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import api

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Laurens Valk
2019-05-09 13:19:32 +02:00
parent bc42a73f3b 3ffa8a4526
commit c10b3b9eea
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api/.gitattributes
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pybricks/_version.py export-subst
api/LICENSE
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MIT License
Copyright (c) 2018 Laurens Valk and David Lechner
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
api/MANIFEST.in
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include versioneer.py
include pybricks/_version.py
api/README.rst
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Fake Pybricks
=============
This is a standard Python 3.x library that provides the Pybricks API with a
totally fake implementation. It is used to provide documentation and type
hints for code completion.
Local install for developers: Navigate to this directory and then run
``python3 setup.py sdist bdist_wheel``
``pip3 install --user -e .``
api/pybricks/__init__.py
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from ._version import get_versions
__version__ = get_versions()['version']
del get_versions
api/pybricks/_common.py
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"""Generic cross-platform module for typical hub devices like displays, speakers, and batteries."""
from parameters import Align, Direction, Stop
class Motor():
"""Generic class for a motor with rotational encoders."""
def __init__(self, port, direction=Direction.CLOCKWISE, gears=None):
"""Motor(port, direction=Direction.CLOCKWISE, gears=None)
Arguments:
port (Port): Port to which the motor is connected.
direction (Direction): Positive speed direction (*Default*: Direction.CLOCKWISE).
gears (list): List of gears linked to the motor (*Default*: ``None``).
For example: ``[12, 36]`` represents a gear train with a 12-tooth and a 36-tooth gear. See :ref:`ratio` for illustrated examples.
Use a list of lists for multiple gear trains, such as ``[[12, 36], [20, 16, 40]]``.
When you specify a gear train, all motor commands and settings are automatically adjusted to account for the resulting gear ratio. The motor direction remains unchanged, no matter how many gears you choose.
For example, with ``gears=[12, 36]``, the gear ratio is 3, which means that the output is mechanically slowed down by a factor of 3. To compensate, the motor will automatically turn 3 times as fast and 3 times as far when you give a motor command. So when you choose ``run_angle(200, 90)``, your mechanism output simply turns at 200 deg/s for 90 degrees.
The same holds for the documentation below: When it states "motor angle" or "motor speed", you can read this as "mechanism output angle" and "mechanism output speed", and so on, as the gear ratio is automatically accounted for.
The ``gears`` setting is only available for motors with rotation sensors.
Example::
# Initialize a motor (by default this means clockwise, without any gears).
example_motor = Motor(Port.A)
# Initialize a motor where positive speed values should go counterclockwise
right_motor = Motor(Port.B, Direction.COUNTERCLOCKWISE)
# Initialize a motor with a gear train
robot_arm = Motor(Port.C, Direction.CLOCKWISE, [12, 36])
"""
pass
def dc(self, duty):
"""Set the :ref:`duty cycle <duty>` of the motor.
Arguments:
duty (:ref:`percentage`): The duty cycle (-100.0 to 100).
Example::
# Set the motor duty cycle to 75%.
example_motor.duty(75)
"""
pass
def angle(self):
"""Get the rotation angle of the motor.
Returns:
:ref:`angle`: Motor angle.
"""
pass
def speed(self):
"""Get the speed (angular velocity) of the motor.
Returns:
:ref:`speed`: Motor speed.
"""
pass
def stalled(self):
"""Check whether the motor is currently stalled.
A motor is stalled when it cannot move even with the maximum torque. For example, when something is blocking the motor or your mechanism simply cannot turn any further.
Specifically, the motor is stalled when the duty cycle computed by the PID controllers has reached the maximum (so ``duty`` = ``duty_limit``) and still the motor cannot reach a minimal speed (so ``speed`` < ``stall_speed``) for a period of at least ``stall_time``.
You can change the ``duty_limit``, ``stall_speed``, and ``stall_time`` settings using :meth:`.set_dc_settings` and :meth:`.set_pid_settings` in order to change the sensitivity to being stalled.
Returns:
bool: ``True`` if the motor is stalled, ``False`` if it is not.
"""
pass
def reset_angle(self, angle):
"""Reset the accumulated rotation angle of the motor.
Arguments:
angle (:ref:`angle`): Value to which the angle should be reset.
"""
pass
def stop(self, stop_type=Stop.COAST):
"""stop(stop_type=Stop.COAST)
Stop the motor.
Arguments:
stop_type (Stop): Whether to coast, brake, or hold (*Default*: :class:`Stop.COAST <parameters.Stop>`).
"""
pass
def run(self, speed):
"""Keep the motor running at a constant speed (angular velocity).
The motor will accelerate towards the requested speed and the duty cycle is automatically adjusted to keep the speed constant, even under some load. This continues in the background until you give the motor a new command or the program stops.
Arguments:
speed (:ref:`speed`): Speed of the motor.
"""
pass
def run_time(self, speed, time, stop_type=Stop.COAST, wait=True):
"""run_time(speed, time, stop_type=Stop.COAST, wait=True)
Run the motor at a constant speed (angular velocity) for a given amount of time.
The motor will accelerate towards the requested speed and the duty cycle is automatically adjusted to keep the speed constant, even under some load. It begins to decelerate just in time to reach standstill after the specified duration.
Arguments:
speed (:ref:`speed`): Speed of the motor.
time (:ref:`time`): Duration of the maneuver.
stop_type (Stop): Whether to coast, brake, or hold after coming to a standstill (*Default*: :class:`Stop.COAST <parameters.Stop>`).
wait (bool): Wait for the maneuver to complete before continuing with the rest of the program (*Default*: ``True``). This means that your program waits for the specified ``time``.
"""
pass
def run_angle(self, speed, rotation_angle, stop_type=Stop.COAST, wait=True):
"""run_angle(speed, rotation_angle, stop_type=Stop.COAST, wait=True)
Run the motor at a constant speed (angular velocity) by a given angle.
The motor will accelerate towards the requested speed and the duty cycle is automatically adjusted to keep the speed constant, even under some load. It begins to decelerate just in time so that it comes to a standstill after traversing the given angle.
Arguments:
speed (:ref:`speed`): Speed of the motor.
rotation_angle (:ref:`angle`): Angle by which the motor should rotate.
stop_type (Stop): Whether to coast, brake, or hold after coming to a standstill (*Default*: :class:`Stop.COAST <parameters.Stop>`).
wait (bool): Wait for the maneuver to complete before continuing with the rest of the program (*Default*: ``True``). This means that your program waits until the motor has traveled precisely the requested angle.
"""
pass
def run_target(self, speed, target_angle, stop_type=Stop.COAST, wait=True):
"""run_target(speed, target_angle, stop_type=Stop.COAST, wait=True)
Run the motor at a constant speed (angular velocity) towards a given target angle.
The motor will accelerate towards the requested speed and the duty cycle is automatically adjusted to keep the speed constant, even under some load. It begins to decelerate just in time so that it comes to a standstill at the given target angle.
The direction of rotation is automatically selected based on the target angle.
Arguments:
speed (:ref:`speed`): Absolute speed of the motor. The direction will be automatically selected based on the target angle: it makes no difference if you specify a positive or negative speed.
target_angle (:ref:`angle`): Target angle that the motor should rotate to, regardless of its current angle.
stop_type (Stop): Whether to coast, brake, or hold after coming to a standstill (*Default*: :class:`Stop.COAST <parameters.Stop>`).
wait (bool): Wait for the maneuver to complete before continuing with the rest of the program (*Default*: ``True``). This means that your program waits until the motor has reached the target angle.
"""
pass
def run_until_stalled(self, speed, stop_type=Stop.COAST, duty_limit=None):
"""run_until_stalled(speed, stop_type=Stop.COAST, duty_limit=default)
Run the motor at a constant speed (angular velocity) until it stalls. The motor is considered stalled when it cannot move even with the maximum torque. See :meth:`.stalled` for a more precise definition.
The ``duty_limit`` argument lets you temporarily limit the motor torque during this maneuver. This is useful to avoid applying the full motor torque to a geared or lever mechanism.
Arguments:
speed (:ref:`speed`): Speed of the motor.
stop_type (Stop): Whether to coast, brake, or hold after coming to a standstill (*Default*: :class:`Stop.COAST <parameters.Stop>`).
duty_limit (:ref:`percentage`): Relative torque limit. This limit works just like :meth:`.set_dc_settings`, but in this case the limit is temporary: it returns to its previous value after completing this command.
"""
pass
def track_target(self, target_angle):
"""Track a target angle that varies in time.
This function is quite similar to :meth:`.run_target`, but speed and acceleration settings are ignored: it will move to the target angle as fast as possible. Instead, you adjust speed and acceleration by choosing how fast or slow you vary the ``target_angle``.
This method is useful in fast loops where the motor target changes continuously.
Arguments:
target_angle (:ref:`angle`): Target angle that the motor should rotate to.
Example::
# Initialize motor and timer
from math import sin
motor = Motor(Port.A)
watch = StopWatch()
amplitude = 90
# In a fast loop, compute a reference angle
# and make the motor track it.
while True:
# Get the time in seconds
seconds = watch.time()/1000
# Compute a reference angle. This produces
# a sine wave that makes the motor move
# smoothly between -90 and +90 degrees.
angle_now = sin(seconds)*amplitude
# Make the motor track the given angle
motor.track_target(angle_now)
"""
pass
def set_dc_settings(self, duty_limit, duty_offset):
"""Configure the settings to adjust the behavior of the :meth:`.dc` command. This also affects all of the ``run`` commands, which use the :meth:`.dc` method in the background.
Arguments:
duty_limit (:ref:`percentage`): Relative torque limit during subsequent motor commands. This sets the maximum duty cycle that is applied during any subsequent motor command. This reduces the maximum torque output to a percentage of the absolute maximum stall torque. This is useful to avoid applying the full motor torque to a geared or lever mechanism, or to prevent your LEGO® train from unintentionally going at full speed. (*Default*: 100).
duty_offset (:ref:`percentage`): Minimum duty cycle given when you use :meth:`.dc`. This adds a small feed forward torque so that your motor will move even for very low duty cycle values, which can be useful when you create your own feedback controllers (*Default*: 0).
"""
pass
def set_run_settings(self, max_speed, acceleration):
"""Configure the maximum speed and acceleration/deceleration of the motor for all run commands.
This applies to the ``run``, ``run_time``, ``run_angle``, ``run_target``, or ``run_until_stalled`` commands you give the motor. See also the :ref:`default parameters <defaultpars>` for each motor.
Arguments:
max_speed (:ref:`speed`): Maximum speed of the motor during a motor command.
acceleration (:ref:`acceleration`): Acceleration towards the target speed and deceleration towards standstill. This should be a positive value. The motor will automatically change the sign to decelerate as needed.
Example::
# Set the maximum speed to 200 deg/s and acceleration to 400 deg/s/s.
example_motor.set_run_settings(200, 400)
# Make the motor run for 5 seconds. Even though the speed argument is 300
# deg/s in this example, the motor will move at only 200 deg/s because of
# the settings above.
example_motor.run_time(300, 5000)
"""
pass
def set_pid_settings(self, kp, ki, kd, tight_loop_limit, angle_tolerance, speed_tolerance, stall_speed, stall_time):
"""Configure the settings of the position and speed controllers. See also :ref:`pid` and the :ref:`default parameters <defaultpars>` for each motor.
Arguments:
kp (int): Proportional position (and integral speed) control constant.
ki (int): Integral position control constant.
kd (int): Derivative position (and proportional speed) control constant.
tight_loop_limit (:ref:`time`): If you execute any of the ``run`` commands within this interval after starting the previous command, the controllers assume that you want to control the speed directly. This means that it will ignore the acceleration setting and immediately begin tracking the speed you give in the ``run`` command. This is useful in a fast loop, where you usually want the motors to respond quickly rather than accelerate smoothly, for example with a line-following robot.
angle_tolerance (:ref:`angle`): Allowed deviation from the target angle before motion is considered complete.
speed_tolerance (:ref:`speed`): Allowed deviation from zero speed before motion is considered complete.
stall_speed (:ref:`speed`): See :meth:`.stalled`.
stall_time (:ref:`time`): See :meth:`.stalled`.
"""
pass
class Display():
"""Show images or text on a display."""
def clear(self):
"""Clear everything on the display."""
pass
def text(self, text, coordinate=None):
"""Display text.
Parameters:
text (str): The text to display.
coordinate (tuple): ``(x, y)`` coordinate tuple. It is the top-left corner of the first character. If no coordinate is specified, it is printed on the next line.
Example::
# Clear the display
brick.display.clear()
# Print ``Hello`` near the middle of the screen
brick.display.text("Hello", (60, 50))
# Print ``World`` directly underneath it
brick.display.text("World")
"""
pass
def image(self, file_name, alignment=Align.CENTER, coordinate=None, clear=True):
"""image(file_name, alignment=Align.CENTER, coordinate=None, clear=True)
Show an image file.
You can specify its placement either using ``alignment`` or by specifying a ``coordinate``, but not both.
Arguments:
file_name (str): Path to the image file. Paths may be absolute or relative from the project folder.
alignment (Align): Where to place the image (*Default*: Align.CENTER).
coordinate (tuple): ``(x, y)`` coordinate tuple. It is the top-left corner of the image (*Default*: None).
clear (bool): Whether to clear the screen before showing the image (*Default*: ``True``).
Example::
# Show a built-in image of two eyes looking upward
brick.display.image(ImageFile.UP)
# Display a custom image from your project folder
brick.display.image('pybricks.png')
# Display a custom image at the top right of the screen, without clearing
# the screen first
brick.display.image('arrow.png', Align.TOP_RIGHT, clear=False)
"""
pass
class Speaker():
"""Play beeps and sound files using a speaker."""
def beep(self, frequency=500, duration=100, volume=30):
"""Play a beep/tone.
Arguments:
frequency (:ref:`frequency`): Frequency of the beep (*Default*: 500).
duration (:ref:`time`): Duration of the beep (*Default*: 100).
volume (:ref:`percentage`): Volume of the beep (*Default*: 30).
Example::
# A simple beep
brick.sound.beep()
# A high pitch (1500 Hz) for one second (1000 ms) at 50% volume
brick.sound.beep(1500, 1000, 50)
"""
pass
def beeps(self, number):
"""Play a number of default beeps with a brief pause in between.
Arguments:
number (int): Number of beeps.
Example::
# Make 5 simple beeps
brick.sound.beeps(5)
"""
pass
def file(self, file_name, volume=100):
"""Play a sound file.
Arguments:
file_name (str): Path to the sound file, including extension.
volume (:ref:`percentage`): Volume of the sound (*Default*: 100).
Example::
# Play one of the built-in sounds
brick.sound.file(SoundFile.HELLO)
# Play a sound file from your project folder
brick.sound.file('mysound.wav')
"""
pass
class Battery():
"""Get the status of a battery."""
def voltage(self):
"""Get the voltage of the battery.
Returns:
:ref:`voltage`: Battery voltage.
"""
pass
def current(self):
"""Get the current supplied by the battery.
Returns:
:ref:`current`: Battery current.
"""
pass
api/pybricks/_version.py
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# This file helps to compute a version number in source trees obtained from
# git-archive tarball (such as those provided by githubs download-from-tag
# feature). Distribution tarballs (built by setup.py sdist) and build
# directories (produced by setup.py build) will contain a much shorter file
# that just contains the computed version number.
# This file is released into the public domain. Generated by
# versioneer-0.18 (https://github.com/warner/python-versioneer)
"""Git implementation of _version.py."""
import errno
import os
import re
import subprocess
import sys
def get_keywords():
"""Get the keywords needed to look up the version information."""
# these strings will be replaced by git during git-archive.
# setup.py/versioneer.py will grep for the variable names, so they must
# each be defined on a line of their own. _version.py will just call
# get_keywords().
git_refnames = "$Format:%d$"
git_full = "$Format:%H$"
git_date = "$Format:%ci$"
keywords = {"refnames": git_refnames, "full": git_full, "date": git_date}
return keywords
class VersioneerConfig:
"""Container for Versioneer configuration parameters."""
def get_config():
"""Create, populate and return the VersioneerConfig() object."""
# these strings are filled in when 'setup.py versioneer' creates
# _version.py
cfg = VersioneerConfig()
cfg.VCS = "git"
cfg.style = "pep440"
cfg.tag_prefix = "v"
cfg.parentdir_prefix = "fake-pybricks-"
cfg.versionfile_source = "pybricks/_version.py"
cfg.verbose = False
return cfg
class NotThisMethod(Exception):
"""Exception raised if a method is not valid for the current scenario."""
LONG_VERSION_PY = {}
HANDLERS = {}
def register_vcs_handler(vcs, method): # decorator
"""Decorator to mark a method as the handler for a particular VCS."""
def decorate(f):
"""Store f in HANDLERS[vcs][method]."""
if vcs not in HANDLERS:
HANDLERS[vcs] = {}
HANDLERS[vcs][method] = f
return f
return decorate
def run_command(commands, args, cwd=None, verbose=False, hide_stderr=False,
env=None):
"""Call the given command(s)."""
assert isinstance(commands, list)
p = None
for c in commands:
try:
dispcmd = str([c] + args)
# remember shell=False, so use git.cmd on windows, not just git
p = subprocess.Popen([c] + args, cwd=cwd, env=env,
stdout=subprocess.PIPE,
stderr=(subprocess.PIPE if hide_stderr
else None))
break
except EnvironmentError:
e = sys.exc_info()[1]
if e.errno == errno.ENOENT:
continue
if verbose:
print("unable to run %s" % dispcmd)
print(e)
return None, None
else:
if verbose:
print("unable to find command, tried %s" % (commands,))
return None, None
stdout = p.communicate()[0].strip()
if sys.version_info[0] >= 3:
stdout = stdout.decode()
if p.returncode != 0:
if verbose:
print("unable to run %s (error)" % dispcmd)
print("stdout was %s" % stdout)
return None, p.returncode
return stdout, p.returncode
def versions_from_parentdir(parentdir_prefix, root, verbose):
"""Try to determine the version from the parent directory name.
Source tarballs conventionally unpack into a directory that includes both
the project name and a version string. We will also support searching up
two directory levels for an appropriately named parent directory
"""
rootdirs = []
for i in range(3):
dirname = os.path.basename(root)
if dirname.startswith(parentdir_prefix):
return {"version": dirname[len(parentdir_prefix):],
"full-revisionid": None,
"dirty": False, "error": None, "date": None}
else:
rootdirs.append(root)
root = os.path.dirname(root) # up a level
if verbose:
print("Tried directories %s but none started with prefix %s" %
(str(rootdirs), parentdir_prefix))
raise NotThisMethod("rootdir doesn't start with parentdir_prefix")
@register_vcs_handler("git", "get_keywords")
def git_get_keywords(versionfile_abs):
"""Extract version information from the given file."""
# the code embedded in _version.py can just fetch the value of these
# keywords. When used from setup.py, we don't want to import _version.py,
# so we do it with a regexp instead. This function is not used from
# _version.py.
keywords = {}
try:
f = open(versionfile_abs, "r")
for line in f.readlines():
if line.strip().startswith("git_refnames ="):
mo = re.search(r'=\s*"(.*)"', line)
if mo:
keywords["refnames"] = mo.group(1)
if line.strip().startswith("git_full ="):
mo = re.search(r'=\s*"(.*)"', line)
if mo:
keywords["full"] = mo.group(1)
if line.strip().startswith("git_date ="):
mo = re.search(r'=\s*"(.*)"', line)
if mo:
keywords["date"] = mo.group(1)
f.close()
except EnvironmentError:
pass
return keywords
@register_vcs_handler("git", "keywords")
def git_versions_from_keywords(keywords, tag_prefix, verbose):
"""Get version information from git keywords."""
if not keywords:
raise NotThisMethod("no keywords at all, weird")
date = keywords.get("date")
if date is not None:
# git-2.2.0 added "%cI", which expands to an ISO-8601 -compliant
# datestamp. However we prefer "%ci" (which expands to an "ISO-8601
# -like" string, which we must then edit to make compliant), because
# it's been around since git-1.5.3, and it's too difficult to
# discover which version we're using, or to work around using an
# older one.
date = date.strip().replace(" ", "T", 1).replace(" ", "", 1)
refnames = keywords["refnames"].strip()
if refnames.startswith("$Format"):
if verbose:
print("keywords are unexpanded, not using")
raise NotThisMethod("unexpanded keywords, not a git-archive tarball")
refs = set([r.strip() for r in refnames.strip("()").split(",")])
# starting in git-1.8.3, tags are listed as "tag: foo-1.0" instead of
# just "foo-1.0". If we see a "tag: " prefix, prefer those.
TAG = "tag: "
tags = set([r[len(TAG):] for r in refs if r.startswith(TAG)])
if not tags:
# Either we're using git < 1.8.3, or there really are no tags. We use
# a heuristic: assume all version tags have a digit. The old git %d
# expansion behaves like git log --decorate=short and strips out the
# refs/heads/ and refs/tags/ prefixes that would let us distinguish
# between branches and tags. By ignoring refnames without digits, we
# filter out many common branch names like "release" and
# "stabilization", as well as "HEAD" and "master".
tags = set([r for r in refs if re.search(r'\d', r)])
if verbose:
print("discarding '%s', no digits" % ",".join(refs - tags))
if verbose:
print("likely tags: %s" % ",".join(sorted(tags)))
for ref in sorted(tags):
# sorting will prefer e.g. "2.0" over "2.0rc1"
if ref.startswith(tag_prefix):
r = ref[len(tag_prefix):]
if verbose:
print("picking %s" % r)
return {"version": r,
"full-revisionid": keywords["full"].strip(),
"dirty": False, "error": None,
"date": date}
# no suitable tags, so version is "0+unknown", but full hex is still there
if verbose:
print("no suitable tags, using unknown + full revision id")
return {"version": "0+unknown",
"full-revisionid": keywords["full"].strip(),
"dirty": False, "error": "no suitable tags", "date": None}
@register_vcs_handler("git", "pieces_from_vcs")
def git_pieces_from_vcs(tag_prefix, root, verbose, run_command=run_command):
"""Get version from 'git describe' in the root of the source tree.
This only gets called if the git-archive 'subst' keywords were *not*
expanded, and _version.py hasn't already been rewritten with a short
version string, meaning we're inside a checked out source tree.
"""
GITS = ["git"]
if sys.platform == "win32":
GITS = ["git.cmd", "git.exe"]
out, rc = run_command(GITS, ["rev-parse", "--git-dir"], cwd=root,
hide_stderr=True)
if rc != 0:
if verbose:
print("Directory %s not under git control" % root)
raise NotThisMethod("'git rev-parse --git-dir' returned error")
# if there is a tag matching tag_prefix, this yields TAG-NUM-gHEX[-dirty]
# if there isn't one, this yields HEX[-dirty] (no NUM)
describe_out, rc = run_command(GITS, ["describe", "--tags", "--dirty",
"--always", "--long",
"--match", "%s*" % tag_prefix],
cwd=root)
# --long was added in git-1.5.5
if describe_out is None:
raise NotThisMethod("'git describe' failed")
describe_out = describe_out.strip()
full_out, rc = run_command(GITS, ["rev-parse", "HEAD"], cwd=root)
if full_out is None:
raise NotThisMethod("'git rev-parse' failed")
full_out = full_out.strip()
pieces = {}
pieces["long"] = full_out
pieces["short"] = full_out[:7] # maybe improved later
pieces["error"] = None
# parse describe_out. It will be like TAG-NUM-gHEX[-dirty] or HEX[-dirty]
# TAG might have hyphens.
git_describe = describe_out
# look for -dirty suffix
dirty = git_describe.endswith("-dirty")
pieces["dirty"] = dirty
if dirty:
git_describe = git_describe[:git_describe.rindex("-dirty")]
# now we have TAG-NUM-gHEX or HEX
if "-" in git_describe:
# TAG-NUM-gHEX
mo = re.search(r'^(.+)-(\d+)-g([0-9a-f]+)$', git_describe)
if not mo:
# unparseable. Maybe git-describe is misbehaving?
pieces["error"] = ("unable to parse git-describe output: '%s'"
% describe_out)
return pieces
# tag
full_tag = mo.group(1)
if not full_tag.startswith(tag_prefix):
if verbose:
fmt = "tag '%s' doesn't start with prefix '%s'"
print(fmt % (full_tag, tag_prefix))
pieces["error"] = ("tag '%s' doesn't start with prefix '%s'"
% (full_tag, tag_prefix))
return pieces
pieces["closest-tag"] = full_tag[len(tag_prefix):]
# distance: number of commits since tag
pieces["distance"] = int(mo.group(2))
# commit: short hex revision ID
pieces["short"] = mo.group(3)
else:
# HEX: no tags
pieces["closest-tag"] = None
count_out, rc = run_command(GITS, ["rev-list", "HEAD", "--count"],
cwd=root)
pieces["distance"] = int(count_out) # total number of commits
# commit date: see ISO-8601 comment in git_versions_from_keywords()
date = run_command(GITS, ["show", "-s", "--format=%ci", "HEAD"],
cwd=root)[0].strip()
pieces["date"] = date.strip().replace(" ", "T", 1).replace(" ", "", 1)
return pieces
def plus_or_dot(pieces):
"""Return a + if we don't already have one, else return a ."""
if "+" in pieces.get("closest-tag", ""):
return "."
return "+"
def render_pep440(pieces):
"""Build up version string, with post-release "local version identifier".
Our goal: TAG[+DISTANCE.gHEX[.dirty]] . Note that if you
get a tagged build and then dirty it, you'll get TAG+0.gHEX.dirty
Exceptions:
1: no tags. git_describe was just HEX. 0+untagged.DISTANCE.gHEX[.dirty]
"""
if pieces["closest-tag"]:
rendered = pieces["closest-tag"]
if pieces["distance"] or pieces["dirty"]:
rendered += plus_or_dot(pieces)
rendered += "%d.g%s" % (pieces["distance"], pieces["short"])
if pieces["dirty"]:
rendered += ".dirty"
else:
# exception #1
rendered = "0+untagged.%d.g%s" % (pieces["distance"],
pieces["short"])
if pieces["dirty"]:
rendered += ".dirty"
return rendered
def render_pep440_pre(pieces):
"""TAG[.post.devDISTANCE] -- No -dirty.
Exceptions:
1: no tags. 0.post.devDISTANCE
"""
if pieces["closest-tag"]:
rendered = pieces["closest-tag"]
if pieces["distance"]:
rendered += ".post.dev%d" % pieces["distance"]
else:
# exception #1
rendered = "0.post.dev%d" % pieces["distance"]
return rendered
def render_pep440_post(pieces):
"""TAG[.postDISTANCE[.dev0]+gHEX] .
The ".dev0" means dirty. Note that .dev0 sorts backwards
(a dirty tree will appear "older" than the corresponding clean one),
but you shouldn't be releasing software with -dirty anyways.
Exceptions:
1: no tags. 0.postDISTANCE[.dev0]
"""
if pieces["closest-tag"]:
rendered = pieces["closest-tag"]
if pieces["distance"] or pieces["dirty"]:
rendered += ".post%d" % pieces["distance"]
if pieces["dirty"]:
rendered += ".dev0"
rendered += plus_or_dot(pieces)
rendered += "g%s" % pieces["short"]
else:
# exception #1
rendered = "0.post%d" % pieces["distance"]
if pieces["dirty"]:
rendered += ".dev0"
rendered += "+g%s" % pieces["short"]
return rendered
def render_pep440_old(pieces):
"""TAG[.postDISTANCE[.dev0]] .
The ".dev0" means dirty.
Eexceptions:
1: no tags. 0.postDISTANCE[.dev0]
"""
if pieces["closest-tag"]:
rendered = pieces["closest-tag"]
if pieces["distance"] or pieces["dirty"]:
rendered += ".post%d" % pieces["distance"]
if pieces["dirty"]:
rendered += ".dev0"
else:
# exception #1
rendered = "0.post%d" % pieces["distance"]
if pieces["dirty"]:
rendered += ".dev0"
return rendered
def render_git_describe(pieces):
"""TAG[-DISTANCE-gHEX][-dirty].
Like 'git describe --tags --dirty --always'.
Exceptions:
1: no tags. HEX[-dirty] (note: no 'g' prefix)
"""
if pieces["closest-tag"]:
rendered = pieces["closest-tag"]
if pieces["distance"]:
rendered += "-%d-g%s" % (pieces["distance"], pieces["short"])
else:
# exception #1
rendered = pieces["short"]
if pieces["dirty"]:
rendered += "-dirty"
return rendered
def render_git_describe_long(pieces):
"""TAG-DISTANCE-gHEX[-dirty].
Like 'git describe --tags --dirty --always -long'.
The distance/hash is unconditional.
Exceptions:
1: no tags. HEX[-dirty] (note: no 'g' prefix)
"""
if pieces["closest-tag"]:
rendered = pieces["closest-tag"]
rendered += "-%d-g%s" % (pieces["distance"], pieces["short"])
else:
# exception #1
rendered = pieces["short"]
if pieces["dirty"]:
rendered += "-dirty"
return rendered
def render(pieces, style):
"""Render the given version pieces into the requested style."""
if pieces["error"]:
return {"version": "unknown",
"full-revisionid": pieces.get("long"),
"dirty": None,
"error": pieces["error"],
"date": None}
if not style or style == "default":
style = "pep440" # the default
if style == "pep440":
rendered = render_pep440(pieces)
elif style == "pep440-pre":
rendered = render_pep440_pre(pieces)
elif style == "pep440-post":
rendered = render_pep440_post(pieces)
elif style == "pep440-old":
rendered = render_pep440_old(pieces)
elif style == "git-describe":
rendered = render_git_describe(pieces)
elif style == "git-describe-long":
rendered = render_git_describe_long(pieces)
else:
raise ValueError("unknown style '%s'" % style)
return {"version": rendered, "full-revisionid": pieces["long"],
"dirty": pieces["dirty"], "error": None,
"date": pieces.get("date")}
def get_versions():
"""Get version information or return default if unable to do so."""
# I am in _version.py, which lives at ROOT/VERSIONFILE_SOURCE. If we have
# __file__, we can work backwards from there to the root. Some
# py2exe/bbfreeze/non-CPython implementations don't do __file__, in which
# case we can only use expanded keywords.
cfg = get_config()
verbose = cfg.verbose
try:
return git_versions_from_keywords(get_keywords(), cfg.tag_prefix,
verbose)
except NotThisMethod:
pass
try:
root = os.path.realpath(__file__)
# versionfile_source is the relative path from the top of the source
# tree (where the .git directory might live) to this file. Invert
# this to find the root from __file__.
for i in cfg.versionfile_source.split('/'):
root = os.path.dirname(root)
except NameError:
return {"version": "0+unknown", "full-revisionid": None,
"dirty": None,
"error": "unable to find root of source tree",
"date": None}
try:
pieces = git_pieces_from_vcs(cfg.tag_prefix, root, verbose)
return render(pieces, cfg.style)
except NotThisMethod:
pass
try:
if cfg.parentdir_prefix:
return versions_from_parentdir(cfg.parentdir_prefix, root, verbose)
except NotThisMethod:
pass
return {"version": "0+unknown", "full-revisionid": None,
"dirty": None,
"error": "unable to compute version", "date": None}
api/pybricks/ev3brick.py
+53
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@@ -0,0 +1,53 @@
"""LEGO® MINDSTORMS® EV3 Brick."""
from parameters import Color
from _common import Speaker, Display, Battery
def buttons():
"""Check which buttons on the EV3 Brick are currently pressed.
:returns: List of pressed buttons.
:rtype: List of :class:`Button <parameters.Button>`
Examples::
# Do something if the left button is pressed
if Button.LEFT in brick.buttons():
print("The left button is pressed.")
::
# Wait until any of the buttons are pressed
while not any(brick.buttons()):
wait(10)
# Wait until all buttons are released
while any(brick.buttons()):
wait(10)
"""
pass
def light(color):
"""Set the color of the brick light.
Arguments:
color (Color): Color of the light. Choose ``Color.BLACK`` or ``None``
to turn the light off.
Example::
# Make the light red
brick.light(Color.RED)
# Turn the light off
brick.light(None)
"""
pass
sound = Speaker()
display = Display()
battery = Battery()
api/pybricks/ev3devices.py
+257
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@@ -0,0 +1,257 @@
"""LEGO® MINDSTORMS® EV3 motors and sensors."""
from parameters import Direction
from _common import Motor as CommonMotor
class Motor(CommonMotor):
"""LEGO® MINDSTORMS® EV3 Medium or Large Motor.
Element 99455/6148292 or 95658/6148278, contained in:
* 31313: LEGO® MINDSTORMS® EV3 (2013)
* 45544: LEGO® MINDSTORMS® Education EV3 Core Set (2013)
* 45503 or 45502: Separate part (2013)
"""
class TouchSensor():
"""LEGO® MINDSTORMS® EV3 Touch Sensor.
Element 95648/6138404, contained in:
* 31313: LEGO® MINDSTORMS® EV3 (2013)
* 45544: LEGO® MINDSTORMS® Education EV3 Core Set (2013)
* 45507: Separate part (2013)
"""
def __init__(self, port):
"""TouchSensor(port)
Arguments:
port (Port): Port to which the sensor is connected.
"""
pass
def pressed(self):
"""Check if the sensor is pressed.
Returns:
:obj:`bool`: ``True`` if the sensor is pressed, ``False`` if it is not pressed.
"""
pass
class ColorSensor():
"""LEGO® MINDSTORMS® EV3 Color Sensor.
Element 95650/6128869, contained in:
* 31313: LEGO® MINDSTORMS® EV3 (2013)
* 45544: LEGO® MINDSTORMS® Education EV3 Core Set (2013)
* 45506: Separate part (2013)
"""
def __init__(self, port):
"""ColorSensor(port)
Arguments:
port (Port): Port to which the sensor is connected.
"""
pass
def color(self):
"""Measure the color of a surface.
:returns:
``Color.BLACK``, ``Color.BLUE``, ``Color.GREEN``, ``Color.YELLOW``,
``Color.RED``, ``Color.WHITE``, ``Color.BROWN`` or ``None``.
:rtype: :class:`Color <parameters.Color>`, or ``None`` if no color is detected.
"""
pass
def ambient(self):
"""Measure the ambient light intensity.
Returns:
:ref:`percentage`: Ambient light intensity, ranging from 0 (dark) to 100 (bright).
"""
pass
def reflection(self):
"""Measure the reflection of a surface using a red light.
Returns:
:ref:`percentage`: Reflection, ranging from 0 (no reflection) to 100 (high reflection).
"""
pass
def rgb(self):
"""Measure the reflection of a surface using a red, green, and then a blue light.
Returns:
tuple of three :ref:`percentages <percentage>`: Reflection for red, green, and blue light, each ranging from 0.0 (no reflection) to 100.0 (high reflection).
"""
pass
class InfraredSensor():
"""LEGO® MINDSTORMS® EV3 Infrared Sensor and Beacon.
Element 95654/6132629 and 72156/6127283, contained in:
* 31313: LEGO® MINDSTORMS® EV3 (2013)
* 45509 and 45508: Separate parts (2013)
"""
def __init__(self, port):
"""InfraredSensor(port)
Arguments:
port (Port): Port to which the sensor is connected.
"""
pass
def distance(self):
"""Measure the relative distance between the sensor and an object using infrared light.
Returns:
:ref:`relativedistance`: Relative distance ranging from 0 (closest) to 100 (farthest).
"""
pass
def beacon(self, channel):
"""Measure the relative distance and angle between the remote and the infrared sensor.
Arguments:
channel (int): Channel number of the remote.
:returns: Tuple of relative distance (0 to 100) and approximate angle (-75 to 75 degrees) between remote and infrared sensor.
:rtype: (:ref:`relativedistance`, :ref:`angle`) or (``None``, ``None``) if no remote is detected.
"""
pass
def buttons(self, channel):
"""Check which buttons on the infrared remote are pressed.
Arguments:
channel (int): Channel number of the remote.
:returns: List of pressed buttons on the remote on the specified channel.
:rtype: List of :class:`Button <parameters.Button>`
"""
pass
class GyroSensor():
"""LEGO® MINDSTORMS® EV3 Gyro Sensor.
Element 99380/6138411, contained in:
* 45544: LEGO® MINDSTORMS® Education EV3 Core Set (2013)
* 45505: Separate part (2013)
"""
def __init__(self, port, direction=Direction.CLOCKWISE):
"""GyroSensor(port, direction=Direction.CLOCKWISE)
Arguments:
port (Port): Port to which the sensor is connected.
direction (Direction): Positive rotation direction when looking at the red dot on top of the sensor (*Default*: Direction.CLOCKWISE).
"""
pass
def speed(self):
"""Get the speed (angular velocity) of the sensor.
Returns:
:ref:`speed`: Sensor angular velocity.
"""
pass
def angle(self):
"""Get the accumulated angle of the sensor.
Returns:
:ref:`angle`: Rotation angle.
"""
pass
def reset_angle(self, angle):
"""Set the rotation angle of the sensor to a desired value.
Arguments:
angle (:ref:`angle`): Value to which the angle should be reset.
"""
pass
def _calibrate(self):
"""Calibrate the sensor.
This process sets the speed and angle to zero and ensures that the
angle value does not drift.
Make sure that the sensor does not move while calibrating.
This process can take up to 15 seconds.
"""
pass
class UltrasonicSensor():
"""LEGO® MINDSTORMS® EV3 Ultrasonic Sensor.
Element 95652/6138403, contained in:
* 45544: LEGO® MINDSTORMS® Education EV3 Core Set (2013)
* 45504: Separate part (2013)
"""
def __init__(self, port):
"""UltrasonicSensor(port)
Arguments:
port (Port): Port to which the sensor is connected.
"""
pass
def distance(self, silent=False):
"""Measure the distance between the sensor and an object using ultrasonic sound waves.
Arguments:
silent (bool): Choose ``True`` to turn the sensor off after measuring the distance.
Choose ``False`` to leave the sensor on (*Default*).
When you choose ``silent=True``, the sensor does not emit sounds waves
except when taking the measurement. This reduces interference with
other ultrasonic sensors, but turning the sensor off takes approximately 300 ms each time.
Returns:
:ref:`distance`: Distance (millimeters).
"""
pass
def presence(self):
"""Check for the presence of other ultrasonic sensors by detecting ultrasonic sounds.
If the other ultrasonic sensor is operating in silent mode, you can only detect the presence of that sensor while it is taking a measurement.
Returns:
:obj:`bool`: ``True`` if ultrasonic sounds are detected, ``False`` if not.
"""
pass
api/pybricks/hub4.py
+5
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@@ -0,0 +1,5 @@
"""LEGO® Power Functions 2.0 Hub 4."""
from _common import Battery
battery = Battery()
api/pybricks/lpf2devices.py
+64
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@@ -0,0 +1,64 @@
"""LEGO® Power Functions 2.0 motor, sensors, and lights."""
from _common import Motor as CommonMotor
class Motor(CommonMotor):
"""LEGO® Power Functions 2.0 motors:
* ?/6181852: LEGO® BOOST Interactive Motor
* TODO: Expand list with compatible devices
"""
class ColorDistanceSensor():
"""LEGO® Power Functions 2.0 Color and Distance Sensor.
Element ?/6182145, contained in:
* 17101: LEGO® BOOST Creative Toolbox (2017)
* ?: Separate part (?)
"""
def __init__(self, port):
"""ColorDistanceSensor(port)
Arguments:
port (Port): Port to which the sensor is connected.
"""
pass
def color(self):
"""Measure the color of a surface.
:returns:
``Color.BLACK``, ``Color.BLUE``, ``Color.GREEN``, ``Color.YELLOW``,
``Color.RED``, ``Color.WHITE``, or ``None``.
:rtype: :class:`Color <parameters.Color>`, or ``None`` if no color is detected.
"""
pass
def ambient(self):
"""Measure the ambient light intensity.
Returns:
:ref:`percentage`: Ambient light intensity, ranging from 0 (dark) to 100 (bright).
"""
pass
def reflection(self):
"""Measure the reflection of a surface using a red light.
Returns:
:ref:`percentage`: Reflection, ranging from 0.0 (no reflection) to 100.0 (high reflection).
"""
pass
def rgb(self):
"""Measure the reflection of a surface using a red, green, and then a blue light.
Returns:
tuple of three :ref:`percentages <percentage>`: Reflection for red, green, and blue light, each ranging from 0.0 (no reflection) to 100.0 (high reflection).
"""
pass
def distance(self):
"""Measure the relative distance between the sensor and an object using infrared light.
Returns:
:ref:`relativedistance`: Relative distance ranging from 0 (closest) to 100 (farthest).
"""
pass
api/pybricks/movehub.py
+5
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@@ -0,0 +1,5 @@
"""LEGO® Power Functions 2.0 Move Hub."""
from _common import Battery
battery = Battery()
api/pybricks/parameters.py
+558
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@@ -0,0 +1,558 @@
"""Constant parameters/arguments for the Pybricks API."""
from enum import Enum
class Color(Enum):
"""Light or surface color.
.. data:: BLACK
.. data:: BLUE
.. data:: GREEN
.. data:: YELLOW
.. data:: RED
.. data:: WHITE
.. data:: BROWN
.. data:: ORANGE
.. data:: PURPLE
"""
BLACK = 1
BLUE = 2
GREEN = 3
YELLOW = 4
RED = 5
WHITE = 6
BROWN = 7
ORANGE = 8
PURPLE = 9
class Port(Enum):
"""Port on the EV3 Programmable Brick.
Motor ports:
.. data:: A
.. data:: B
.. data:: C
.. data:: D
Sensor ports:
.. data:: S1
.. data:: S2
.. data:: S3
.. data:: S4
"""
# Generic motor/sensor ports
A = ord('A')
B = ord('B')
C = ord('C')
D = ord('D')
# NXT/EV3 sensor ports
S1 = ord('1')
S2 = ord('2')
S3 = ord('3')
S4 = ord('4')
class Stop(Enum):
"""Action after the motor stops: coast, brake, or hold.
.. data:: COAST
Let the motor move freely.
.. data:: BRAKE
Passively resist small external forces.
.. data:: HOLD
Keep controlling the motor to hold it at the commanded angle. This is only available on motors with encoders.
The stop type defines the resistance to motion after coming to a standstill:
+-----------+-------------+------------------------------------------+
|Parameter | Resistance | Physical meaning |
+===========+=============+==========================================+
|Stop.COAST | low | Friction |
+-----------+-------------+------------------------------------------+
|Stop.BRAKE | medium | Friction + Torque opposite to motion |
+-----------+-------------+------------------------------------------+
|Stop.HOLD | high | Friction + Torque to hold commanded angle|
+-----------+-------------+------------------------------------------+
"""
COAST = 0
BRAKE = 1
HOLD = 2
class Direction():
"""Rotational direction for positive speed values: clockwise or counterclockwise.
.. data:: CLOCKWISE
A positive speed value should make the motor move clockwise.
.. data:: COUNTERCLOCKWISE
A positive speed value should make the motor move counterclockwise.
For all motors, this is defined when looking at the shaft, just like looking at a clock.
For NXT or EV3 motors, make sure to look at the motor with the red/orange shaft to the lower right.
+----------------------------+-------------------+-----------------+
| Parameter | Positive speed | Negative speed |
+============================+===================+=================+
| Direction.CLOCKWISE | clockwise | counterclockwise|
+----------------------------+-------------------+-----------------+
| Direction.COUNTERCLOCKWISE | counterclockwise | clockwise |
+----------------------------+-------------------+-----------------+
::
Medium EV3 Motor:
counterclockwise clockwise
____ _____
/ \\
/ _____________ \\
/ / \ \\
| | _ | |
| | __| |__ | |
v | |__ o __| | v
| |_| |
| |
\______________/
Large EV3 Motor:
________
/ \ ___ ___
_| \ / \\
| ----/------ \\
counterclockwise | __\__ | clockwise
\__________ v / \ v
-------| + |
\_____/
"""
CLOCKWISE = 0
COUNTERCLOCKWISE = 1
class Button(Enum):
"""Buttons on a brick or remote:
.. data:: LEFT_DOWN
.. data:: DOWN
.. data:: RIGHT_DOWN
.. data:: LEFT
.. data:: CENTER
.. data:: RIGHT
.. data:: LEFT_UP
.. data:: UP
.. data:: BEACON
.. data:: RIGHT_UP
+-----------+----------+-----------+
| | | |
| LEFT_UP |UP/BEACON | RIGHT_UP |
| | | |
+-----------+----------+-----------+
| | | |
| LEFT | CENTER | RIGHT |
| | | |
+-----------+----------+-----------+
| | | |
| LEFT_DOWN | DOWN | RIGHT_DOWN|
| | | |
+-----------+----------+-----------+
"""
LEFT_DOWN = 1
DOWN = 2
RIGHT_DOWN = 3
LEFT = 4
CENTER = 5
RIGHT = 6
LEFT_UP = 7
UP = 8
BEACON = 8
RIGHT_UP = 9
class Align():
"""Alignment of an image on the display.
.. data:: BOTTOM_LEFT
.. data:: BOTTOM
.. data:: BOTTOM_RIGHT
.. data:: LEFT
.. data:: CENTER
.. data:: RIGHT
.. data:: TOP_LEFT
.. data:: TOP
.. data:: TOP_RIGHT
"""
BOTTOM_LEFT = 1
BOTTOM = 2
BOTTOM_RIGHT = 3
LEFT = 4
CENTER = 5
RIGHT = 6
TOP_LEFT = 7
TOP = 8
TOP_RIGHT = 9
class SoundFile():
"""Paths to standard EV3 sounds.
Expressions
.. data:: SHOUTING
.. data:: CHEERING
.. data:: CRYING
.. data:: OUCH
.. data:: LAUGHING_2
.. data:: SNEEZING
.. data:: SMACK
.. data:: BOING
.. data:: BOO
.. data:: UH_OH
.. data:: SNORING
.. data:: KUNG_FU
.. data:: FANFARE
.. data:: CRUNCHING
.. data:: MAGIC_WAND
.. data:: LAUGHING_1
Information
.. data:: LEFT
.. data:: BACKWARDS
.. data:: RIGHT
.. data:: OBJECT
.. data:: COLOR
.. data:: FLASHING
.. data:: ERROR
.. data:: ERROR_ALARM
.. data:: DOWN
.. data:: FORWARD
.. data:: ACTIVATE
.. data:: SEARCHING
.. data:: TOUCH
.. data:: UP
.. data:: ANALYZE
.. data:: STOP
.. data:: DETECTED
.. data:: TURN
.. data:: START
Communication
.. data:: MORNING
.. data:: EV3
.. data:: GO
.. data:: GOOD_JOB
.. data:: OKEY_DOKEY
.. data:: GOOD
.. data:: NO
.. data:: THANK_YOU
.. data:: YES
.. data:: GAME_OVER
.. data:: OKAY
.. data:: SORRY
.. data:: BRAVO
.. data:: GOODBYE
.. data:: HI
.. data:: HELLO
.. data:: MINDSTORMS
.. data:: LEGO
.. data:: FANTASTIC
Movements
.. data:: SPEED_IDLE
.. data:: SPEED_DOWN
.. data:: SPEED_UP
Color
.. data:: BROWN
.. data:: GREEN
.. data:: BLACK
.. data:: WHITE
.. data:: RED
.. data:: BLUE
.. data:: YELLOW
Mechanical
.. data:: TICK_TACK
.. data:: HORN_1
.. data:: BACKING_ALERT
.. data:: MOTOR_IDLE
.. data:: AIR_RELEASE
.. data:: AIRBRAKE
.. data:: RATCHET
.. data:: MOTOR_STOP
.. data:: HORN_2
.. data:: LASER
.. data:: SONAR
.. data:: MOTOR_START
Animals
.. data:: INSECT_BUZZ_2
.. data:: ELEPHANT_CALL
.. data:: SNAKE_HISS
.. data:: DOG_BARK_2
.. data:: DOG_WHINE
.. data:: INSECT_BUZZ_1
.. data:: DOG_SNIFF
.. data:: T_REX_ROAR
.. data:: INSECT_CHIRP
.. data:: DOG_GROWL
.. data:: SNAKE_RATTLE
.. data:: DOG_BARK_1
.. data:: CAT_PURR
Numbers
.. data:: ZERO
.. data:: ONE
.. data:: TWO
.. data:: THREE
.. data:: FOUR
.. data:: FIVE
.. data:: SIX
.. data:: SEVEN
.. data:: EIGHT
.. data:: NINE
.. data:: TEN
System
.. data:: READY
.. data:: CONFIRM
.. data:: GENERAL_ALERT
.. data:: CLICK
.. data:: OVERPOWER
"""
_BASE_PATH = '/usr/share/sounds/ev3dev/'
SHOUTING = _BASE_PATH + 'expressions/shouting.wav'
CHEERING = _BASE_PATH + 'expressions/cheering.wav'
CRYING = _BASE_PATH + 'expressions/crying.wav'
OUCH = _BASE_PATH + 'expressions/ouch.wav'
LAUGHING_2 = _BASE_PATH + 'expressions/laughing_2.wav'
SNEEZING = _BASE_PATH + 'expressions/sneezing.wav'
SMACK = _BASE_PATH + 'expressions/smack.wav'
BOING = _BASE_PATH + 'expressions/boing.wav'
BOO = _BASE_PATH + 'expressions/boo.wav'
UH_OH = _BASE_PATH + 'expressions/uh-oh.wav'
SNORING = _BASE_PATH + 'expressions/snoring.wav'
KUNG_FU = _BASE_PATH + 'expressions/kung_fu.wav'
FANFARE = _BASE_PATH + 'expressions/fanfare.wav'
CRUNCHING = _BASE_PATH + 'expressions/crunching.wav'
MAGIC_WAND = _BASE_PATH + 'expressions/magic_wand.wav'
LAUGHING_1 = _BASE_PATH + 'expressions/laughing_1.wav'
LEFT = _BASE_PATH + 'information/left.wav'
BACKWARDS = _BASE_PATH + 'information/backwards.wav'
RIGHT = _BASE_PATH + 'information/right.wav'
OBJECT = _BASE_PATH + 'information/object.wav'
COLOR = _BASE_PATH + 'information/color.wav'
FLASHING = _BASE_PATH + 'information/flashing.wav'
ERROR = _BASE_PATH + 'information/error.wav'
ERROR_ALARM = _BASE_PATH + 'information/error_alarm.wav'
DOWN = _BASE_PATH + 'information/down.wav'
FORWARD = _BASE_PATH + 'information/forward.wav'
ACTIVATE = _BASE_PATH + 'information/activate.wav'
SEARCHING = _BASE_PATH + 'information/searching.wav'
TOUCH = _BASE_PATH + 'information/touch.wav'
UP = _BASE_PATH + 'information/up.wav'
ANALYZE = _BASE_PATH + 'information/analyze.wav'
STOP = _BASE_PATH + 'information/stop.wav'
DETECTED = _BASE_PATH + 'information/detected.wav'
TURN = _BASE_PATH + 'information/turn.wav'
START = _BASE_PATH + 'information/start.wav'
MORNING = _BASE_PATH + 'communication/morning.wav'
EV3 = _BASE_PATH + 'communication/ev3.wav'
GO = _BASE_PATH + 'communication/go.wav'
GOOD_JOB = _BASE_PATH + 'communication/good_job.wav'
OKEY_DOKEY = _BASE_PATH + 'communication/okey-dokey.wav'
GOOD = _BASE_PATH + 'communication/good.wav'
NO = _BASE_PATH + 'communication/no.wav'
THANK_YOU = _BASE_PATH + 'communication/thank_you.wav'
YES = _BASE_PATH + 'communication/yes.wav'
GAME_OVER = _BASE_PATH + 'communication/game_over.wav'
OKAY = _BASE_PATH + 'communication/okay.wav'
SORRY = _BASE_PATH + 'communication/sorry.wav'
BRAVO = _BASE_PATH + 'communication/bravo.wav'
GOODBYE = _BASE_PATH + 'communication/goodbye.wav'
HI = _BASE_PATH + 'communication/hi.wav'
HELLO = _BASE_PATH + 'communication/hello.wav'
MINDSTORMS = _BASE_PATH + 'communication/mindstorms.wav'
LEGO = _BASE_PATH + 'communication/lego.wav'
FANTASTIC = _BASE_PATH + 'communication/fantastic.wav'
SPEED_IDLE = _BASE_PATH + 'movements/speed_idle.wav'
SPEED_DOWN = _BASE_PATH + 'movements/speed_down.wav'
SPEED_UP = _BASE_PATH + 'movements/speed_up.wav'
BROWN = _BASE_PATH + 'colors/brown.wav'
GREEN = _BASE_PATH + 'colors/green.wav'
BLACK = _BASE_PATH + 'colors/black.wav'
WHITE = _BASE_PATH + 'colors/white.wav'
RED = _BASE_PATH + 'colors/red.wav'
BLUE = _BASE_PATH + 'colors/blue.wav'
YELLOW = _BASE_PATH + 'colors/yellow.wav'
TICK_TACK = _BASE_PATH + 'mechanical/tick_tack.wav'
HORN_1 = _BASE_PATH + 'mechanical/horn_1.wav'
BACKING_ALERT = _BASE_PATH + 'mechanical/backing_alert.wav'
MOTOR_IDLE = _BASE_PATH + 'mechanical/motor_idle.wav'
AIR_RELEASE = _BASE_PATH + 'mechanical/air_release.wav'
AIRBRAKE = _BASE_PATH + 'mechanical/airbrake.wav'
RATCHET = _BASE_PATH + 'mechanical/ratchet.wav'
MOTOR_STOP = _BASE_PATH + 'mechanical/motor_stop.wav'
HORN_2 = _BASE_PATH + 'mechanical/horn_2.wav'
LASER = _BASE_PATH + 'mechanical/laser.wav'
SONAR = _BASE_PATH + 'mechanical/sonar.wav'
MOTOR_START = _BASE_PATH + 'mechanical/motor_start.wav'
INSECT_BUZZ_2 = _BASE_PATH + 'animals/insect_buzz_2.wav'
ELEPHANT_CALL = _BASE_PATH + 'animals/elephant_call.wav'
SNAKE_HISS = _BASE_PATH + 'animals/snake_hiss.wav'
DOG_BARK_2 = _BASE_PATH + 'animals/dog_bark_2.wav'
DOG_WHINE = _BASE_PATH + 'animals/dog_whine.wav'
INSECT_BUZZ_1 = _BASE_PATH + 'animals/insect_buzz_1.wav'
DOG_SNIFF = _BASE_PATH + 'animals/dog_sniff.wav'
T_REX_ROAR = _BASE_PATH + 'animals/t-rex_roar.wav'
INSECT_CHIRP = _BASE_PATH + 'animals/insect_chirp.wav'
DOG_GROWL = _BASE_PATH + 'animals/dog_growl.wav'
SNAKE_RATTLE = _BASE_PATH + 'animals/snake_rattle.wav'
DOG_BARK_1 = _BASE_PATH + 'animals/dog_bark_1.wav'
CAT_PURR = _BASE_PATH + 'animals/cat_purr.wav'
EIGHT = _BASE_PATH + 'numbers/eight.wav'
SEVEN = _BASE_PATH + 'numbers/seven.wav'
SIX = _BASE_PATH + 'numbers/six.wav'
FOUR = _BASE_PATH + 'numbers/four.wav'
TEN = _BASE_PATH + 'numbers/ten.wav'
ONE = _BASE_PATH + 'numbers/one.wav'
TWO = _BASE_PATH + 'numbers/two.wav'
THREE = _BASE_PATH + 'numbers/three.wav'
ZERO = _BASE_PATH + 'numbers/zero.wav'
FIVE = _BASE_PATH + 'numbers/five.wav'
NINE = _BASE_PATH + 'numbers/nine.wav'
READY = _BASE_PATH + 'system/ready.wav'
CONFIRM = _BASE_PATH + 'system/confirm.wav'
GENERAL_ALERT = _BASE_PATH + 'system/general_alert.wav'
CLICK = _BASE_PATH + 'system/click.wav'
OVERPOWER = _BASE_PATH + 'system/overpower.wav'
class ImageFile():
"""Paths to standard EV3 images.
Information
.. data:: RIGHT
.. data:: FORWARD
.. data:: ACCEPT
.. data:: QUESTION_MARK
.. data:: STOP_1
.. data:: LEFT
.. data:: DECLINE
.. data:: THUMBS_DOWN
.. data:: BACKWARD
.. data:: NO_GO
.. data:: WARNING
.. data:: STOP_2
.. data:: THUMBS_UP
LEGO
.. data:: EV3
.. data:: EV3_ICON
Objects
.. data:: TARGET
Eyes
.. data:: BOTTOM_RIGHT
.. data:: BOTTOM_LEFT
.. data:: EVIL
.. data:: CRAZY_2
.. data:: KNOCKED_OUT
.. data:: PINCHED_RIGHT
.. data:: WINKING
.. data:: DIZZY
.. data:: DOWN
.. data:: TIRED_MIDDLE
.. data:: MIDDLE_RIGHT
.. data:: SLEEPING
.. data:: MIDDLE_LEFT
.. data:: TIRED_RIGHT
.. data:: PINCHED_LEFT
.. data:: PINCHED_MIDDLE
.. data:: CRAZY_1
.. data:: NEUTRAL
.. data:: AWAKE
.. data:: UP
.. data:: TIRED_LEFT
.. data:: ANGRY
"""
_BASE_PATH = '/usr/share/images/ev3dev/mono/'
RIGHT = _BASE_PATH + 'information/right.png'
FORWARD = _BASE_PATH + 'information/forward.png'
ACCEPT = _BASE_PATH + 'information/accept.png'
QUESTION_MARK = _BASE_PATH + 'information/question_mark.png'
STOP_1 = _BASE_PATH + 'information/stop_1.png'
LEFT = _BASE_PATH + 'information/left.png'
DECLINE = _BASE_PATH + 'information/decline.png'
THUMBS_DOWN = _BASE_PATH + 'information/thumbs_down.png'
BACKWARD = _BASE_PATH + 'information/backward.png'
NO_GO = _BASE_PATH + 'information/no_go.png'
WARNING = _BASE_PATH + 'information/warning.png'
STOP_2 = _BASE_PATH + 'information/stop_2.png'
THUMBS_UP = _BASE_PATH + 'information/thumbs_up.png'
EV3 = _BASE_PATH + 'lego/ev3.png'
EV3_ICON = _BASE_PATH + 'lego/ev3_icon.png'
TARGET = _BASE_PATH + 'objects/target.png'
BOTTOM_RIGHT = _BASE_PATH + 'eyes/bottom_right.png'
BOTTOM_LEFT = _BASE_PATH + 'eyes/bottom_left.png'
EVIL = _BASE_PATH + 'eyes/evil.png'
CRAZY_2 = _BASE_PATH + 'eyes/crazy_2.png'
KNOCKED_OUT = _BASE_PATH + 'eyes/knocked_out.png'
PINCHED_RIGHT = _BASE_PATH + 'eyes/pinched_right.png'
WINKING = _BASE_PATH + 'eyes/winking.png'
DIZZY = _BASE_PATH + 'eyes/dizzy.png'
DOWN = _BASE_PATH + 'eyes/down.png'
TIRED_MIDDLE = _BASE_PATH + 'eyes/tired_middle.png'
MIDDLE_RIGHT = _BASE_PATH + 'eyes/middle_right.png'
SLEEPING = _BASE_PATH + 'eyes/sleeping.png'
MIDDLE_LEFT = _BASE_PATH + 'eyes/middle_left.png'
TIRED_RIGHT = _BASE_PATH + 'eyes/tired_right.png'
PINCHED_LEFT = _BASE_PATH + 'eyes/pinched_left.png'
PINCHED_MIDDLE = _BASE_PATH + 'eyes/pinched_middle.png'
CRAZY_1 = _BASE_PATH + 'eyes/crazy_1.png'
NEUTRAL = _BASE_PATH + 'eyes/neutral.png'
AWAKE = _BASE_PATH + 'eyes/awake.png'
UP = _BASE_PATH + 'eyes/up.png'
TIRED_LEFT = _BASE_PATH + 'eyes/tired_left.png'
ANGRY = _BASE_PATH + 'eyes/angry.png'
api/pybricks/robotics.py
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"""Robotics module for the Pybricks API."""
from parameters import Stop, Direction
class DriveBase():
"""Class representing a robotic vehicle with two powered wheels and optional wheel caster(s)."""
def __init__(self, left_motor, right_motor, wheel_diameter, axle_track):
"""DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
Arguments:
left_motor (Motor): The motor that drives the left wheel.
right_motor (Motor): The motor that drives the right wheel.
wheel_diameter (:ref:`dimension`): Diameter of the wheels.
axle_track (:ref:`dimension`): Distance between the midpoints of the two wheels.
Example::
# Initialize two motors and a drive base
left = Motor(Port.B)
right = Motor(Port.C)
robot = DriveBase(left, right, 56, 114)
"""
def drive(self, speed, steering):
"""Start driving at the specified speed and turnrate, both measured at the center point between the wheels of the robot.
Arguments:
speed (:ref:`travelspeed`): Forward speed of the robot.
steering (:ref:`speed`): Turn rate of the robot.
Example::
# Initialize two motors and a drive base
left = Motor(Port.B)
right = Motor(Port.C)
robot = DriveBase(left, right, 56, 114)
# Initialize a sensor
sensor = UltrasonicSensor(Port.S4)
# Drive forward until an object is detected
robot.drive(100, 0)
while sensor.distance() > 500:
wait(10)
robot.stop()
"""
pass
def drive_time(self, speed, steering, time):
"""Drive at the specified speed and turnrate for a given amount of time, and then stop.
Arguments:
speed (:ref:`travelspeed`): Forward speed of the robot.
steering (:ref:`speed`): Turn rate of the robot.
time (:ref:`time`): Duration of the maneuver.
Example::
# Drive forward at 100 mm/s for two seconds
robot.drive_time(100, 0, 2000)
# Turn at 45 deg/s for three seconds
robot.drive_time(0, 45, 3000)
"""
pass
def stop(self, stop_type=Stop.COAST):
"""stop(stop_type=Stop.COAST)
Stop the robot.
Arguments:
stop_type (Stop): Whether to coast, brake, or hold (*Default*: :class:`Stop.COAST <parameters.Stop>`).
"""
pass
api/pybricks/tools.py
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"""Common tools for timing and datalogging."""
def print():
"""print(value, ..., sep, end, file, flush)
Print values on the terminal or a stream.
Example::
# Print some text
print("Hello, world")
# Print some text and a number
print("Value:", 5)
"""
pass
def wait(time):
"""Pause the user program for a specified amount of time.
Arguments:
time (:ref:`time`): How long to wait.
"""
pass
class StopWatch():
"""A stopwatch to measure time intervals. Similar to the stopwatch feature on your phone."""
def __init__(self):
pass
def time(self):
"""Get the current time of the stopwatch.
Returns:
:ref:`time`: Elapsed time.
"""
pass
def pause(self):
"""Pause the stopwatch."""
pass
def resume(self):
"""Resume the stopwatch."""
pass
def reset(self):
"""Reset the stopwatch time to 0.
The run state is unaffected:
* If it was paused, it stays paused (but now at 0).
* If it was running, it stays running (but starting again from 0).
"""
pass
api/setup.cfg
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# See the docstring in versioneer.py for instructions. Note that you must
# re-run 'versioneer.py setup' after changing this section, and commit the
# resulting files.
[versioneer]
VCS = git
style = pep440
versionfile_source = pybricks/_version.py
versionfile_build = pybricks/_version.py
tag_prefix = v
parentdir_prefix = fake-pybricks-
api/setup.py
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"""pypi compatible setup module.
This setup is based on:
https://packaging.python.org/tutorials/distributing-packages/
"""
from setuptools import setup
from codecs import open
from os import path
import versioneer
here = path.abspath(path.dirname(__file__))
with open(path.join(here, 'README.rst'), encoding='utf-8') as f:
long_description = f.read()
setup(
name='fake-pybricks',
version=versioneer.get_version(),
cmdclass=versioneer.get_cmdclass(),
description='Pybricks',
long_description=long_description,
url='https://github.com/pybricks',
author='Laurens Valk and David Lechner',
author_email='laurensvalk@gmail.com',
classifiers=[
'Development Status :: 3 - Alpha',
'License :: OSI Approved :: MIT License',
'Programming Language :: Python :: 3',
],
keywords='lego mindstorms ev3',
python_requires='~=3.4',
packages=['pybricks'],
)
api/versioneer.py
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