Merge pull request #43 from systemetric/2024-marker-updates

2024 marker updates
Merge the marker updates as well as various miscellaneous changes:
 - Marker ids are correctly recognised for 2024 Hot Potato
 - Documentation strings / comments added
 - Exposed 5v and 12v enabling and disabling from user code
Potentially other stuff though I can't remember (this is down to my commit messages which are occasionally just unreadable or disingenous).
Tada!
Known bugs that aren't in the patch:
 - `R.motors[n]` (`R.motors.__getitem__()`) throws an error due to an undefined/incorrect variable `_GG_MOTOR_A_MAG`
 - Some things might fail on old (green) brains (not tested, should work but there are potential bugs)

robot/__init__.py

@@ -5,8 +5,6 @@
 
 import importlib
 
-from robot.sheepdog_trials.markers import BASE_MARKER
-
 has_picamera = importlib.find_loader("picamera") is not None
 
 if not has_picamera:
@@ -25,16 +23,14 @@
 import robot.log
 
 from robot.wrapper import Robot, NoCameraPresent
-from robot.greengiant import OUTPUT, INPUT, INPUT_ANALOG, INPUT_PULLUP
+from robot.greengiant import OUTPUT, INPUT, INPUT_ANALOG, INPUT_PULLUP, PWM_SERVO
 from robot.vision import RoboConUSBCamera
-from robot.sheepdog_trials import (
+from robot.marker_setup import (
     MARKER,
     BASE_MARKER,
     ARENA_MARKER,
-    SHEEP_MARKER,
+    POTATO_MARKER,
     MARKER_TYPE,
-    MARKER_OWNER,
-    WOOL_TYPE,
     TEAM
 )
 
@@ -51,13 +47,12 @@
     "INPUT",
     "INPUT_ANALOG",
     "INPUT_PULLUP",
+    "PWM_SERVO",
     "MARKER",
     "BASE_MARKER",
     "ARENA_MARKER",
-    "SHEEP_MARKER",
+    "POTATO_MARKER",
     "MARKER_TYPE",
-    "MARKER_OWNER",
-    "WOOL_TYPE",
     "TEAM",
     "RoboConUSBCamera"
 )

robot/apriltags3.py

@@ -21,7 +21,7 @@
 import numpy as np
 import scipy.spatial.transform as transform
 
-from robot.sheepdog_trials.markers import MARKER
+from robot.marker_setup.markers import MARKER
 
 
 ######################################################################