mirror of
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pybricks.hubs.EssentialHub: Added missing Hub
This commit is contained in:
Pavel Lobodinský
committed by
David Lechner
David Lechner
parent
e467bb57c9
commit
025147680c
@@ -2,6 +2,11 @@
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<!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
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## Unreleased
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### Added
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- Code auto-completion for `EssentialHub`.
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## 3.2.0b1-r3 - 2022-06-26
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### Fixed
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@@ -0,0 +1,147 @@
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.. pybricks-requirements:: essentialhub
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Essential Hub
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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.. figure:: ../../main/images/primehub.png
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:height: 15 em
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.. autoclass:: pybricks.hubs.EssentialHub
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:no-members:
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.. rubric:: Using the hub status light
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.. figure:: ../../main/images/primehub_light_label.png
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:width: 22 em
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.. automethod:: pybricks.hubs::EssentialHub.light.on
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.. automethod:: pybricks.hubs::EssentialHub.light.off
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.. automethod:: pybricks.hubs::EssentialHub.light.blink
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.. automethod:: pybricks.hubs::EssentialHub.light.animate
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.. rubric:: Using the button
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.. figure:: ../../main/images/primehub_buttons_label.png
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:width: 22 em
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.. automethod:: pybricks.hubs::EssentialHub.button.pressed
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.. rubric:: Using the IMU
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.. automethod:: pybricks.hubs::EssentialHub.imu.up
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.. automethod:: pybricks.hubs::EssentialHub.imu.tilt
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.. automethod:: pybricks.hubs::EssentialHub.imu.acceleration
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.. automethod:: pybricks.hubs::EssentialHub.imu.angular_velocity
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.. automethod:: pybricks.hubs::EssentialHub.imu.heading
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.. automethod:: pybricks.hubs::EssentialHub.imu.reset_heading
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.. rubric:: Using the battery
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.. automethod:: pybricks.hubs::EssentialHub.battery.voltage
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.. automethod:: pybricks.hubs::EssentialHub.battery.current
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.. rubric:: Getting the charger status
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.. automethod:: pybricks.hubs::EssentialHub.charger.connected
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.. automethod:: pybricks.hubs::EssentialHub.charger.current
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.. automethod:: pybricks.hubs::EssentialHub.charger.status
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.. rubric:: System control
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.. automethod:: pybricks.hubs::EssentialHub.system.set_stop_button
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.. automethod:: pybricks.hubs::EssentialHub.system.name
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.. automethod:: pybricks.hubs::EssentialHub.system.shutdown
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.. automethod:: pybricks.hubs::EssentialHub.system.reset_reason
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Status light examples
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---------------------
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Turning the light on and off
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****************************
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.. literalinclude::
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../../../examples/pup/hub_essentialhub/light_off.py
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Changing brightness and using custom colors
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*******************************************
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.. literalinclude::
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../../../examples/pup/hub_essentialhub/light_hsv.py
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Making the light blink
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**********************
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.. literalinclude::
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../../../examples/pup/hub_essentialhub/light_blink.py
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Creating light animations
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*************************
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.. literalinclude::
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../../../examples/pup/hub_essentialhub/light_animate.py
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Button examples
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---------------
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Detecting button presses
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************************
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.. literalinclude::
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../../../examples/pup/hub_essentialhub/button_single.py
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IMU examples
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---------------
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Testing which way is up
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********************************
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.. literalinclude::
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../../../examples/pup/hub_essentialhub/imu_up.py
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Reading the tilt value
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********************************
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.. literalinclude::
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../../../examples/pup/hub_essentialhub/imu_tilt.py
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Using a custom hub orientation
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**************************************************
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.. literalinclude::
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../../../examples/pup/hub_essentialhub/imu_tilt_blast.py
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Reading acceleration and angular velocity vectors
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**************************************************
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.. literalinclude::
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../../../examples/pup/hub_essentialhub/imu_read_vector.py
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Reading acceleration and angular velocity on one axis
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*****************************************************
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.. literalinclude::
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../../../examples/pup/hub_essentialhub/imu_read_scalar.py
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System examples
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----------------------------------
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Turning the hub off
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*****************************************
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.. literalinclude::
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../../../examples/pup/hub_essentialhub/system_shutdown.py
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@@ -12,6 +12,7 @@
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movehub
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cityhub
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technichub
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essentialhub
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primehub
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.. pybricks-classlink:: MoveHub
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@@ -32,6 +33,12 @@
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:height: 10 em
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:target: technichub.html
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.. pybricks-classlink:: EssentialHub
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.. figure:: ../../main/images/primehub.png
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:height: 10 em
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:target: essentialhub.html
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.. pybricks-classlink:: PrimeHub
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.. figure:: ../../main/images/primehub.png
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+2
-2
@@ -28,8 +28,8 @@ Pybricks Documentation
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.. list-table::
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* - **Technic Hub, City Hub, BOOST Move Hub**
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- **SPIKE Prime Hub / MINDSTORMS Inventor Hub**
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* - **Technic, City, and BOOST Move Hubs**
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- **SPIKE Essential/Prime, and MINDSTORMS Inventor Hubs**
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* - .. figure:: ../main/images/powereduphubs.png
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:target: https://pybricks.com/install/technic-boost-city/
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@@ -0,0 +1,25 @@
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from pybricks.hubs import EssentialHub
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from pybricks.parameters import Color, Button
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from pybricks.tools import wait, StopWatch
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# Initialize the hub.
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hub = EssentialHub()
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# Disable the stop button.
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hub.system.set_stop_button(None)
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# Check the button for 5 seconds.
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watch = StopWatch()
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while watch.time() < 5000:
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# Set light to green if pressed, else red.
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if hub.button.pressed():
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hub.light.on(Color.GREEN)
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else:
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hub.light.on(Color.RED)
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# Enable the stop button again.
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hub.system.set_stop_button(Button.CENTER)
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# Now you can press the stop button as usual.
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wait(5000)
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@@ -0,0 +1,20 @@
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from pybricks.hubs import EssentialHub
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from pybricks.tools import wait
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from pybricks.geometry import Axis
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# Initialize the hub.
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hub = EssentialHub()
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# Get the acceleration or angular_velocity along a single axis.
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# If you need only one value, this is more memory efficient.
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while True:
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# Read the forward acceleration.
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forward_acceleration = hub.imu.acceleration(Axis.X)
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# Read the yaw rate.
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yaw_rate = hub.imu.angular_velocity(Axis.Z)
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# Print the yaw rate.
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print(yaw_rate)
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wait(100)
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@@ -0,0 +1,14 @@
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from pybricks.hubs import EssentialHub
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from pybricks.tools import wait
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# Initialize the hub.
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hub = EssentialHub()
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# Get the acceleration vector.
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print(hub.imu.acceleration())
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# Get the angular velocity vector.
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print(hub.imu.angular_velocity())
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# Wait so we can see what we printed
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wait(5000)
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@@ -0,0 +1,13 @@
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from pybricks.hubs import EssentialHub
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from pybricks.tools import wait
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# Initialize the hub.
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hub = EssentialHub()
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while True:
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# Read the tilt values.
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pitch, roll = hub.imu.tilt()
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# Print the result.
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print(pitch, roll)
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wait(200)
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@@ -0,0 +1,17 @@
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from pybricks.hubs import EssentialHub
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from pybricks.tools import wait
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from pybricks.geometry import Axis
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# Initialize the hub. In this case, specify that the hub is mounted with the
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# top side facing forward and the front side facing to the right.
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# For example, this is how the hub is mounted in BLAST in the 51515 set.
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hub = EssentialHub(top_side=Axis.X, front_side=-Axis.Y)
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while True:
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# Read the tilt values. Now, the values are 0 when BLAST stands upright.
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# Leaning forward gives positive pitch. Leaning right gives positive roll.
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pitch, roll = hub.imu.tilt()
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# Print the result.
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print(pitch, roll)
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wait(200)
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@@ -0,0 +1,29 @@
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from pybricks.hubs import EssentialHub
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from pybricks.parameters import Color, Side
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from pybricks.tools import wait
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# Initialize the hub.
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hub = EssentialHub()
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# Define colors for each side in a dictionary.
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SIDE_COLORS = {
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Side.TOP: Color.RED,
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Side.BOTTOM: Color.BLUE,
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Side.LEFT: Color.GREEN,
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Side.RIGHT: Color.YELLOW,
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Side.FRONT: Color.MAGENTA,
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Side.BACK: Color.BLACK,
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}
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# Keep updating the color based on detected up side.
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while True:
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# Check which side of the hub is up.
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up_side = hub.imu.up()
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# Change the color based on the side.
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hub.light.on(SIDE_COLORS[up_side])
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# Also print the result.
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print(up_side)
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wait(50)
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@@ -0,0 +1,23 @@
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from pybricks.hubs import EssentialHub
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from pybricks.parameters import Color
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from pybricks.tools import wait
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from umath import sin, pi
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# Initialize the hub.
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hub = EssentialHub()
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# Make an animation with multiple colors.
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hub.light.animate([Color.RED, Color.GREEN, Color.NONE], interval=500)
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wait(10000)
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# Make the color RED grow faint and bright using a sine pattern.
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hub.light.animate(
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[Color.RED * (0.5 * sin(i / 15 * pi) + 0.5) for i in range(30)], 40)
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wait(10000)
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# Cycle through a rainbow of colors.
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hub.light.animate([Color(h=i*8) for i in range(45)], interval=40)
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wait(10000)
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@@ -0,0 +1,16 @@
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from pybricks.hubs import EssentialHub
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from pybricks.parameters import Color
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from pybricks.tools import wait
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# Initialize the hub
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hub = EssentialHub()
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# Keep blinking red on and off.
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hub.light.blink(Color.RED, [500, 500])
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wait(10000)
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# Keep blinking green slowly and then quickly.
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hub.light.blink(Color.GREEN, [500, 500, 50, 900])
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wait(10000)
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@@ -0,0 +1,21 @@
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from pybricks.hubs import EssentialHub
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from pybricks.parameters import Color
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from pybricks.tools import wait
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# Initialize the hub.
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hub = EssentialHub()
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# Show the color at 30% brightness.
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hub.light.on(Color.RED * 0.3)
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wait(2000)
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# Use your own custom color.
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hub.light.on(Color(h=30, s=100, v=50))
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wait(2000)
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# Go through all the colors.
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for hue in range(360):
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hub.light.on(Color(hue))
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wait(10)
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@@ -0,0 +1,15 @@
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from pybricks.hubs import EssentialHub
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from pybricks.parameters import Color
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from pybricks.tools import wait
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# Initialize the hub.
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hub = EssentialHub()
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# Turn the light on and off 5 times.
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for i in range(5):
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hub.light.on(Color.RED)
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wait(1000)
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hub.light.off()
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wait(500)
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@@ -0,0 +1,12 @@
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from pybricks.hubs import EssentialHub
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from pybricks.tools import wait
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# Initialize the hub.
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hub = EssentialHub()
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# Say goodbye and give some time to send it.
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print("Goodbye!")
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wait(100)
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# Shut the hub down.
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hub.system.shutdown()
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@@ -1,4 +1,4 @@
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# ExampleHub = MoveHub CityHub TechnicHub
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# ExampleHub = MoveHub CityHub TechnicHub EssentialHub
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from pybricks.hubs import ExampleHub
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from pybricks.parameters import Color, Button
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from pybricks.tools import wait, StopWatch
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@@ -1,4 +1,4 @@
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# ExampleHub = TechnicHub PrimeHub
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# ExampleHub = TechnicHub PrimeHub EssentialHub
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from pybricks.hubs import ExampleHub
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from pybricks.tools import wait
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from pybricks.geometry import Axis
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@@ -1,4 +1,4 @@
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# ExampleHub = TechnicHub PrimeHub
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# ExampleHub = TechnicHub PrimeHub EssentialHub
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from pybricks.hubs import ExampleHub
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from pybricks.tools import wait
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@@ -1,4 +1,4 @@
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# ExampleHub = TechnicHub PrimeHub
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# ExampleHub = TechnicHub PrimeHub EssentialHub
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from pybricks.hubs import ExampleHub
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from pybricks.tools import wait
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@@ -1,4 +1,4 @@
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# ExampleHub = TechnicHub PrimeHub
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# ExampleHub = TechnicHub PrimeHub EssentialHub
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from pybricks.hubs import ExampleHub
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from pybricks.tools import wait
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from pybricks.geometry import Axis
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@@ -1,4 +1,4 @@
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# ExampleHub = TechnicHub PrimeHub MoveHub
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# ExampleHub = TechnicHub PrimeHub MoveHub EssentialHub
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from pybricks.hubs import ExampleHub
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from pybricks.parameters import Color, Side
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from pybricks.tools import wait
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@@ -1,4 +1,4 @@
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# ExampleHub = CityHub TechnicHub PrimeHub
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# ExampleHub = CityHub TechnicHub PrimeHub EssentialHub
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from pybricks.hubs import ExampleHub
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from pybricks.parameters import Color
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from pybricks.tools import wait
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@@ -1,4 +1,4 @@
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# ExampleHub = MoveHub CityHub TechnicHub PrimeHub
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# ExampleHub = MoveHub CityHub TechnicHub PrimeHub EssentialHub
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from pybricks.hubs import ExampleHub
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from pybricks.parameters import Color
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from pybricks.tools import wait
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@@ -1,4 +1,4 @@
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# ExampleHub = CityHub TechnicHub PrimeHub
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# ExampleHub = CityHub TechnicHub PrimeHub EssentialHub
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from pybricks.hubs import ExampleHub
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from pybricks.parameters import Color
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from pybricks.tools import wait
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@@ -1,4 +1,4 @@
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# ExampleHub = MoveHub CityHub TechnicHub PrimeHub
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# ExampleHub = MoveHub CityHub TechnicHub PrimeHub EssentialHub
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from pybricks.hubs import ExampleHub
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from pybricks.parameters import Color
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from pybricks.tools import wait
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Regular → Executable
@@ -1,4 +1,4 @@
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# ExampleHub = MoveHub CityHub TechnicHub PrimeHub
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# ExampleHub = MoveHub CityHub TechnicHub PrimeHub EssentialHub
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from pybricks.hubs import ExampleHub
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from pybricks.tools import wait
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+30
-1
@@ -79,8 +79,37 @@ class TechnicHub:
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"""
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class EssentialHub:
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"""LEGO® SPIKE Essential Hub."""
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# These class attributes are here for auto-documentation only.
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# In reality, they are instance attributes created by __init__.
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battery = _Battery()
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button = _Keypad((_Button.CENTER,))
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charger = _Charger()
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light = _ColorLight()
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imu = _IMU()
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system = _System()
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def __init__(self, top_side=_Axis.Z, front_side=_Axis.X):
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"""__init__(top_side=Axis.Z, front_side=Axis.X)
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Initializes the hub. Optionally, specify how the hub is
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:ref:`placed in your design <robotframe>` by saying in which
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direction the top side (with the button) and the front side (with the USB
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port, and I/O ports A and B) are pointing.
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Arguments:
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top_side (Axis): The axis that passes through the *top side* of
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the hub.
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front_side (Axis): The axis that passes through the *front side* of
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the hub.
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"""
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pass
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class PrimeHub:
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"""LEGO® SPIKE Prime Hub or LEGO® MINDSTORMS Inventor Hub."""
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"""LEGO® SPIKE Prime Hub."""
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# These class attributes are here for auto-documentation only.
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# In reality, they are instance attributes created by __init__.
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Reference in New Issue
Block a user