{computer => }/render_distance_grid.py    |   0
 .../{computer => }/requirements.txt           |   0
 ch-13/full-version/robot/arena.py             |  10 +-
 ch-13/full-version/robot/code.py              | 177 +++++++--------
 ch-13/full-version/robot/robot.py             |   5 +-
 .../{computer => }/robot_ble_connection.py    |   4 +-
 12 files changed, 165 insertions(+), 371 deletions(-)
 delete mode 100644 ch-13/full-version/computer/display_from_robot.py
 delete mode 100644 ch-13/full-version/computer/test_arena.py
 rename ch-13/full-version/{computer/display_with_motion_graph.py => display_from_robot.py} (78%)
 rename ch-13/full-version/{computer => }/find_devices.py (100%)
 rename ch-13/full-version/{computer => }/poetry.lock (77%)
 rename ch-13/full-version/{computer => }/pyproject.toml (95%)
 rename ch-13/full-version/{computer => }/render_distance_grid.py (100%)
 rename ch-13/full-version/{computer => }/requirements.txt (100%)
 rename ch-13/full-version/{computer => }/robot_ble_connection.py (92%)

diff --git a/ch-13/full-version/computer/display_from_robot.py b/ch-13/full-version/computer/display_from_robot.py
deleted file mode 100644
index 0e5cd37..0000000
--- a/ch-13/full-version/computer/display_from_robot.py
+++ /dev/null
@@ -1,89 +0,0 @@
-import asyncio
-import json
-import numpy as np
-import matplotlib.pyplot as plt
-from matplotlib.widgets import Button
-
-from robot_ble_connection import BleConnection
-
-
-class RobotDisplay:
-    def __init__(self):
-        self.ble_connection = BleConnection(self.handle_data)
-        self.line = ""
-        self.arena = {}
-        self.display_closed = False
-        self.fig, self.ax = plt.subplots()
-        self.poses = np.zeros([200, 3], dtype=np.int16)
-        self.motion = np.zeros([200, 3], dtype=float)
-
-    def handle_close(self, _):
-        self.display_closed = True
-
-    def handle_data(self, data):
-        self.line += data.decode("utf-8")
-        # print(f"Received data: {data.decode('utf-8')}")
-        # print(f"Line is now: {self.line}")
-        while "\n" in self.line:
-            line, self.line = self.line.split("\n", 1)
-            print(f"Received line: {line}")
-            try:
-                message = json.loads(line)
-            except ValueError:
-                print("Error parsing JSON")
-                return
-            if "arena" in message:
-                self.arena = message
-            if "poses" in message:
-                print(message)
-                incoming_poses = np.array(message["poses"], dtype=np.int16)
-                print("Incoming poses shape", incoming_poses.shape)
-                print("Existing poses shape", self.poses.shape)
-                self.poses[message["offset"]: message["offset"] + incoming_poses.shape[0]] = incoming_poses
-            if "motion" in message:
-                np.roll(self.motion, 1, axis=0)
-                self.motion[0] = [message["motion"]["rot1"], message["motion"]["trans"], message["motion"]["rot2"]]
-
-    def draw(self):
-        self.ax.clear()
-        if self.arena:
-            for line in self.arena["arena"]:
-                self.ax.plot(
-                    [line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
-                )
-        self.ax.scatter(self.poses[:,0], self.poses[:,1], color="blue")
-
-    async def send_command(self, command):
-        #+ "\n" - why does adding this (which sounds right) cause the ble stack (on the robot or computer? ) not to work any more?
-        request = (json.dumps({"command": command})  ).encode()
-        print(f"Sending request: {request}")
-        await self.ble_connection.send_uart_data(request)
-
-    def start(self, _):
-        self.button_task = asyncio.create_task(self.send_command("start"))
-
-    # def stop(self, _):
-    #     self.button_task = asyncio.create_task(self.send_command("stop"))
-
-    async def main(self):
-        plt.ion()
-        await self.ble_connection.connect()
-        try:
-            await self.send_command("arena")
-            self.fig.canvas.mpl_connect("close_event", self.handle_close)
-            start_button = Button(plt.axes([0.7, 0.05, 0.1, 0.075]), "Start")
-            start_button.on_clicked(self.start)
-            # stop_button = Button(plt.axes([0.81, 0.05, 0.1, 0.075]), "Stop")
-            # stop_button.on_clicked(self.stop)
-
-            while not self.display_closed:
-                self.draw()
-                plt.draw()
-                plt.pause(0.05)
-                await asyncio.sleep(0.01)
-        finally:
-            await self.ble_connection.close()
-
-
-robot_display = RobotDisplay()
-asyncio.run(robot_display.main())
diff --git a/ch-13/full-version/computer/test_arena.py b/ch-13/full-version/computer/test_arena.py
deleted file mode 100644
index 8bbf6d3..0000000
--- a/ch-13/full-version/computer/test_arena.py
+++ /dev/null
@@ -1,24 +0,0 @@
-from unittest import TestCase
-import math
-import arena
-
-class TestArena(TestCase):
-  def test_get_point_to_distance_segment_1(self):
-      segment = ((0, 0), (0, 1500))
-      for x in range(0, 1500):
-        for y in (0, 500, 1000):
-          self.assertEqual(arena.get_point_distance_to_segment(x, y, segment), x)
-
-  def test_get_point_to_distance_segment_2(self):
-      segment = ((0, 0), (1500, 0))
-      for y in range(0, 1500):
-        for x in (0, 500, 1000):
-          self.assertEqual(arena.get_point_distance_to_segment(x, y, segment), y)
-
-  def test_get_point_distance_to_nearest_segment(self):
-      segments = [
-        [(0, 1500), (1500, 1500)],
-      ]
-      for y in range(1500):
-        for x in (0, 500, 1000):
-          self.assertEqual(arena.get_point_distance_to_nearest_segment(segments, x, y), 1500 - y)
diff --git a/ch-13/full-version/computer/display_with_motion_graph.py b/ch-13/full-version/display_from_robot.py
similarity index 78%
rename from ch-13/full-version/computer/display_with_motion_graph.py
rename to ch-13/full-version/display_from_robot.py
index 6486518..0a53a9d 100644
--- a/ch-13/full-version/computer/display_with_motion_graph.py
+++ b/ch-13/full-version/display_from_robot.py
@@ -10,23 +10,21 @@ from robot_ble_connection import BleConnection
 class RobotDisplay:
     def __init__(self):
         self.ble_connection = BleConnection(self.handle_data)
-        self.line = ""
+        self.buffer = ""
         self.arena = {}
-        self.display_closed = False
+        self.closed = False
         self.fig, self.ax = plt.subplots()
-        self.poses = np.zeros([200, 2], dtype=np.int16)
+        self.poses = np.zeros([20, 2], dtype=np.int16)
         self.motion = np.zeros([200, 3], dtype=float)
 
     def handle_close(self, _):
-        self.display_closed = True
+        self.closed = True
 
     def handle_data(self, data):
-        self.line += data.decode("utf-8")
-        # print(f"Received data: {data.decode('utf-8')}")
-        # print(f"Line is now: {self.line}")
-        while "\n" in self.line:
-            line, self.line = self.line.split("\n", 1)
-            print(f"Received line: {line}")
+        self.buffer += data.decode("utf-8")
+        while "\n" in self.buffer:
+            line, self.buffer = self.buffer.split("\n", 1)
+            print(f"Received data: {line}")
             try:
                 message = json.loads(line)
             except ValueError:
@@ -44,12 +42,10 @@ class RobotDisplay:
             for line in self.arena["arena"]:
                 self.ax.plot(
                     [line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
-                )                
+                )
         self.ax.scatter(self.poses[:,0], self.poses[:,1], color="blue")
-        
 
     async def send_command(self, command):
-        #+ "\n" - why does adding this (which sounds right) cause the ble stack (on the robot or computer? ) not to work any more?
         request = (json.dumps({"command": command})  ).encode()
         print(f"Sending request: {request}")
         await self.ble_connection.send_uart_data(request)
@@ -70,7 +66,7 @@ class RobotDisplay:
             start_button.on_clicked(self.start)
             # stop_button = Button(plt.axes([0.81, 0.05, 0.1, 0.075]), "Stop")
             # stop_button.on_clicked(self.stop)
-            while not self.display_closed:
+            while not self.closed:
                 self.draw()
                 plt.draw()
                 plt.pause(0.05)
diff --git a/ch-13/full-version/computer/find_devices.py b/ch-13/full-version/find_devices.py
similarity index 100%
rename from ch-13/full-version/computer/find_devices.py
rename to ch-13/full-version/find_devices.py
diff --git a/ch-13/full-version/computer/poetry.lock b/ch-13/full-version/poetry.lock
similarity index 77%
rename from ch-13/full-version/computer/poetry.lock
rename to ch-13/full-version/poetry.lock
index 47cc3b7..a5e38b9 100644
--- a/ch-13/full-version/computer/poetry.lock
+++ b/ch-13/full-version/poetry.lock
@@ -8,7 +8,7 @@ python-versions = ">=3.6"
 
 [[package]]
 name = "black"
-version = "22.10.0"
+version = "22.12.0"
 description = "The uncompromising code formatter."
 category = "dev"
 optional = false
@@ -99,7 +99,7 @@ python-versions = ">=3.6"
 
 [[package]]
 name = "dbus-fast"
-version = "1.64.0"
+version = "1.83.0"
 description = "A faster version of dbus-next"
 category = "main"
 optional = false
@@ -158,14 +158,6 @@ pyparsing = ">=2.2.1"
 python-dateutil = ">=2.7"
 setuptools_scm = ">=7"
 
-[[package]]
-name = "msgpack"
-version = "1.0.4"
-description = "MessagePack serializer"
-category = "main"
-optional = false
-python-versions = "*"
-
 [[package]]
 name = "mypy-extensions"
 version = "0.4.3"
@@ -184,18 +176,15 @@ python-versions = ">=3.8"
 
 [[package]]
 name = "packaging"
-version = "21.3"
+version = "22.0"
 description = "Core utilities for Python packages"
 category = "main"
 optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
+python-versions = ">=3.7"
 
 [[package]]
 name = "pathspec"
-version = "0.10.1"
+version = "0.10.3"
 description = "Utility library for gitignore style pattern matching of file paths."
 category = "dev"
 optional = false
@@ -215,15 +204,15 @@ tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "pa
 
 [[package]]
 name = "platformdirs"
-version = "2.5.2"
-description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
+version = "2.6.0"
+description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 
 [package.extras]
-docs = ["furo (>=2021.7.5b38)", "proselint (>=0.10.2)", "sphinx (>=4)", "sphinx-autodoc-typehints (>=1.12)"]
-test = ["appdirs (==1.4.4)", "pytest (>=6)", "pytest-cov (>=2.7)", "pytest-mock (>=3.6)"]
+docs = ["furo (>=2022.9.29)", "proselint (>=0.13)", "sphinx (>=5.3)", "sphinx-autodoc-typehints (>=1.19.4)"]
+test = ["appdirs (==1.4.4)", "pytest (>=7.2)", "pytest-cov (>=4)", "pytest-mock (>=3.10)"]
 
 [[package]]
 name = "pyobjc-core"
@@ -291,7 +280,7 @@ six = ">=1.5"
 
 [[package]]
 name = "setuptools"
-version = "65.5.0"
+version = "65.6.3"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 category = "main"
 optional = false
@@ -299,12 +288,12 @@ python-versions = ">=3.7"
 
 [package.extras]
 docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-notfound-page (==0.8.3)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
-testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8 (<5)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "mock", "pip (>=19.1)", "pip-run (>=8.8)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
+testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8 (<5)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pip-run (>=8.8)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
 testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
 
 [[package]]
 name = "setuptools-scm"
-version = "7.0.5"
+version = "7.1.0"
 description = "the blessed package to manage your versions by scm tags"
 category = "main"
 optional = false
@@ -313,7 +302,7 @@ python-versions = ">=3.7"
 [package.dependencies]
 packaging = ">=20.0"
 setuptools = "*"
-tomli = ">=1.0.0"
+tomli = {version = ">=1.0.0", markers = "python_version < \"3.11\""}
 typing-extensions = "*"
 
 [package.extras]
@@ -347,7 +336,7 @@ python-versions = ">=3.7"
 [metadata]
 lock-version = "1.1"
 python-versions = "^3.9"
-content-hash = "a2ae390fc260b23b2aea772611acac3c8626867abcb0e477875407c9f24a5fa6"
+content-hash = "4ec6eb3464cbb49afad347e67bdf7c353d7ea4030fd8ed4257098a5df334eb99"
 
 [metadata.files]
 async-timeout = [
@@ -355,27 +344,18 @@ async-timeout = [
     {file = "async_timeout-4.0.2-py3-none-any.whl", hash = "sha256:8ca1e4fcf50d07413d66d1a5e416e42cfdf5851c981d679a09851a6853383b3c"},
 ]
 black = [
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-    {file = "msgpack-1.0.4-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:63e29d6e8c9ca22b21846234913c3466b7e4ee6e422f205a2988083de3b08cae"},
-    {file = "msgpack-1.0.4-cp39-cp39-win32.whl", hash = "sha256:fb62ea4b62bfcb0b380d5680f9a4b3f9a2d166d9394e9bbd9666c0ee09a3645c"},
-    {file = "msgpack-1.0.4-cp39-cp39-win_amd64.whl", hash = "sha256:4d5834a2a48965a349da1c5a79760d94a1a0172fbb5ab6b5b33cbf8447e109ce"},
-    {file = "msgpack-1.0.4.tar.gz", hash = "sha256:f5d869c18f030202eb412f08b28d2afeea553d6613aee89e200d7aca7ef01f5f"},
-]
 mypy-extensions = [
     {file = "mypy_extensions-0.4.3-py2.py3-none-any.whl", hash = "sha256:090fedd75945a69ae91ce1303b5824f428daf5a028d2f6ab8a299250a846f15d"},
     {file = "mypy_extensions-0.4.3.tar.gz", hash = "sha256:2d82818f5bb3e369420cb3c4060a7970edba416647068eb4c5343488a6c604a8"},
@@ -713,12 +639,12 @@ numpy = [
     {file = "numpy-1.23.4.tar.gz", hash = "sha256:ed2cc92af0efad20198638c69bb0fc2870a58dabfba6eb722c933b48556c686c"},
 ]
 packaging = [
-    {file = "packaging-21.3-py3-none-any.whl", hash = "sha256:ef103e05f519cdc783ae24ea4e2e0f508a9c99b2d4969652eed6a2e1ea5bd522"},
-    {file = "packaging-21.3.tar.gz", hash = "sha256:dd47c42927d89ab911e606518907cc2d3a1f38bbd026385970643f9c5b8ecfeb"},
+    {file = "packaging-22.0-py3-none-any.whl", hash = "sha256:957e2148ba0e1a3b282772e791ef1d8083648bc131c8ab0c1feba110ce1146c3"},
+    {file = "packaging-22.0.tar.gz", hash = "sha256:2198ec20bd4c017b8f9717e00f0c8714076fc2fd93816750ab48e2c41de2cfd3"},
 ]
 pathspec = [
-    {file = "pathspec-0.10.1-py3-none-any.whl", hash = "sha256:46846318467efc4556ccfd27816e004270a9eeeeb4d062ce5e6fc7a87c573f93"},
-    {file = "pathspec-0.10.1.tar.gz", hash = "sha256:7ace6161b621d31e7902eb6b5ae148d12cfd23f4a249b9ffb6b9fee12084323d"},
+    {file = "pathspec-0.10.3-py3-none-any.whl", hash = "sha256:3c95343af8b756205e2aba76e843ba9520a24dd84f68c22b9f93251507509dd6"},
+    {file = "pathspec-0.10.3.tar.gz", hash = "sha256:56200de4077d9d0791465aa9095a01d421861e405b5096955051deefd697d6f6"},
 ]
 Pillow = [
     {file = "Pillow-9.3.0-cp310-cp310-macosx_10_10_x86_64.whl", hash = "sha256:0b7257127d646ff8676ec8a15520013a698d1fdc48bc2a79ba4e53df792526f2"},
@@ -782,8 +708,8 @@ Pillow = [
     {file = "Pillow-9.3.0.tar.gz", hash = "sha256:c935a22a557a560108d780f9a0fc426dd7459940dc54faa49d83249c8d3e760f"},
 ]
 platformdirs = [
-    {file = "platformdirs-2.5.2-py3-none-any.whl", hash = "sha256:027d8e83a2d7de06bbac4e5ef7e023c02b863d7ea5d079477e722bb41ab25788"},
-    {file = "platformdirs-2.5.2.tar.gz", hash = "sha256:58c8abb07dcb441e6ee4b11d8df0ac856038f944ab98b7be6b27b2a3c7feef19"},
+    {file = "platformdirs-2.6.0-py3-none-any.whl", hash = "sha256:1a89a12377800c81983db6be069ec068eee989748799b946cce2a6e80dcc54ca"},
+    {file = "platformdirs-2.6.0.tar.gz", hash = "sha256:b46ffafa316e6b83b47489d240ce17173f123a9b9c83282141c3daf26ad9ac2e"},
 ]
 pyobjc-core = [
     {file = "pyobjc-core-8.5.1.tar.gz", hash = "sha256:f8592a12de076c27006700c4a46164478564fa33d7da41e7cbdd0a3bf9ddbccf"},
@@ -830,12 +756,12 @@ python-dateutil = [
     {file = "python_dateutil-2.8.2-py2.py3-none-any.whl", hash = "sha256:961d03dc3453ebbc59dbdea9e4e11c5651520a876d0f4db161e8674aae935da9"},
 ]
 setuptools = [
-    {file = "setuptools-65.5.0-py3-none-any.whl", hash = "sha256:f62ea9da9ed6289bfe868cd6845968a2c854d1427f8548d52cae02a42b4f0356"},
-    {file = "setuptools-65.5.0.tar.gz", hash = "sha256:512e5536220e38146176efb833d4a62aa726b7bbff82cfbc8ba9eaa3996e0b17"},
+    {file = "setuptools-65.6.3-py3-none-any.whl", hash = "sha256:57f6f22bde4e042978bcd50176fdb381d7c21a9efa4041202288d3737a0c6a54"},
+    {file = "setuptools-65.6.3.tar.gz", hash = "sha256:a7620757bf984b58deaf32fc8a4577a9bbc0850cf92c20e1ce41c38c19e5fb75"},
 ]
 setuptools-scm = [
-    {file = "setuptools_scm-7.0.5-py3-none-any.whl", hash = "sha256:7930f720905e03ccd1e1d821db521bff7ec2ac9cf0ceb6552dd73d24a45d3b02"},
-    {file = "setuptools_scm-7.0.5.tar.gz", hash = "sha256:031e13af771d6f892b941adb6ea04545bbf91ebc5ce68c78aaf3fff6e1fb4844"},
+    {file = "setuptools_scm-7.1.0-py3-none-any.whl", hash = "sha256:73988b6d848709e2af142aa48c986ea29592bbcfca5375678064708205253d8e"},
+    {file = "setuptools_scm-7.1.0.tar.gz", hash = "sha256:6c508345a771aad7d56ebff0e70628bf2b0ec7573762be9960214730de278f27"},
 ]
 six = [
     {file = "six-1.16.0-py2.py3-none-any.whl", hash = "sha256:8abb2f1d86890a2dfb989f9a77cfcfd3e47c2a354b01111771326f8aa26e0254"},
diff --git a/ch-13/full-version/computer/pyproject.toml b/ch-13/full-version/pyproject.toml
similarity index 95%
rename from ch-13/full-version/computer/pyproject.toml
rename to ch-13/full-version/pyproject.toml
index 1571d56..e5ac640 100644
--- a/ch-13/full-version/computer/pyproject.toml
+++ b/ch-13/full-version/pyproject.toml
@@ -11,7 +11,6 @@ python = "^3.9"
 matplotlib = "3.6.1"
 numpy = "1.23.4"
 bleak = "0.19.0"
-msgpack = "^1.0.4"
 
 
 [tool.poetry.group.dev.dependencies]
diff --git a/ch-13/full-version/computer/render_distance_grid.py b/ch-13/full-version/render_distance_grid.py
similarity index 100%
rename from ch-13/full-version/computer/render_distance_grid.py
rename to ch-13/full-version/render_distance_grid.py
diff --git a/ch-13/full-version/computer/requirements.txt b/ch-13/full-version/requirements.txt
similarity index 100%
rename from ch-13/full-version/computer/requirements.txt
rename to ch-13/full-version/requirements.txt
diff --git a/ch-13/full-version/robot/arena.py b/ch-13/full-version/robot/arena.py
index 6aeb29c..b4e8a98 100644
--- a/ch-13/full-version/robot/arena.py
+++ b/ch-13/full-version/robot/arena.py
@@ -1,4 +1,4 @@
-"""Represent the lines and target zone of the arena"""
+"""Represent the lines of the arena"""
 try:
   from ulab import numpy as np
 except ImportError:
@@ -16,8 +16,7 @@ boundary_lines = [
 width = 1500
 height = 1500
 
-# need to state clearly the orientation of the heading
-# if coordinates 0, 0 is bottom left, then heading 0 is right, with heading increasing anticlockwise.
+# 0, 0 is bottom left. Heading 0 is right, with heading increasing anticlockwise. Standard position angles.
 
 def point_is_inside_arena(x, y):
   """Return True if the point is inside the arena.
@@ -67,11 +66,12 @@ def make_distance_grid():
   """Take the boundary lines. With and overscan of 10 cells, and grid cell size of 5cm (50mm),
   make a grid of the distance to the nearest boundary line.
   """
-  grid = np.zeros((width // grid_cell_size + 2 * overscan, height // grid_cell_size + 2 * overscan), dtype=np.float)
+  grid = np.zeros((width // grid_cell_size + 2 * overscan, height // grid_cell_size + 2 * overscan), dtype=np.uint8)
+  # 4kb as floats, 1 kb as uint8s.
   for x in range(grid.shape[0]):
     column_x = x * grid_cell_size - (overscan * grid_cell_size)
     for y in range(grid.shape[1]):
-      value = get_point_decay_from_nearest_segment(boundary_lines, column_x, y * grid_cell_size - (overscan * grid_cell_size))
+      value = int(get_point_decay_from_nearest_segment(boundary_lines, column_x, y * grid_cell_size - (overscan * grid_cell_size)) * 255)
       grid[x, y] = value
   return grid
 
diff --git a/ch-13/full-version/robot/code.py b/ch-13/full-version/robot/code.py
index 0caabdd..83b364f 100644
--- a/ch-13/full-version/robot/code.py
+++ b/ch-13/full-version/robot/code.py
@@ -2,34 +2,49 @@ import asyncio
 import json
 import random
 from ulab import numpy as np
+
 import arena
 import robot
 
-class CollisionAvoid:
+class DistanceSensorTracker:
     def __init__(self):
+        robot.left_distance.distance_mode = 2
+        robot.right_distance.distance_mode = 2
+        robot.left_distance.timing_budget = 50
+        robot.right_distance.timing_budget = 50
+        self.left = 300
+        self.right = 300
+
+    async def main(self):
+        robot.left_distance.start_ranging()
+        robot.right_distance.start_ranging()
+        while True:
+            if robot.left_distance.data_ready and robot.left_distance.distance:
+                self.left = robot.left_distance.distance * 10  # convert to mm
+                robot.left_distance.clear_interrupt()
+            if robot.right_distance.data_ready and robot.right_distance.distance:
+                self.right = robot.right_distance.distance * 10
+                robot.right_distance.clear_interrupt()
+            await asyncio.sleep(0.01)
+
+
+class CollisionAvoid:
+    def __init__(self, distance_sensors):
         self.speed = 0.6
-        self.left_distance = 300
-        self.right_distance = 300
+        self.distance_sensors = distance_sensors
 
-    def update(self, left_distance, right_distance):
-        self.left_distance = left_distance
-        self.right_distance = right_distance
-
-    async def run(self):
+    async def main(self):
         while True:
             robot.set_right(self.speed)
-            while self.left_distance < 300 or self.right_distance < 300:
-                robot.set_left(-0.6)
+            while self.distance_sensors.left < 300 or \
+                    self.distance_sensors.right < 300:
+                robot.set_left(-self.speed)
                 await asyncio.sleep(0.3)
             robot.set_left(self.speed)
             await asyncio.sleep(0)
 
-
-triangular_proportion = np.sqrt(6) / 2
-def get_triangular_sample(mean, standard_deviation):
-    base = triangular_proportion * (random.uniform(-standard_deviation, standard_deviation) + random.uniform(-standard_deviation, standard_deviation))
-    return mean + base
-
+def get_scaled_sample_around_mean(mean, scale):
+    return mean + (random.uniform(-scale, scale) + random.uniform(-scale, scale)) / 2
 
 def convert_to_standard_position(true_bearing):
     standard_position = 90 - true_bearing
@@ -43,22 +58,29 @@ def convert_to_standard_position(true_bearing):
 def send_json(data):
     robot.uart.write((json.dumps(data) + "\n").encode())
 
+def read_json():
+    try:
+      data = robot.uart.readline()
+      decoded = data.decode()
+      return json.loads(decoded)
+    except (UnicodeError, ValueError):
+      print("Invalid data")
+      return None
+
 
 def send_poses(samples):
     send_json({
-        "poses": samples[:,:2].tolist(),
+        "poses": np.array(samples[:,:2], dtype=np.int16).tolist(),
     })
 
 
 class Simulation:
     def __init__(self):
-        self.population_size = 300
-        self.left_distance = 100
-        self.right_distance = 100
+        self.population_size = 200
         self.imu_mix = 0.3 * 0.5
         self.encoder_mix = 0.7
-        self.rotation_standard_dev = 2 # degrees
-        self.speed_standard_dev = 5 # mm
+        self.rotation_scale = 0.5 # degrees
+        self.speed_scale = 3 # mm
 
         # Poses - each an array of [x, y, heading]
         self.poses = np.array(
@@ -66,9 +88,12 @@ class Simulation:
                 int(random.uniform(0, arena.width)),
                 int(random.uniform(0, arena.height)),
                 int(random.uniform(0, 360))) for _ in range(self.population_size)],
-            dtype=np.int16,
+            dtype=np.float,
         )
-        self.collision_avoider = CollisionAvoid()
+        self.distance_sensors = DistanceSensorTracker()
+        self.collision_avoider = CollisionAvoid(self.distance_sensors)
+        self.last_encoder_left = robot.left_encoder.read()
+        self.last_encoder_right = robot.right_encoder.read()
 
     async def apply_sensor_model(self):
         # Based on vl53l1x sensor readings, create weight for each pose.
@@ -90,15 +115,15 @@ class Simulation:
         distance_sensor_left[:, 0] = self.poses[:, 0] + np.cos(poses_left_90) * robot.distance_sensor_from_middle
         distance_sensor_left[:, 1] = self.poses[:, 1] + np.sin(poses_left_90) * robot.distance_sensor_from_middle
         # now project forward by distance sensor range
-        distance_sensor_left[:, 0] += np.cos(self.poses[:, 2]) * self.left_distance
-        distance_sensor_left[:, 1] += np.sin(self.poses[:, 2]) * self.left_distance
+        distance_sensor_left[:, 0] += np.cos(self.poses[:, 2]) * self.distance_sensors.left
+        distance_sensor_left[:, 1] += np.sin(self.poses[:, 2]) * self.distance_sensors.left
         # right sensor
         poses_right_90 = np.radians(self.poses[:, 2] - 90)
         distance_sensor_right[:, 0] = self.poses[:, 0] + np.cos(poses_right_90) * robot.distance_sensor_from_middle
         distance_sensor_right[:, 1] = self.poses[:, 1] + np.sin(poses_right_90) * robot.distance_sensor_from_middle
         # now project forward by distance sensor range
-        distance_sensor_right[:, 0] += np.cos(self.poses[:, 2]) * self.left_distance
-        distance_sensor_right[:, 1] += np.sin(self.poses[:, 2]) * self.left_distance
+        distance_sensor_right[:, 0] += np.cos(self.poses[:, 2]) * self.distance_sensors.right
+        distance_sensor_right[:, 1] += np.sin(self.poses[:, 2]) * self.distance_sensors.right
 
         await asyncio.sleep(0)
         # weighted poses a numpy array of weights for each pose
@@ -134,15 +159,14 @@ class Simulation:
         return np.array([self.poses[n] for n in samples])
 
     def convert_odometry_to_motion(self, left_encoder_delta, right_encoder_delta):
-        # convert odometry to motion
-        # left_encoder is the change in the left encoder
-        # right_encoder is the change in the right encoder
-        # returns rot1, trans, rot2 
-        # rot1 is the rotation of the robot in radians before the translation
-        # trans is the distance the robot has moved in mm
-        # rot2 is the rotation of the robot in radians  
-
-        # convert encoder counts to mm
+        """
+        left_encoder is the change in the left encoder
+        right_encoder is the change in the right encoder
+        returns rot1, trans, rot2 
+        rot1 is the rotation of the robot in degrees before the translation
+        trans is the distance the robot has moved in mm
+        rot2 is the rotation of the robot in degrees
+        """
         left_mm = left_encoder_delta * robot.ticks_to_mm
         right_mm = right_encoder_delta * robot.ticks_to_mm
 
@@ -150,13 +174,13 @@ class Simulation:
             # no rotation
             return 0, left_mm, 0
 
-        # calculate the ICC
+        # calculate the radius of the arc
         radius = (robot.wheelbase_mm / 2) * (left_mm + right_mm) / (right_mm - left_mm)
-        ## arc length/radius = angle
-        theta = (right_mm - left_mm) / robot.wheelbase_mm
+        ## angle = difference in steps / wheelbase
+        d_theta = (right_mm - left_mm) / robot.wheelbase_mm
         # For a small enough motion, assume that the chord length = arc length
-        arc_length = theta * radius
-        rot1 = np.degrees(theta/2)
+        arc_length = d_theta * radius
+        rot1 = np.degrees(d_theta/2)
         rot2 = rot1
         return rot1, arc_length, rot2
 
@@ -166,10 +190,9 @@ class Simulation:
         new_encoder_left = robot.left_encoder.read()
         new_encoder_right = robot.right_encoder.read()
 
-        await asyncio.sleep(0)
         rot1, trans, rot2 = self.convert_odometry_to_motion(
             new_encoder_left - self.last_encoder_left, 
-            new_encoder_right - self.last_encoder_right)            
+            new_encoder_right - self.last_encoder_right)
         self.last_encoder_left = new_encoder_left
         self.last_encoder_right = new_encoder_right
         try:
@@ -186,67 +209,32 @@ class Simulation:
             rot2 = rot2 * self.encoder_mix + heading_change * self.imu_mix
         else:
             print("Failed to get heading")
-        await asyncio.sleep(0)            
-        rot1_model = np.array([get_triangular_sample(rot1, self.rotation_standard_dev) for _ in range(self.poses.shape[0])])
-        trans_model = np.array([get_triangular_sample(trans, self.speed_standard_dev) for _ in range(self.poses.shape[0])])
-        rot2_model = np.array([get_triangular_sample(rot2, self.rotation_standard_dev) for _ in range(self.poses.shape[0])])
+        await asyncio.sleep(0)
+        rot1_model = np.array([get_scaled_sample_around_mean(rot1, self.rotation_scale) for _ in range(self.poses.shape[0])])
+        trans_model = np.array([get_scaled_sample_around_mean(trans, self.speed_scale) for _ in range(self.poses.shape[0])])
+        rot2_model = np.array([get_scaled_sample_around_mean(rot2, self.rotation_scale) for _ in range(self.poses.shape[0])])
         self.poses[:,2] += rot1_model
         rot1_radians = np.radians(self.poses[:,2])
         self.poses[:,0] += trans_model * np.cos(rot1_radians)
         self.poses[:,1] += trans_model * np.sin(rot1_radians)
         self.poses[:,2] += rot2_model
-        self.poses[:,2] = np.vectorize(lambda n: float(n % 360))(self.poses[:,2])
-        self.poses = np.array(self.poses, dtype=np.int16)
+        self.poses[:,2] = np.array([float(theta % 360) for theta in self.poses[:,2]])
 
-    async def distance_sensor_updater(self):
-        robot.left_distance.distance_mode = 2
-        robot.right_distance.distance_mode = 2
-        robot.left_distance.timing_budget = 50
-        robot.right_distance.timing_budget = 50
-        robot.left_distance.start_ranging()
-        robot.right_distance.start_ranging()
-        while True:
-            if robot.left_distance.data_ready and robot.left_distance.distance:
-                self.left_distance = robot.left_distance.distance * 10  # convert to mm
-                robot.left_distance.clear_interrupt()
-            if robot.right_distance.data_ready and robot.right_distance.distance:
-                self.right_distance = robot.right_distance.distance * 10
-                robot.right_distance.clear_interrupt()
-            self.collision_avoider.update(self.left_distance, self.right_distance)
-            await asyncio.sleep(0.01)
-
-    async def run(self):
-        asyncio.create_task(self.distance_sensor_updater())
-        asyncio.create_task(self.collision_avoider.run())
+    async def main(self):
+        asyncio.create_task(self.distance_sensors.main())
+        asyncio.create_task(self.collision_avoider.main())
         self.last_heading = robot.imu.euler[0]
-        self.last_encoder_left = robot.left_encoder.read()
-        self.last_encoder_right = robot.right_encoder.read()
-
         try:
             while True:
                 weights = await self.apply_sensor_model()
                 send_poses(self.resample(weights, 20))
                 self.poses = self.resample(weights, self.population_size)
+                await asyncio.sleep(0)
                 await self.motion_model()
         finally:
             robot.stop()
 
 
-def read_command():
-    data = robot.uart.readline()
-    try:
-        decoded = data.decode()
-    except UnicodeError:
-        print("UnicodeError decoding :")
-        print(data)
-        return None
-    try:
-        request = json.loads(decoded)
-    except ValueError:
-        print("ValueError reading json from:")
-        print(decoded)
-        return None
-    return request
 
 
 async def updater(simulation):
@@ -274,21 +262,20 @@ async def command_handler(simulation):
     while True:
         if robot.uart.in_waiting:
             print("Receiving data...")
-            request = read_command()
+            request = read_json()
             if not request:
                 print("no request")
                 continue
+            print("Received: ", request)
             if request["command"] == "arena":
-                send_json(
-                    {
-                        "arena": arena.boundary_lines
-                    }
-                )
+                send_json({
+                    "arena": arena.boundary_lines,
+                })
                 if not update_task:
                     update_task = asyncio.create_task(updater(simulation))
             elif request["command"] == "start":
                 if not simulation_task:
-                    simulation_task = asyncio.create_task(simulation.run())
+                    simulation_task = asyncio.create_task(simulation.main())
 
         await asyncio.sleep(0.1)
 
diff --git a/ch-13/full-version/robot/robot.py b/ch-13/full-version/robot/robot.py
index 497d0b5..68bd714 100755
--- a/ch-13/full-version/robot/robot.py
+++ b/ch-13/full-version/robot/robot.py
@@ -4,7 +4,6 @@ import pio_encoder
 import busio
 import adafruit_vl53l1x
 import math
-import busio
 import adafruit_bno055
 
 uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
@@ -18,6 +17,7 @@ ticks_to_mm = wheel_circumference_mm / ticks_per_revolution
 ticks_to_m = ticks_to_mm / 1000
 m_to_ticks = 1 / ticks_to_m
 wheelbase_mm = 170
+distance_sensor_from_middle = 40 # approx mm
 
 motor_A2 = pwmio.PWMOut(board.GP17, frequency=100)
 motor_A1 = pwmio.PWMOut(board.GP16, frequency=100)
@@ -36,10 +36,7 @@ i2c1 = busio.I2C(sda=board.GP2, scl=board.GP3)
 left_distance = adafruit_vl53l1x.VL53L1X(i2c0)
 right_distance = adafruit_vl53l1x.VL53L1X(i2c1)
 
-distance_sensor_from_middle = 40 # approx mm
-
 imu = adafruit_bno055.BNO055_I2C(i2c0)
-imu.mode = adafruit_bno055.NDOF_MODE # should be in chapter 12!
 
 def stop():
     motor_A1.duty_cycle = 0
diff --git a/ch-13/full-version/computer/robot_ble_connection.py b/ch-13/full-version/robot_ble_connection.py
similarity index 92%
rename from ch-13/full-version/computer/robot_ble_connection.py
rename to ch-13/full-version/robot_ble_connection.py
index 66dd100..59953bd 100644
--- a/ch-13/full-version/computer/robot_ble_connection.py
+++ b/ch-13/full-version/robot_ble_connection.py
@@ -19,7 +19,9 @@ class BleConnection:
 
     async def connect(self):
         print("Scanning for devices...")
-        devices = await bleak.BleakScanner.discover(service_uuids=[self.ble_uuid])
+        devices = await bleak.BleakScanner.discover(
+            service_uuids=[self.ble_uuid]
+        )
         print(f"Found {len(devices)} devices")
         print([device.name for device in devices])        
         ble_device_info = [device for device in devices if device.name==self.ble_name][0]