From 76fda14db9f926df63065377f6dbd9ebd750b580 Mon Sep 17 00:00:00 2001 From: David Lechner Date: Fri, 7 Sep 2018 20:53:03 -0500 Subject: [PATCH 01/62] doc: experimenting with autodoc generation MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Observations: * Type annotations tend to be verbose, for example: blink(color1: typing.Union[pblight.Color, pblight.RGB, NoneType], color2: typing.Union[pblight.Color, pblight.RGB, NoneType], pattern: pblight.Pattern) → None * There seems to be a bug with .. autodata:: --- README.md | 6 +++ _pbport.py | 7 ++++ movehub.py | 30 +++++++++++++++ pblight.py | 108 ++++++++++++++++++++++++++++++++++++++++++++++++++++ pbsensor.py | 24 ++++++++++++ 5 files changed, 175 insertions(+) create mode 100644 README.md create mode 100644 _pbport.py create mode 100644 movehub.py create mode 100644 pblight.py create mode 100644 pbsensor.py diff --git a/README.md b/README.md new file mode 100644 index 0000000..99da3ab --- /dev/null +++ b/README.md @@ -0,0 +1,6 @@ +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. diff --git a/_pbport.py b/_pbport.py new file mode 100644 index 0000000..da51c0e --- /dev/null +++ b/_pbport.py @@ -0,0 +1,7 @@ +"""Private base class for ports""" + +from enum import Enum + + +class Port(Enum): + pass diff --git a/movehub.py b/movehub.py new file mode 100644 index 0000000..79a8428 --- /dev/null +++ b/movehub.py @@ -0,0 +1,30 @@ +"""This module is for the LEGO BOOST Move Hub.""" + +import _pbport + +from pblight import Light +from pbsensor import TouchSensor + + +class Port(_pbport.Port): + """The ports on the LEGO BOOST Move Hub""" + HUB = -1 + """The Move Hub itself""" + + A = ord('A') + """Built-in motor 'A'""" + + B = ord('B') + """Built-in motor 'B'""" + + C = ord('C') + """I/O port 'C'""" + + D = ord('D') + """I/O port 'D'""" + +button = TouchSensor(Port.HUB) +"""The button on the Move Hub""" + +light = Light(Port.HUB) +"""The light on the Move Hub""" diff --git a/pblight.py b/pblight.py new file mode 100644 index 0000000..9906299 --- /dev/null +++ b/pblight.py @@ -0,0 +1,108 @@ +"""Lights can be built into programmable bricks or can be plugged into I/O +ports.""" + +from collections import namedtuple +from enum import Enum +from typing import Union + +from _pbport import Port + + +class Color(Enum): + """Color names""" + + red = 1 + """The light will be red""" + + orange = 2 + """The light will be orange""" + + yellow = 3 + """The light will be yellow""" + + green = 4 + """The light will be green""" + + blue = 5 + """The light will be blue""" + + purple = 6 + """The light will be purple""" + + white = 7 + """The light will be white""" + +RGB = namedtuple('RGB', 'r g b') +"""Red, green, blue value""" + + +class Pattern(Enum): + """Blink patterns""" + + flash = 1 + """The light will alternate between *color1* and *color2* once per + second""" + + fade = 2 + """The light will fade gradually from *color1* to *color2* and back once + per second""" + + +class Light(): + """Class representing a light""" + def __init__(self, port: Port): + """Creates a new instance + + Args: + port: the port the light is connected to + """ + self._port = port + + def on(self, color: Union[Color, RGB, None]) -> None: + """Turns the light on with the specified color + + Args: + color: the color + """ + pass + + def off(self) -> None: + pass + + def blink(self, color1: Union[Color, RGB, None], + color2: Union[Color, RGB, None], pattern: Pattern) -> None: + """Blinks the light using the specified pattern + + Args: + color1: the first color in the pattern + color2: the second color in the pattern + pattern: the pattern + """ + pass + + @property + def has_red(self) -> bool: + """Checks if the light can be red + + Returns: + ``True`` if the light can be red + """ + return False + + @property + def has_green(self) -> bool: + """Checks if the light can be green + + Returns: + ``True`` if the light can be green + """ + return False + + @property + def has_blue(self) -> bool: + """Checks if the light can be blue + + Returns: + ``True`` if the light can be blue + """ + return False diff --git a/pbsensor.py b/pbsensor.py new file mode 100644 index 0000000..76532a9 --- /dev/null +++ b/pbsensor.py @@ -0,0 +1,24 @@ +"""Sensors are input devices.""" + +from _pbport import Port + + +class TouchSensor(): + """Represents a touch sensor with two states, pressed and released""" + def __init__(self, port: Port): + """Creates a new instance + + Raises: + ValueError: The *port* is not a valid port + RuntimeError: There is not a touch sensor connected to this port + """ + self._port = port + + @property + def is_pressed(self) -> bool: + """Checks if the touch sensor is pressed. + + Returns: + ``True`` if the sensor is pressed, otherwise ``False`` + """ + return False From 1c59f7240743ea9ca720d1795bfb2758ac4952e1 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Fri, 21 Dec 2018 12:45:00 +0100 Subject: [PATCH 02/62] fake-api: init --- LICENSE | 21 ++++++++ README.md => README.rst | 4 ++ _pbport.py | 7 --- movehub.py | 30 ----------- pblight.py | 108 ---------------------------------------- pbsensor.py | 24 --------- pybricks/__init__.py | 0 pybricks/parameters.py | 7 +++ setup.py | 33 ++++++++++++ 9 files changed, 65 insertions(+), 169 deletions(-) create mode 100644 LICENSE rename README.md => README.rst (59%) delete mode 100644 _pbport.py delete mode 100644 movehub.py delete mode 100644 pblight.py delete mode 100644 pbsensor.py create mode 100644 pybricks/__init__.py create mode 100644 pybricks/parameters.py create mode 100644 setup.py diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..e9663c4 --- /dev/null +++ b/LICENSE @@ -0,0 +1,21 @@ +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. diff --git a/README.md b/README.rst similarity index 59% rename from README.md rename to README.rst index 99da3ab..7c20c79 100644 --- a/README.md +++ b/README.rst @@ -4,3 +4,7 @@ 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 .`` diff --git a/_pbport.py b/_pbport.py deleted file mode 100644 index da51c0e..0000000 --- a/_pbport.py +++ /dev/null @@ -1,7 +0,0 @@ -"""Private base class for ports""" - -from enum import Enum - - -class Port(Enum): - pass diff --git a/movehub.py b/movehub.py deleted file mode 100644 index 79a8428..0000000 --- a/movehub.py +++ /dev/null @@ -1,30 +0,0 @@ -"""This module is for the LEGO BOOST Move Hub.""" - -import _pbport - -from pblight import Light -from pbsensor import TouchSensor - - -class Port(_pbport.Port): - """The ports on the LEGO BOOST Move Hub""" - HUB = -1 - """The Move Hub itself""" - - A = ord('A') - """Built-in motor 'A'""" - - B = ord('B') - """Built-in motor 'B'""" - - C = ord('C') - """I/O port 'C'""" - - D = ord('D') - """I/O port 'D'""" - -button = TouchSensor(Port.HUB) -"""The button on the Move Hub""" - -light = Light(Port.HUB) -"""The light on the Move Hub""" diff --git a/pblight.py b/pblight.py deleted file mode 100644 index 9906299..0000000 --- a/pblight.py +++ /dev/null @@ -1,108 +0,0 @@ -"""Lights can be built into programmable bricks or can be plugged into I/O -ports.""" - -from collections import namedtuple -from enum import Enum -from typing import Union - -from _pbport import Port - - -class Color(Enum): - """Color names""" - - red = 1 - """The light will be red""" - - orange = 2 - """The light will be orange""" - - yellow = 3 - """The light will be yellow""" - - green = 4 - """The light will be green""" - - blue = 5 - """The light will be blue""" - - purple = 6 - """The light will be purple""" - - white = 7 - """The light will be white""" - -RGB = namedtuple('RGB', 'r g b') -"""Red, green, blue value""" - - -class Pattern(Enum): - """Blink patterns""" - - flash = 1 - """The light will alternate between *color1* and *color2* once per - second""" - - fade = 2 - """The light will fade gradually from *color1* to *color2* and back once - per second""" - - -class Light(): - """Class representing a light""" - def __init__(self, port: Port): - """Creates a new instance - - Args: - port: the port the light is connected to - """ - self._port = port - - def on(self, color: Union[Color, RGB, None]) -> None: - """Turns the light on with the specified color - - Args: - color: the color - """ - pass - - def off(self) -> None: - pass - - def blink(self, color1: Union[Color, RGB, None], - color2: Union[Color, RGB, None], pattern: Pattern) -> None: - """Blinks the light using the specified pattern - - Args: - color1: the first color in the pattern - color2: the second color in the pattern - pattern: the pattern - """ - pass - - @property - def has_red(self) -> bool: - """Checks if the light can be red - - Returns: - ``True`` if the light can be red - """ - return False - - @property - def has_green(self) -> bool: - """Checks if the light can be green - - Returns: - ``True`` if the light can be green - """ - return False - - @property - def has_blue(self) -> bool: - """Checks if the light can be blue - - Returns: - ``True`` if the light can be blue - """ - return False diff --git a/pbsensor.py b/pbsensor.py deleted file mode 100644 index 76532a9..0000000 --- a/pbsensor.py +++ /dev/null @@ -1,24 +0,0 @@ -"""Sensors are input devices.""" - -from _pbport import Port - - -class TouchSensor(): - """Represents a touch sensor with two states, pressed and released""" - def __init__(self, port: Port): - """Creates a new instance - - Raises: - ValueError: The *port* is not a valid port - RuntimeError: There is not a touch sensor connected to this port - """ - self._port = port - - @property - def is_pressed(self) -> bool: - """Checks if the touch sensor is pressed. - - Returns: - ``True`` if the sensor is pressed, otherwise ``False`` - """ - return False diff --git a/pybricks/__init__.py b/pybricks/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/pybricks/parameters.py b/pybricks/parameters.py new file mode 100644 index 0000000..8e6f392 --- /dev/null +++ b/pybricks/parameters.py @@ -0,0 +1,7 @@ +"""Constant parameters/arguments for the Pybricks API.""" + + +class Color(): + """LED colors or detected surface colors.""" + + red = 5 diff --git a/setup.py b/setup.py new file mode 100644 index 0000000..17aa2ee --- /dev/null +++ b/setup.py @@ -0,0 +1,33 @@ +"""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 + + +here = path.abspath(path.dirname(__file__)) +with open(path.join(here, 'README.rst'), encoding='utf-8') as f: + long_description = f.read() + +setup( + name='pybricks', + version='0.1', + 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', + packages=['pybricks'], +) From edb507e5c501297d05e6d4685ae53eb6be4ee373 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Fri, 21 Dec 2018 17:44:43 +0100 Subject: [PATCH 03/62] fake-api: parameters module (experimental) Fix EV3 colors after recent pbio update And make sphinx compile (but not much more) --- pybricks/parameters.py | 144 ++++++++++++++++++++++++++++++++++++++++- 1 file changed, 142 insertions(+), 2 deletions(-) diff --git a/pybricks/parameters.py b/pybricks/parameters.py index 8e6f392..b4b8f3a 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -1,7 +1,147 @@ """Constant parameters/arguments for the Pybricks API.""" +from enum import Enum -class Color(): - """LED colors or detected surface colors.""" +class Color(Enum): + """Light or surface color. + + black, blue, green, yellow, red, white, brown, orange, or 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 intelligent brick.""" + + # 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. + + This defines the resistance to motion after coming to standstill: + + | Resistance | Physical meaning + --------------------------------------------------------- + Stop.coast | low | Friction + Stop.brake | medium | Friction + Torque opposite to speed + Stop.hold | high | Friction + Torque to maintain fixed angle + + """ + + coast = 0 + brake = 1 + hold = 2 + + +class Direction(Enum): + """Direction for positive speed values: clockwise or 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. + + | Positive speed | Negative speed + --------------------------------------------------------- + Direction.clockwise | clockwise | counterclockwise + Direction.counterclockwise | counterclockwise | clockwise + + """ + + clockwise = 1 + counterclockwise = -1 + + +# +# Powered Up Motor: +# +# +# counterclockwise clockwise +# ____ _____ +# / \ +# / _____________ \ +# / / \ \ +# | | _ | | +# | | __| |__ | | +# v | |__ o __| | v +# | |_| | +# | | +# \______________/ +# +# +# NXT and EV3 motors: +# +# ________ +# / \ ___ ___ +# _| \ / \ +# | ----/------ \ +# counterclockwise | __\__ | clockwise +# \__________ v / \ v +# -------| + | +# \_____/ +# + + +class Completion(Enum): + """How the motor action should complete: foreground or background. + + | Effect + --------------------------------------------------------- + Completion.foreground | Motor moves in foreground: Your script waits for the motor action to complete. + Completion.background | Motor moves in background: Your script continues immediately while the motor is still moving. + + Note: A motor can only do one thing at the time. If a motor is running in + the background and you give it a new command, only the new command applies. + + """ + + foreground = 0 + background = 1 + + +class Button(Enum): + """Buttons on a brick or remote: up, down, left, right, center, left_up, left_down, right_up, right_down, or beacon. + + | | + left_up | up | 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 From 170f5844d498a908532caec5fa1af1ecc36147cf Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Fri, 21 Dec 2018 21:31:40 +0100 Subject: [PATCH 04/62] doc: experiment with tables and ascii art Sphinx and read the docs seem to require RST. This works well for this sample code. Unfortunately, vscode code preview seems to require markdown (For the tables. Other RST seems to work.) --- pybricks/parameters.py | 131 ++++++++++++++++++++++------------------- 1 file changed, 72 insertions(+), 59 deletions(-) diff --git a/pybricks/parameters.py b/pybricks/parameters.py index b4b8f3a..7046cad 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -39,13 +39,17 @@ class Port(Enum): class Stop(Enum): """Action after the motor stops: coast, brake, or hold. - This defines the resistance to motion after coming to standstill: + This action defines the resistance to motion after coming to standstill: - | Resistance | Physical meaning - --------------------------------------------------------- - Stop.coast | low | Friction - Stop.brake | medium | Friction + Torque opposite to speed - Stop.hold | high | Friction + Torque to maintain fixed angle + +-----------+-------------+------------------------------------------+ + |Parameter | Resistance | Physical meaning | + +===========+=============+==========================================+ + |Stop.coast | low | Friction | + +-----------+-------------+------------------------------------------+ + |Stop.brake | medium | Friction + Torque opposite to speed | + +-----------+-------------+------------------------------------------+ + |Stop.hold | high | Friction + Torque to maintain fixed angle| + +-----------+-------------+------------------------------------------+ """ @@ -54,17 +58,51 @@ class Stop(Enum): hold = 2 -class Direction(Enum): +class Direction(): """Direction for positive speed values: clockwise or 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. - | Positive speed | Negative speed - --------------------------------------------------------- - Direction.clockwise | clockwise | counterclockwise - Direction.counterclockwise | counterclockwise | clockwise + +----------------------------+-------------------+-----------------+ + | Parameter | Positive speed | Negative speed | + +============================+===================+=================+ + | Direction.clockwise | clockwise | counterclockwise| + +----------------------------+-------------------+-----------------+ + | Direction.counterclockwise | counterclockwise | clockwise | + +----------------------------+-------------------+-----------------+ + + :: + + + Powered Up Motor: + + + counterclockwise clockwise + ____ _____ + / \ + / _____________ \ + / / \ \ + | | _ | | + | | __| |__ | | + v | |__ o __| | v + | |_| | + | | + \______________/ + + + NXT and EV3 motors: + + ________ + / \ ___ ___ + _| \ / \ + | ----/------ \ + counterclockwise | __\__ | clockwise + \__________ v / \ v + -------| + | + \_____/ + """ @@ -72,46 +110,19 @@ class Direction(Enum): counterclockwise = -1 -# -# Powered Up Motor: -# -# -# counterclockwise clockwise -# ____ _____ -# / \ -# / _____________ \ -# / / \ \ -# | | _ | | -# | | __| |__ | | -# v | |__ o __| | v -# | |_| | -# | | -# \______________/ -# -# -# NXT and EV3 motors: -# -# ________ -# / \ ___ ___ -# _| \ / \ -# | ----/------ \ -# counterclockwise | __\__ | clockwise -# \__________ v / \ v -# -------| + | -# \_____/ -# - - class Completion(Enum): """How the motor action should complete: foreground or background. - | Effect - --------------------------------------------------------- - Completion.foreground | Motor moves in foreground: Your script waits for the motor action to complete. - Completion.background | Motor moves in background: Your script continues immediately while the motor is still moving. - Note: A motor can only do one thing at the time. If a motor is running in - the background and you give it a new command, only the new command applies. + the background and you give it a new command, only the new command applies. + + +-----------------------+-------------------------------------------------------------------+ + | Parameter | Effect | + +=======================+===================================================================+ + | Completion.foreground | Your script waits for the motor action to complete. | + +-----------------------+-------------------------------------------------------------------+ + | Completion.background | Your script continues immediately while the motor is still moving.| + +-----------------------+-------------------------------------------------------------------+ """ @@ -120,19 +131,21 @@ class Completion(Enum): class Button(Enum): - """Buttons on a brick or remote: up, down, left, right, center, left_up, left_down, right_up, right_down, or beacon. + """Buttons on a brick or remote: - | | - left_up | up | right_up - | | - --------------------------------- - | | - left | center | right - | | - --------------------------------- - | | - left_down | down | right_down - | | + +-----------+----------+-----------+ + | | | | + | left_up |up/beacon | right_up | + | | | | + +-----------+----------+-----------+ + | | | | + | left | center | right | + | | | | + +-----------+----------+-----------+ + | | | | + | left_down | down | right_down| + | | | | + +-----------+----------+-----------+ """ left_down = 1 From 89fc64d911cfb84f113ddd807af11bb2510c408e Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Fri, 28 Dec 2018 16:40:01 +0100 Subject: [PATCH 05/62] doc: autodoc for init test syntax for autolinking to types test syntax to avoid evaluating enum arguments to numbers --- pybricks/ev3devices.py | 53 ++++++++++++++++++++++++++++++++++++++++++ pybricks/parameters.py | 20 ---------------- 2 files changed, 53 insertions(+), 20 deletions(-) create mode 100644 pybricks/ev3devices.py diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py new file mode 100644 index 0000000..455c4a9 --- /dev/null +++ b/pybricks/ev3devices.py @@ -0,0 +1,53 @@ +"""EV3 motors and sensors.""" + +from parameters import Stop, Direction + + +class Motor(): + """Medium or Large EV3 motor.""" + + 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 the number of teeth on each gear in a gear train, as shown in the examples below. Use a list of lists for multiple gear trains. (*Default*: None) + :: + + Example for one gear train: gears=[12, 36] + ____________ + | | + | motor | + |____________| + || + || 12t 36t + |||||| |||||||||||||| + || + || + output axle + + + Example with multiple gear trains: gears=[[12, 20, 36], [20, 40], [20, 8, 40]] + _____________ + | | + | motor | + |____________| + || + || 12t 20t 36t + |||||| ||||||||||| |||||||||||||| + || + || + |||||||| ||||||||||||||||| + 20t || 40t + || + |||||||| ||| ||||||||||||||||| + 20t 8t || 40t + || + output axle + """ + pass + + def run_time(self, speed): + """Test docstring.""" + pass diff --git a/pybricks/parameters.py b/pybricks/parameters.py index 7046cad..6e13d1b 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -110,26 +110,6 @@ class Direction(): counterclockwise = -1 -class Completion(Enum): - """How the motor action should complete: foreground or background. - - Note: A motor can only do one thing at the time. If a motor is running in - the background and you give it a new command, only the new command applies. - - +-----------------------+-------------------------------------------------------------------+ - | Parameter | Effect | - +=======================+===================================================================+ - | Completion.foreground | Your script waits for the motor action to complete. | - +-----------------------+-------------------------------------------------------------------+ - | Completion.background | Your script continues immediately while the motor is still moving.| - +-----------------------+-------------------------------------------------------------------+ - - """ - - foreground = 0 - background = 1 - - class Button(Enum): """Buttons on a brick or remote: From a07aaadd2393b86b8de34de8eef8c153f22b66ea Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Fri, 28 Dec 2018 18:00:02 +0100 Subject: [PATCH 06/62] doc: hide enum numbers, document members instead We should not encourage users to use the numerical values (i.e. 2 for Stop.hold or 65 for Port.A) This also keeps the door open for using qstrings for some enums (Color, Button). --- pybricks/parameters.py | 78 +++++++++++++++++++++++++++++++----------- 1 file changed, 58 insertions(+), 20 deletions(-) diff --git a/pybricks/parameters.py b/pybricks/parameters.py index 6e13d1b..1f5be65 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -6,7 +6,15 @@ from enum import Enum class Color(Enum): """Light or surface color. - black, blue, green, yellow, red, white, brown, orange, or purple. + .. data:: black + .. data:: blue + .. data:: green + .. data:: yellow + .. data:: red + .. data:: white + .. data:: brown + .. data:: orange + .. data:: purple """ black = 1 @@ -21,7 +29,17 @@ class Color(Enum): class Port(Enum): - """Port on the intelligent brick.""" + """Port on the intelligent brick. + + .. data:: A + .. data:: B + .. data:: C + .. data:: D + .. data:: S1 + .. data:: S2 + .. data:: S3 + .. data:: S4 + """ # Generic motor/sensor ports A = ord('A') @@ -39,16 +57,28 @@ class Port(Enum): class Stop(Enum): """Action after the motor stops: coast, brake, or hold. - This action defines the resistance to motion after coming to standstill: + .. 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. + + The stop type defines the resistance to motion after coming to standstill: +-----------+-------------+------------------------------------------+ |Parameter | Resistance | Physical meaning | +===========+=============+==========================================+ |Stop.coast | low | Friction | +-----------+-------------+------------------------------------------+ - |Stop.brake | medium | Friction + Torque opposite to speed | + |Stop.brake | medium | Friction + Torque opposite to motion | +-----------+-------------+------------------------------------------+ - |Stop.hold | high | Friction + Torque to maintain fixed angle| + |Stop.hold | high | Friction + Torque to hold commanded angle| +-----------+-------------+------------------------------------------+ """ @@ -59,7 +89,15 @@ class Stop(Enum): class Direction(): - """Direction for positive speed values: clockwise or counterclockwise. + """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. @@ -75,34 +113,34 @@ class Direction(): :: - - Powered Up Motor: - - + + Medium EV3 Motor: + + counterclockwise clockwise ____ _____ - / \ - / _____________ \ - / / \ \ + / \\ + / _____________ \\ + / / \ \\ | | _ | | | | __| |__ | | v | |__ o __| | v | |_| | | | \______________/ - - - NXT and EV3 motors: - + + + Large EV3 motor: + ________ / \ ___ ___ - _| \ / \ - | ----/------ \ + _| \ / \\ + | ----/------ \\ counterclockwise | __\__ | clockwise \__________ v / \ v -------| + | \_____/ - + """ From 0cdf3fdebc5c68d7061104ba5c37aa3e0ed48eea Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Sat, 29 Dec 2018 13:02:59 +0100 Subject: [PATCH 07/62] doc: experiment with signal types --- pybricks/ev3devices.py | 20 ++++++++++++++++++-- pybricks/parameters.py | 16 ++++++++++++++++ 2 files changed, 34 insertions(+), 2 deletions(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 455c4a9..8e7282f 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -48,6 +48,22 @@ class Motor(): """ pass - def run_time(self, speed): - """Test docstring.""" + def settings(self, torque_limit, stall_speed, stall_time, max_speed, speed_tolerance, angle_tolerance, acceleration_start, acceleration_end, manual_control_time, kp, ki, kd): + """Test + + Arguments: + torque_limit (:term:`percentage`): test + max_speed (:term:`speed`): test + speed_tolerance (:term:`speed`): test + angle_tolerance (:term:`angle`): test + acceleration_start (:term:`acceleration`): test + acceleration_end (:term:`acceleration`): test + stall_speed (:term:`speed`): test + stall_time (:term:`time`): test + manual_control_time (:term:`time`): test + kp (int): test + ki (int): test + kd (int): test + """ + pass diff --git a/pybricks/parameters.py b/pybricks/parameters.py index 1f5be65..af589d1 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -31,10 +31,15 @@ class Color(Enum): class Port(Enum): """Port on the intelligent brick. + Motor ports: + .. data:: A .. data:: B .. data:: C .. data:: D + + Sensor ports: + .. data:: S1 .. data:: S2 .. data:: S3 @@ -151,6 +156,17 @@ class Direction(): 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 | From d5d7b9a9c7b8e66f4d7f21e3ac02982473a29727 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Mon, 31 Dec 2018 12:15:09 +0100 Subject: [PATCH 08/62] doc: motor settings and most ev3 sensors Note: the motor code will be updated accordingly once updated API is considered final. --- pybricks/ev3devices.py | 296 ++++++++++++++++++++++++++++++++++++++--- 1 file changed, 281 insertions(+), 15 deletions(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 8e7282f..c25db6a 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -4,7 +4,14 @@ from parameters import Stop, Direction class Motor(): - """Medium or Large EV3 motor.""" + """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) + * 45502 or 45502: Separate part (2013) + """ def __init__(self, port, direction=Direction.clockwise, gears=None): """Motor(port, direction=Direction.clockwise, gears=None) @@ -48,22 +55,281 @@ class Motor(): """ pass - def settings(self, torque_limit, stall_speed, stall_time, max_speed, speed_tolerance, angle_tolerance, acceleration_start, acceleration_end, manual_control_time, kp, ki, kd): - """Test + def set_torque_settings(self, limit): + """Configure the maximum torque that can be applied to the motor. (*Default*: 100) + + This sets the maximum :ref:`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. Arguments: - torque_limit (:term:`percentage`): test - max_speed (:term:`speed`): test - speed_tolerance (:term:`speed`): test - angle_tolerance (:term:`angle`): test - acceleration_start (:term:`acceleration`): test - acceleration_end (:term:`acceleration`): test - stall_speed (:term:`speed`): test - stall_time (:term:`time`): test - manual_control_time (:term:`time`): test - kp (int): test - ki (int): test - kd (int): test + limit (:ref:`percentage`): Relative torque limit during ``duty`` or ``run`` commands. + """ + pass + + def set_run_settings(self, max_speed, acceleration, deceleration): + """Configure the maximum speed, acceleration, and deceleration of the motor for all of the ``run`` commands. See also the :ref:`default parameters ` for each motor. + + Arguments: + max_speed (:ref:`speed`): Maximum speed of the motor. + acceleration (:ref:`acceleration`): Acceleration towards the target speed. + deceleration (:ref:`acceleration`): Deceleration towards standstill. """ pass + + def set_control_settings(self, kp, ki, kd, pid_reset_time, 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 ` 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. + pid_reset_time (:ref:`time`): If you execute any of the ``run`` command within this interval after starting the previous command, the motor will keep its accumulated PID errors. This provides smoother motion when you call any of the ``run`` commands in a tight loop. + 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`): If the motor moves slower than ``stall_speed`` for ``stall_time`` during any of the ``run`` commands, the motor is considered to be stalled. + stall_time (:ref:`time`): See ``stall_speed``. + """ + pass + + +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 `, 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 to 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 `: 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`) + """ + pass + + def buttons(self, channel): + """Check which buttons of 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 ` + + """ + 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): + """GyroSensor(port) + + Arguments: + port (Port): Port to which the sensor is connected. + + """ + pass + + def reset(self): + """Force sensor to reset as if disconnecting and reconnecting it. + + This can take up to 3 seconds. + """ + pass + + def rate(self): + """Measure the angular velocity of the sensor. + + Returns: + :ref:`speed`: Angular velocity (degrees per second). + + """ + return self.value(1) + + def angle(self): + """Get the accumulated angle of the sensor. + + Returns: + :ref:`angle`: Rotation angle (degrees) since initialization or last reset. + + """ + return self.value(0) + + +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 operates 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 + + def send(self, number): + """Transmit an encoded number using ultrasonic waves. + + The number is converted to a binary sequence, which is transmitted by turning the sensor on and off. The message always starts with one pulse as the start of the message, followed by 8 "bits" where the sensor is either on or off during a short interval. + + Arguments: + number (int): The number to transmit (0-255) + """ + + def receive(self): + """Wait for a message from another ultrasonic sensor and convert it to a number. + + Returns: + :obj:`int`: The received number (0-255) + """ From bac9dbe86ad51df0aff40cd8c9396c5dc4410d3d Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Mon, 31 Dec 2018 12:54:04 +0100 Subject: [PATCH 09/62] doc: some organization and toc --- pybricks/ev3brick.py | 1 + pybricks/tools.py | 1 + 2 files changed, 2 insertions(+) create mode 100644 pybricks/ev3brick.py create mode 100644 pybricks/tools.py diff --git a/pybricks/ev3brick.py b/pybricks/ev3brick.py new file mode 100644 index 0000000..f70e0a2 --- /dev/null +++ b/pybricks/ev3brick.py @@ -0,0 +1 @@ +"""LEGO MINDSTORMS EV3 Brick""" diff --git a/pybricks/tools.py b/pybricks/tools.py new file mode 100644 index 0000000..1ea1f20 --- /dev/null +++ b/pybricks/tools.py @@ -0,0 +1 @@ +"""Tools for timing and ...""" From c9c8736d15086b78eb75ef4cffccebbde8ea0c90 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Thu, 3 Jan 2019 13:54:47 +0100 Subject: [PATCH 10/62] doc: motor draft --- pybricks/ev3devices.py | 166 ++++++++++++++++++++++++++++++++--------- 1 file changed, 131 insertions(+), 35 deletions(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index c25db6a..49d0c6a 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -19,39 +19,16 @@ class Motor(): Arguments: port (Port): Port to which the motor is connected direction (Direction): Positive speed direction. (*Default*: Direction.clockwise) - gears (list): List of the number of teeth on each gear in a gear train, as shown in the examples below. Use a list of lists for multiple gear trains. (*Default*: None) - :: + gears (list): List of gears linked to the motor. (*Default*: ``None``) - Example for one gear train: gears=[12, 36] - ____________ - | | - | motor | - |____________| - || - || 12t 36t - |||||| |||||||||||||| - || - || - output axle + 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 will be adjusted to account for the resulting gear ratio. + + For example, with ``gears=[12, 36]``, the gear ratio is 3, and the motor will automatically turn 3 times as fast and 3 times as far when you give a motor command. So when you run ``motor.run_angle(200, 90)``, it will automatically make your geared mechanism output turn by precisely 90 degrees. - Example with multiple gear trains: gears=[[12, 20, 36], [20, 40], [20, 8, 40]] - _____________ - | | - | motor | - |____________| - || - || 12t 20t 36t - |||||| ||||||||||| |||||||||||||| - || - || - |||||||| ||||||||||||||||| - 20t || 40t - || - |||||||| ||| ||||||||||||||||| - 20t 8t || 40t - || - output axle """ pass @@ -73,7 +50,6 @@ class Motor(): acceleration (:ref:`acceleration`): Acceleration towards the target speed. deceleration (:ref:`acceleration`): Deceleration towards standstill. """ - pass def set_control_settings(self, kp, ki, kd, pid_reset_time, angle_tolerance, speed_tolerance, stall_speed, stall_time): @@ -91,6 +67,126 @@ class Motor(): """ pass + def duty(self, duty): + """Set the :ref:`duty cycle ` of the motor. + + Arguments: + duty (percentage): The duty cycle (-100.0 to 100). + """ + pass + + def angle(self): + """Get the rotation angle of the motor or mechanism. + + Returns: + :ref:`angle`: Motor or mechanism angle. + + """ + pass + + def speed(self): + """Get the speed (angular velocity) of the motor or mechanism. + + Returns: + :ref:`speed`: Motor or mechanism speed. + + """ + pass + + def reset_angle(self, angle=0): + """Reset the accumulated rotation angle of the motor or mechanism. + + Arguments: + angle (:ref:`angle`): Value to which the angle should be reset (*Default*: 0). + """ + pass + + def stop(self, stop_type=Stop.coast): + """stop(self, stop_type=Stop.coast) + + Stop the motor. + + Arguments: + stop_type (Stop): Whether to coast, brake, or hold (*Default*: :class:`Stop.coast `). + """ + pass + + def run(self, speed, wait=False): + """Keep the motor runnning 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 this motor a new command. + + Arguments: + speed (:ref:`speed`): Speed of the motor. + wait (bool): Wait for the motor to reach the requested speed before continuing with the rest of the program (*Default*: ``False``). + """ + pass + + def run_time(self, speed, time, wait=True, stop_type=Stop.coast): + """run_time(self, speed, time, wait=False, stop_type=Stop.coast) + + 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. + 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``. + stop_type (Stop): Whether to coast, brake, or hold after coming to standstill (*Default*: :class:`Stop.coast `). + """ + pass + + def run_angle(self, speed, rotation_angle, wait=True, stop_type=Stop.coast): + """run_angle(self, speed, rotation_angle, wait=False, stop_type=Stop.coast) + + 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 standstill after traversing the given angle. + + Arguments: + speed (:ref:`speed`): Speed of the motor. + rotation_angle (:ref:`time`): Angle by which the motor or mechanism should rotate. + 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. + stop_type (Stop): Whether to coast, brake, or hold after coming to standstill (*Default*: :class:`Stop.coast `). + """ + pass + + def run_target(self, speed, target_angle, wait=True, stop_type=Stop.coast): + """run_target(self, speed, target_angle, wait=False, stop_type=Stop.coast) + + 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 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:`time`): Target angle that the motor should go to, regardless of its current angle. + 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. + stop_type (Stop): Whether to coast, brake, or hold after coming to standstill (*Default*: :class:`Stop.coast `). + """ + pass + + def run_until_stalled(self, speed, torque_limit, stop_type=Stop.coast): + """run_until_stalled(self, speed, torque_limit, stop_type=Stop.coast) + + Run the motor at a constant speed (angular velocity) until it stalls. + + The motor will accelerate towards the requested speed and the duty cycle is automatically adjusted to keep the speed constant, until it encounters an obstacle that prevents it from turning any further. Then the motor stops. + + Arguments: + speed (:ref:`speed`): Speed of the motor. + torque_limit (:ref:`percentage`): Maximum duty cycle used during this command. It works just like :func:`.set_torque_limit`, but it is temporary: once this command completes the motor uses the default or user-specified torque limit again. For example, this allows you to avoid high torques when resetting a mechanism, while the motor operates normally afterwards. + stop_type (Stop): Whether to coast, brake, or hold after coming to standstill (*Default*: :class:`Stop.coast `). + + Returns: + :ref:`angle`: Angle at which the motor or mechanism became stalled. + + """ + pass + class TouchSensor(): """LEGO MINDSTORMS EV3 Touch Sensor. @@ -210,7 +306,7 @@ class InfraredSensor(): 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`) + :rtype: (:ref:`relativedistance`, :ref:`angle`) or (``None``, ``None``) if no remote is detected. """ pass @@ -247,7 +343,7 @@ class GyroSensor(): def reset(self): """Force sensor to reset as if disconnecting and reconnecting it. - + This can take up to 3 seconds. """ pass @@ -297,7 +393,7 @@ class UltrasonicSensor(): 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. @@ -310,7 +406,7 @@ class UltrasonicSensor(): def presence(self): """Check for the presence of other ultrasonic sensors by detecting ultrasonic sounds. - + If the other ultrasonic sensor operates in silent mode, you can only detect the presence of that sensor while it is taking a measurement. Returns: From 98cf32024616349e989cce9ffdac371dcf356fe6 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Thu, 3 Jan 2019 14:10:24 +0100 Subject: [PATCH 11/62] doc: simplify gear ratio --- pybricks/ev3devices.py | 25 +++++++++++++------------ 1 file changed, 13 insertions(+), 12 deletions(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 49d0c6a..5e70bd5 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -25,9 +25,11 @@ class Motor(): 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 will be adjusted to account for the resulting gear ratio. + When you specify a gear train, all motor commands and settings are automatically adjusted to account for the resulting gear ratio. - For example, with ``gears=[12, 36]``, the gear ratio is 3, and the motor will automatically turn 3 times as fast and 3 times as far when you give a motor command. So when you run ``motor.run_angle(200, 90)``, it will automatically make your geared mechanism output turn by precisely 90 degrees. + 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 by 90 degrees. + + The same holds for the documentation below: When it says "motor angle" or "motor speed", you can read it as "mechanism output angle" and "mechanism output speed", and so on, because the gear ratio is automatically accounted for. """ pass @@ -76,25 +78,25 @@ class Motor(): pass def angle(self): - """Get the rotation angle of the motor or mechanism. + """Get the rotation angle of the motor. Returns: - :ref:`angle`: Motor or mechanism angle. + :ref:`angle`: Motor angle. """ pass def speed(self): - """Get the speed (angular velocity) of the motor or mechanism. + """Get the speed (angular velocity) of the motor. Returns: - :ref:`speed`: Motor or mechanism speed. + :ref:`speed`: Motor speed. """ pass def reset_angle(self, angle=0): - """Reset the accumulated rotation angle of the motor or mechanism. + """Reset the accumulated rotation angle of the motor. Arguments: angle (:ref:`angle`): Value to which the angle should be reset (*Default*: 0). @@ -111,14 +113,13 @@ class Motor(): """ pass - def run(self, speed, wait=False): + def run(self, speed): """Keep the motor runnning 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 this motor a new command. + 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 until the program stops. Arguments: speed (:ref:`speed`): Speed of the motor. - wait (bool): Wait for the motor to reach the requested speed before continuing with the rest of the program (*Default*: ``False``). """ pass @@ -146,7 +147,7 @@ class Motor(): Arguments: speed (:ref:`speed`): Speed of the motor. - rotation_angle (:ref:`time`): Angle by which the motor or mechanism should rotate. + rotation_angle (:ref:`time`): Angle by which the motor should rotate. 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. stop_type (Stop): Whether to coast, brake, or hold after coming to standstill (*Default*: :class:`Stop.coast `). """ @@ -182,7 +183,7 @@ class Motor(): stop_type (Stop): Whether to coast, brake, or hold after coming to standstill (*Default*: :class:`Stop.coast `). Returns: - :ref:`angle`: Angle at which the motor or mechanism became stalled. + :ref:`angle`: Angle at which the motor became stalled. """ pass From 803ec9421efec895551b0e93b4b33055ba8b3399 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Thu, 3 Jan 2019 19:06:04 +0100 Subject: [PATCH 12/62] doc: tools need to test StopWatch after this modification --- pybricks/tools.py | 45 ++++++++++++++++++++++++++++++++++++++++++++- 1 file changed, 44 insertions(+), 1 deletion(-) diff --git a/pybricks/tools.py b/pybricks/tools.py index 1ea1f20..3115a67 100644 --- a/pybricks/tools.py +++ b/pybricks/tools.py @@ -1 +1,44 @@ -"""Tools for timing and ...""" +"""Common tools for timing and debugging.""" + + +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 From 50525a26bba874183c2c90af2aaa0954370e9d9b Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Thu, 3 Jan 2019 19:44:10 +0100 Subject: [PATCH 13/62] doc: rough draft EV3 brick --- pybricks/_display.py | 40 ++++++++++++++++++++++++++++ pybricks/_speaker.py | 55 ++++++++++++++++++++++++++++++++++++++ pybricks/ev3brick.py | 28 ++++++++++++++++++++ pybricks/parameters.py | 60 ++++++++++++++++++++++++++++++++++++++++++ 4 files changed, 183 insertions(+) create mode 100644 pybricks/_display.py create mode 100644 pybricks/_speaker.py diff --git a/pybricks/_display.py b/pybricks/_display.py new file mode 100644 index 0000000..eb2e69c --- /dev/null +++ b/pybricks/_display.py @@ -0,0 +1,40 @@ +"""Generic display module for showing text or images on a display (e.g. EV3 screen).""" + + +from parameters import Align + + +class Display(): + """Show images or text on a display.""" + + def __init__(self, device_type): + """Device specific display initialization.""" + pass + + def clear(self): + """Clear everything on the screen.""" + pass + + def text(self, text, location=None): + """Write text on the screen. + + Parameters: + text (str): The text to display. + location (tuple): (x, y) coordinate. If no location is specified, it just continues on the next line. + + """ + pass + + def image(self, file_name, alignment=Align.center, location=None, clear=True): + """Show an image file on the display. + + You can specify its placement either using ``alignment`` or by specifying an (x, y) ``location``. + + Arguments: + file_name (str): Path to the image file. + alignment (Align): Where to place the image. (*Default*: Align.center) + location (tuple): Where to place the image. (*Default*: None) + clear (bool): Whether to clear the screen before showing the image. (*Default*: ``True``) + """ + pass + diff --git a/pybricks/_speaker.py b/pybricks/_speaker.py new file mode 100644 index 0000000..fcc097d --- /dev/null +++ b/pybricks/_speaker.py @@ -0,0 +1,55 @@ +"""Generic speaker module for playing sounds (e.g. EV3 speaker, Bluetooth speaker, or IDE speaker).""" + + +class Speaker(): + """Play beeps and sound files using a speaker.""" + + def __init__(self, device_type): + """Device specific speaker initialization.""" + pass + + 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). + """ + pass + + def beeps(self, number): + """Play a number of default beeps with a brief pause in between. + + Arguments: + number (int): Number of beeps + """ + pass + + def tune(self, frequencies_and_durations, volume=30): + """Play a tune composed of beeps. + + Arguments: + frequencies_and_durations (list): List of (:ref:`frequency`, :ref:`time`) pairs + volume (:ref:`percentage`): Volume of the tune (*Default*: 30). + """ + 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). + """ + + pass + + def speak(self, text, volume=30): + """Speak a given string of text. + + Arguments: + text (str): The text to speak. + volume (:ref:`percentage`): Volume of the sound (*Default*: 100). + """ + pass diff --git a/pybricks/ev3brick.py b/pybricks/ev3brick.py index f70e0a2..dfe410b 100644 --- a/pybricks/ev3brick.py +++ b/pybricks/ev3brick.py @@ -1 +1,29 @@ """LEGO MINDSTORMS EV3 Brick""" + +from parameters import Color, Pattern +from _speaker import Speaker +from _display import Display + +def buttons(): + """Check which buttons of the EV3 brick are currently pressed. + + :returns: List of pressed buttons. + :rtype: List of :class:`Button ` + """ + pass + + +def light(color, pattern=Pattern.solid, brightness=100): + """light(color, pattern=Pattern.solid, brightness=100) + + Set the color, pattern, and brightness of the brick light. + + Arguments: + color (:class:`Color ` or RGB tuple): Color of the light. TODO: consider making the Color "enum" itself RGB tuples... + pattern (:class:`Pattern `): List of (brightness, duration) tuples. + brightness (:ref:`percentage`): Brightness of the light (0-100). + """ + pass + +sound = Speaker('EV3') +display = Display('EV3') diff --git a/pybricks/parameters.py b/pybricks/parameters.py index af589d1..7c87a17 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -192,3 +192,63 @@ class Button(Enum): up = 8 beacon = 8 right_up = 9 + + +class Pattern(): + """Light patterns. + + .. data:: solid + + The light stays on. + + .. data:: blink1 + + The light blinks once per second: It stays on for 500 ms and then stays off for 500 ms. + + .. data:: blink2 + + The light blinks twice per second: It stays on for 250 ms and then stays off for 250 ms. + + .. data:: blink3 + + The light blinks three times per second: It stays on for 167 ms and then stays off for 167 ms. + + .. data:: glow + + The light gradually turns on and then off again, as if glowing. + + .. data:: ev3 + + The default pattern of a running EV3-G program. + """ + + solid = [(100, 1000)] + blink1 = [(100, 500), (0, 500)] + blink2 = [(100, 250), (0, 250)] + blink3 = [(100, 167), (0, 167)] + glow = [] # TODO + ev3 = [(100, 100), (0, 100), (100, 100), (0, 700)] # TODO: Get the true values + + +class Align(): + """Alignment of an image on a screen. TODO: use same logic as buttons?? + + .. data:: center + """ + bottom_left = 1 + bottom = 2 + bottom_right = 3 + left = 4 + center = 5 + right = 6 + top_left = 7 + top = 8 + top_right = 9 + + +class Image(): + """Paths to standard EV3 images. + + .. data:: up + """ + up = '/path/to/up' From 15791fbe8d4fc2444d068dc1b8134b8712188759 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Fri, 4 Jan 2019 15:05:17 +0100 Subject: [PATCH 14/62] doc: brick, sound, display, and experiment with samples --- pybricks/_display.py | 49 ++++++++++++++++++++------ pybricks/_speaker.py | 32 +++++++++++++++++ pybricks/brick.py | 48 +++++++++++++++++++++++++ pybricks/{ev3devices.py => devices.py} | 0 pybricks/ev3brick.py | 29 --------------- pybricks/parameters.py | 38 +++++++------------- 6 files changed, 130 insertions(+), 66 deletions(-) create mode 100644 pybricks/brick.py rename pybricks/{ev3devices.py => devices.py} (100%) delete mode 100644 pybricks/ev3brick.py diff --git a/pybricks/_display.py b/pybricks/_display.py index eb2e69c..5475dfc 100644 --- a/pybricks/_display.py +++ b/pybricks/_display.py @@ -8,33 +8,60 @@ class Display(): """Show images or text on a display.""" def __init__(self, device_type): - """Device specific display initialization.""" + """Device-specific display initialization.""" pass def clear(self): - """Clear everything on the screen.""" + """Clear everything on the display.""" pass - def text(self, text, location=None): - """Write text on the screen. + def text(self, text, coordinate=None): + """Display text. Parameters: text (str): The text to display. - location (tuple): (x, y) coordinate. If no location is specified, it just continues on the next line. + coordinate (tuple): ``(x, y)`` coordinate tuple. It is the top-left corner of the first character. If no location is specified, it is printed on the next line. + + :: + + # 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, location=None, clear=True): - """Show an image file on the display. + def image(self, file_name, alignment=Align.center, coordinate=None, clear=True): + """image(self, file_name, alignment=Align.center, coordinate=None, clear=True) - You can specify its placement either using ``alignment`` or by specifying an (x, y) ``location``. + Show an image file. + + You can specify its placement either using ``alignment`` or by specifying an ``coordinate``, but not both. Arguments: - file_name (str): Path to the image file. - alignment (Align): Where to place the image. (*Default*: Align.center) - location (tuple): Where to place the image. (*Default*: None) + 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``) + + :: + + # Show a built-in image showing two eyes looking upward + brick.display.image(Image.up) + + # Display a custom image from your project folder + brick.display.image('pybricks.png') + + # Display a custom image image at the top right of the screen, without clearing first + brick.display.image('arrow.png', Align.top_right, clear=False) """ pass diff --git a/pybricks/_speaker.py b/pybricks/_speaker.py index fcc097d..469d1be 100644 --- a/pybricks/_speaker.py +++ b/pybricks/_speaker.py @@ -15,6 +15,13 @@ class Speaker(): 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). + :: + + # 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 @@ -23,6 +30,11 @@ class Speaker(): Arguments: number (int): Number of beeps + + :: + + # Make 5 simple beeps + brick.sound.beeps(5) """ pass @@ -32,6 +44,13 @@ class Speaker(): Arguments: frequencies_and_durations (list): List of (:ref:`frequency`, :ref:`time`) pairs volume (:ref:`percentage`): Volume of the tune (*Default*: 30). + + :: + + # Play a tune of three notes with increasing + # pitch (500 Hz, 1000 Hz, 1500 Hz), each 200 ms. + my_tune = [(500, 200), (1000, 200), (1500, 200)] + brick.sound.tune(my_tune) """ pass @@ -41,6 +60,15 @@ class Speaker(): Arguments: file_name (str): Path to the sound file, including extension. volume (:ref:`percentage`): Volume of the sound (*Default*: 100). + + :: + + # Play one of the built-in sounds + brick.sound.file(Sound.hello) + + # Play a sound file from your project folder + brick.sound.file('mysound.wav') + """ pass @@ -51,5 +79,9 @@ class Speaker(): Arguments: text (str): The text to speak. volume (:ref:`percentage`): Volume of the sound (*Default*: 100). + :: + + # Say "Hi!" + brick.sound.speak('Hi!') """ pass diff --git a/pybricks/brick.py b/pybricks/brick.py new file mode 100644 index 0000000..b2753df --- /dev/null +++ b/pybricks/brick.py @@ -0,0 +1,48 @@ +"""LEGO MINDSTORMS EV3 Brick""" + +from parameters import Color, Pattern +from _speaker import Speaker +from _display import Display + +def buttons(): + """Check which buttons of the EV3 brick are currently pressed. + + :returns: List of pressed buttons. + :rtype: List of :class:`Button ` + + :: + + if Button.left in brick.buttons(): + print("The left button is pressed.") + + """ + pass + + +def light(color, pattern=Pattern.solid, brightness=100): + """light(color, pattern=Pattern.solid, brightness=100) + + Set the color, pattern, and brightness of the brick light. + + Arguments: + color (:class:`Color ` or :ref:`colortuple`): Color of the light. + pattern (:class:`Pattern `): List of (:ref:`percentage`, :ref:`time`) tuples that give the brightness and duration of each segment of the pattern. + brightness (:ref:`percentage`): Peak brightness of the selected color or pattern. + + :: + + # Make the light red + brick.light(Color.red) + + # Make the light yellow and make it glow on and off. + brick.light(Color.yellow, Pattern.glow) + + # Make the light green with a custom on-off pattern. + # The light is on at 100% for 250 ms and then off (0%) for 250 ms. + my_pattern = [(100, 250), (0, 250)] + brick.light(Color.green, my_pattern) + """ + pass + +sound = Speaker('EV3') +display = Display('EV3') diff --git a/pybricks/ev3devices.py b/pybricks/devices.py similarity index 100% rename from pybricks/ev3devices.py rename to pybricks/devices.py diff --git a/pybricks/ev3brick.py b/pybricks/ev3brick.py deleted file mode 100644 index dfe410b..0000000 --- a/pybricks/ev3brick.py +++ /dev/null @@ -1,29 +0,0 @@ -"""LEGO MINDSTORMS EV3 Brick""" - -from parameters import Color, Pattern -from _speaker import Speaker -from _display import Display - -def buttons(): - """Check which buttons of the EV3 brick are currently pressed. - - :returns: List of pressed buttons. - :rtype: List of :class:`Button ` - """ - pass - - -def light(color, pattern=Pattern.solid, brightness=100): - """light(color, pattern=Pattern.solid, brightness=100) - - Set the color, pattern, and brightness of the brick light. - - Arguments: - color (:class:`Color ` or RGB tuple): Color of the light. TODO: consider making the Color "enum" itself RGB tuples... - pattern (:class:`Pattern `): List of (brightness, duration) tuples. - brightness (:ref:`percentage`): Brightness of the light (0-100). - """ - pass - -sound = Speaker('EV3') -display = Display('EV3') diff --git a/pybricks/parameters.py b/pybricks/parameters.py index 7c87a17..5d6ee59 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -195,39 +195,25 @@ class Button(Enum): class Pattern(): - """Light patterns. - - .. data:: solid - - The light stays on. - - .. data:: blink1 - - The light blinks once per second: It stays on for 500 ms and then stays off for 500 ms. - - .. data:: blink2 - - The light blinks twice per second: It stays on for 250 ms and then stays off for 250 ms. - - .. data:: blink3 - - The light blinks three times per second: It stays on for 167 ms and then stays off for 167 ms. - - .. data:: glow - - The light gradually turns on and then off again, as if glowing. - - .. data:: ev3 - - The default pattern of a running EV3-G program. - """ + """Standard light patterns.""" solid = [(100, 1000)] + """The light stays on.""" + blink1 = [(100, 500), (0, 500)] + """The light blinks once per second: It stays on for 500 ms and then stays off for 500 ms.""" + blink2 = [(100, 250), (0, 250)] + """The light blinks twice per second: It stays on for 250 ms and then stays off for 250 ms.""" + blink3 = [(100, 167), (0, 167)] + """The light blinks three times per second: It stays on for 167 ms and then stays off for 167 ms.""" + glow = [] # TODO + """The light gradually turns on and then off again, as if glowing. (TODO)""" + ev3 = [(100, 100), (0, 100), (100, 100), (0, 700)] # TODO: Get the true values + """The default pattern of a running EV3-G program.""" class Align(): From 9164414b784acccc233ef645ce9c5b46065d9011 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Sun, 6 Jan 2019 16:40:18 +0100 Subject: [PATCH 15/62] doc: wait is last argument --- pybricks/devices.py | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/pybricks/devices.py b/pybricks/devices.py index 5e70bd5..048c323 100644 --- a/pybricks/devices.py +++ b/pybricks/devices.py @@ -123,8 +123,8 @@ class Motor(): """ pass - def run_time(self, speed, time, wait=True, stop_type=Stop.coast): - """run_time(self, speed, time, wait=False, stop_type=Stop.coast) + def run_time(self, speed, time, stop_type=Stop.coast, wait=True): + """run_time(self, speed, time, stop_type=Stop.coast, wait=True) Run the motor at a constant speed (angular velocity) for a given amount of time. @@ -133,13 +133,13 @@ class Motor(): Arguments: speed (:ref:`speed`): Speed of the motor. time (:ref:`time`): Duration of the maneuver. - 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``. stop_type (Stop): Whether to coast, brake, or hold after coming to standstill (*Default*: :class:`Stop.coast `). + 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, wait=True, stop_type=Stop.coast): - """run_angle(self, speed, rotation_angle, wait=False, stop_type=Stop.coast) + def run_angle(self, speed, rotation_angle, stop_type=Stop.coast, wait=True): + """run_angle(self, speed, rotation_angle, stop_type=Stop.coast, wait=True) Run the motor at a constant speed (angular velocity) by a given angle. @@ -148,25 +148,25 @@ class Motor(): Arguments: speed (:ref:`speed`): Speed of the motor. rotation_angle (:ref:`time`): Angle by which the motor should rotate. - 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. stop_type (Stop): Whether to coast, brake, or hold after coming to standstill (*Default*: :class:`Stop.coast `). + 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, wait=True, stop_type=Stop.coast): - """run_target(self, speed, target_angle, wait=False, stop_type=Stop.coast) + def run_target(self, speed, target_angle, stop_type=Stop.coast, wait=True): + """run_target(self, 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 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:`time`): Target angle that the motor should go to, regardless of its current angle. - 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. stop_type (Stop): Whether to coast, brake, or hold after coming to standstill (*Default*: :class:`Stop.coast `). + 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 From e9d83c80c469d43984710c9773931c7215e0d56d Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Wed, 9 Jan 2019 14:51:41 +0100 Subject: [PATCH 16/62] doc: back to explicit ev3brick and ev3devices (instead of brick and devices) After internal discussion: - This way we need to maintain only one fake API. - Autocomplete can pick up the right brick/devices. - Explicit is better than implicit. --- pybricks/{brick.py => ev3brick.py} | 0 pybricks/{devices.py => ev3devices.py} | 0 2 files changed, 0 insertions(+), 0 deletions(-) rename pybricks/{brick.py => ev3brick.py} (100%) rename pybricks/{devices.py => ev3devices.py} (100%) diff --git a/pybricks/brick.py b/pybricks/ev3brick.py similarity index 100% rename from pybricks/brick.py rename to pybricks/ev3brick.py diff --git a/pybricks/devices.py b/pybricks/ev3devices.py similarity index 100% rename from pybricks/devices.py rename to pybricks/ev3devices.py From b6c302321a8ed27d5c381b6cc41af73dbad80fbf Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Wed, 9 Jan 2019 16:08:32 +0100 Subject: [PATCH 17/62] doc: simplify motor settings --- pybricks/ev3devices.py | 120 ++++++++++++++++++++++++++++------------- 1 file changed, 83 insertions(+), 37 deletions(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 048c323..9dc8595 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -25,55 +25,43 @@ class Motor(): 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. + 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 by 90 degrees. The same holds for the documentation below: When it says "motor angle" or "motor speed", you can read it as "mechanism output angle" and "mechanism output speed", and so on, because the gear ratio is automatically accounted for. + :: + + # 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 set_torque_settings(self, limit): - """Configure the maximum torque that can be applied to the motor. (*Default*: 100) - - This sets the maximum :ref:`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. - - Arguments: - limit (:ref:`percentage`): Relative torque limit during ``duty`` or ``run`` commands. - """ - pass - - def set_run_settings(self, max_speed, acceleration, deceleration): - """Configure the maximum speed, acceleration, and deceleration of the motor for all of the ``run`` commands. See also the :ref:`default parameters ` for each motor. - - Arguments: - max_speed (:ref:`speed`): Maximum speed of the motor. - acceleration (:ref:`acceleration`): Acceleration towards the target speed. - deceleration (:ref:`acceleration`): Deceleration towards standstill. - """ - pass - - def set_control_settings(self, kp, ki, kd, pid_reset_time, 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 ` 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. - pid_reset_time (:ref:`time`): If you execute any of the ``run`` command within this interval after starting the previous command, the motor will keep its accumulated PID errors. This provides smoother motion when you call any of the ``run`` commands in a tight loop. - 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`): If the motor moves slower than ``stall_speed`` for ``stall_time`` during any of the ``run`` commands, the motor is considered to be stalled. - stall_time (:ref:`time`): See ``stall_speed``. - """ - pass - - def duty(self, duty): + def duty(self, duty, limit=100): """Set the :ref:`duty cycle ` of the motor. Arguments: duty (percentage): The duty cycle (-100.0 to 100). + limit (percentage): Limit on the maximum ``duty`` value. (*Default*: 100). This overrides the first argument when it exceeds the limit. This ensures that ``abs(duty)`` <``limit``. This is useful when you use your own formula to set the duty cycle, because provides a limit when your formula gives a very big number. For example, you could use this to prevent your LEGO train from unintentionally going at full speed. + + :: + + # Set the motor duty cycle to 75%. + example_motor.duty(75) + + :: + + # Use a computed duty cycle value, but ensure it stays within the range (-30, 30). + example_duty = (sensor.reflection() - 40) / 3 + example_motor.duty(example_duty, 30) + """ pass @@ -95,6 +83,17 @@ class Motor(): """ pass + def stalled(self): + """Check whether the motor is currently stalled. + + When a motor is stalled, this means that it cannot move even with the maximum torque. For example, something might be blocking the motor or your mechanism simply cannot turn any further. See also :func:`.set_stall_settings`. + + Returns: + bool: ``True`` if the motor is stalled, ``False`` if it is not. + + """ + pass + def reset_angle(self, angle=0): """Reset the accumulated rotation angle of the motor. @@ -188,6 +187,53 @@ class Motor(): """ 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 ` 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. + + :: + + # Set the maximum speed to 200 deg/s and set the 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): + """Configure the settings of the position and speed controllers. See also :ref:`pid` and the :ref:`default parameters ` 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`` command 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: it will 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. + """ + pass + + def set_stall_settings(self, duty_limit, stall_speed, stall_time): + """Configure when the motor is considered to be :func:`.stalled`. + + The motor is considered stalled when it cannot move even with the maximum torque. + + 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``. Changing these settings lets you adjust how soon the motor should be considered to be stalled. + + Arguments: + duty_limit (:ref:`percentage`): Relative torque limit during subsequent ``run`` commands. This sets the maximum :ref:`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. + stall_speed (:ref:`speed`): If the motor moves slower than ``stall_speed`` for ``stall_time`` during any of the ``run`` commands, the motor is considered to be stalled. + stall_time (:ref:`time`): As above: see ``stall_speed``. + """ + pass + class TouchSensor(): """LEGO MINDSTORMS EV3 Touch Sensor. From 1cb21098a5b1bc6075224536e4c5e91588dcbeb9 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Thu, 10 Jan 2019 10:31:26 +0100 Subject: [PATCH 18/62] doc: motor debug, dc, and tracking api --- pybricks/_speaker.py | 16 --------- pybricks/ev3devices.py | 81 +++++++++++++++++++++++++++++++++++++++--- pybricks/parameters.py | 2 +- 3 files changed, 77 insertions(+), 22 deletions(-) diff --git a/pybricks/_speaker.py b/pybricks/_speaker.py index 469d1be..9184b49 100644 --- a/pybricks/_speaker.py +++ b/pybricks/_speaker.py @@ -38,22 +38,6 @@ class Speaker(): """ pass - def tune(self, frequencies_and_durations, volume=30): - """Play a tune composed of beeps. - - Arguments: - frequencies_and_durations (list): List of (:ref:`frequency`, :ref:`time`) pairs - volume (:ref:`percentage`): Volume of the tune (*Default*: 30). - - :: - - # Play a tune of three notes with increasing - # pitch (500 Hz, 1000 Hz, 1500 Hz), each 200 ms. - my_tune = [(500, 200), (1000, 200), (1500, 200)] - brick.sound.tune(my_tune) - """ - pass - def file(self, file_name, volume=100): """Play a sound file. diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 9dc8595..43487d9 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -44,12 +44,12 @@ class Motor(): """ pass - def duty(self, duty, limit=100): + def dc(self, duty, limit=100): """Set the :ref:`duty cycle ` of the motor. Arguments: - duty (percentage): The duty cycle (-100.0 to 100). - limit (percentage): Limit on the maximum ``duty`` value. (*Default*: 100). This overrides the first argument when it exceeds the limit. This ensures that ``abs(duty)`` <``limit``. This is useful when you use your own formula to set the duty cycle, because provides a limit when your formula gives a very big number. For example, you could use this to prevent your LEGO train from unintentionally going at full speed. + duty (:ref:`percentage`): The duty cycle (-100.0 to 100). + limit (:ref:`percentage`): Limit on the maximum ``duty`` value. (*Default*: 100). This overrides the first argument when it exceeds the limit. This ensures that ``abs(duty)`` <``limit``. This is useful when you use your own formula to set the duty cycle, because provides a limit when your formula gives a very big number. For example, you could use this to prevent your LEGO train from unintentionally going at full speed. :: @@ -65,6 +65,19 @@ class Motor(): """ pass + def dc_time(self, duty, time, stop_type=Stop.coast, wait=True, limit=100): + """dc_time(self, duty, time, stop_type=Stop.coast, wait=True, limit=100) + Set the :ref:`duty cycle ` of the motor for a given amount of time, then turn off the motor. + + Arguments: + duty (:ref:`percentage`): The duty cycle (-100.0 to 100). + time (:ref:`time`): Duration of the maneuver. + stop_type (Stop): Coast, brake, or hold after stopping (*Default*: :class:`Stop.coast `). + 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``. + limit (percentage): Limit on the maximum ``duty`` value. (*Default*: 100). + """ + pass + def angle(self): """Get the rotation angle of the motor. @@ -83,6 +96,31 @@ class Motor(): """ pass + def reference(self): + """Get the reference angle and reference speed of the motor. + + Returns: + Tuple of motor angle and speed reference at the current time. + :rtype: (:ref:`angle`, :ref:`speed`) or (``None``, ``None``) if no maneuver is active. + + """ + pass + + def maneuver(self): + """ + Get the time, angle, velocity, and acceleration parameters of the currently active motor maneuver. + See :ref:`maneuvers` for a description of each symbol. + + Returns: + (:math:`t_0`, :math:`t_1`, :math:`t_2`, :math:`t_3`), + (:math:`\\theta_0`, :math:`\\theta_1`, :math:`\\theta_2`, :math:`\\theta_3`), + (:math:`\\omega_0`, :math:`\\omega_1`), + (:math:`\\alpha_0`, :math:`\\alpha_2`) + :rtype: Four tuples of :ref:`time`, :ref:`angle`, :ref:`speed`, and :ref:`acceleration` + + """ + pass + def stalled(self): """Check whether the motor is currently stalled. @@ -146,7 +184,7 @@ class Motor(): Arguments: speed (:ref:`speed`): Speed of the motor. - rotation_angle (:ref:`time`): Angle by which the motor should rotate. + rotation_angle (:ref:`angle`): Angle by which the motor should rotate. stop_type (Stop): Whether to coast, brake, or hold after coming to standstill (*Default*: :class:`Stop.coast `). 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. """ @@ -163,7 +201,7 @@ class Motor(): 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:`time`): Target angle that the motor should go to, regardless of its current angle. + target_angle (:ref:`angle`): Target angle that the motor should go to, regardless of its current angle. stop_type (Stop): Whether to coast, brake, or hold after coming to standstill (*Default*: :class:`Stop.coast `). 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. """ @@ -187,6 +225,39 @@ class Motor(): """ pass + def track_target(self, target_angle): + """Track a target angle that varies in time. + + This function is quite similar to :func:`.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 how slowly you vary the ``target_angle``. + + This method is useful in fast loops where the motor target continously changes. + + Arguments: + target_angle (:ref:`angle`): Target angle that the motor should go to. + + :: + + # 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_run_settings(self, max_speed, acceleration): """Configure the maximum speed and acceleration/deceleration of the motor for all run commands. diff --git a/pybricks/parameters.py b/pybricks/parameters.py index 5d6ee59..f468ccd 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -72,7 +72,7 @@ class Stop(Enum): .. data:: hold - Keep controlling the motor to hold it at the commanded angle. + 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 standstill: From 34bc88dae34475a2b287c182e021da8c9f17a005 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Fri, 11 Jan 2019 09:03:18 +0100 Subject: [PATCH 19/62] doc: group motor methods by rubric --- pybricks/ev3devices.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 43487d9..edd340b 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -19,7 +19,7 @@ class Motor(): 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``) + 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. @@ -31,6 +31,8 @@ class Motor(): The same holds for the documentation below: When it says "motor angle" or "motor speed", you can read it as "mechanism output angle" and "mechanism output speed", and so on, because the gear ratio is automatically accounted for. + The ``gears`` setting is only available for motors with rotation sensors. + :: # Initialize a motor (by default this means clockwise, without any gears). From 4ad8c8ac9cafb3cb9fcadc022578743a0f1fbccf Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Sat, 12 Jan 2019 12:02:39 +0100 Subject: [PATCH 20/62] extmod: implement run_until_stalled with variable limits --- pybricks/ev3devices.py | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index edd340b..23a01ab 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -209,21 +209,21 @@ class Motor(): """ pass - def run_until_stalled(self, speed, torque_limit, stop_type=Stop.coast): - """run_until_stalled(self, speed, torque_limit, stop_type=Stop.coast) + def run_until_stalled(self, speed, stop_type=Stop.coast, duty_limit=100, stall_speed=5, stall_time=200): + """run_until_stalled(self, speed, stop_type=Stop.coast, duty_limit=100, stall_speed=5, stall_time=200) - Run the motor at a constant speed (angular velocity) until it stalls. + 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. - The motor will accelerate towards the requested speed and the duty cycle is automatically adjusted to keep the speed constant, until it encounters an obstacle that prevents it from turning any further. Then the motor stops. + 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``. These settings lets you adjust how soon the motor should be considered to be stalled. + + These settings are exactly the same as :func:`.set_stall_settings`, but in this function they are only applied temporarily. For example, you can choose ``duty_limit=50`` to limit the motor torque during this maneuver, but it returns to its original value aftwards. Arguments: speed (:ref:`speed`): Speed of the motor. - torque_limit (:ref:`percentage`): Maximum duty cycle used during this command. It works just like :func:`.set_torque_limit`, but it is temporary: once this command completes the motor uses the default or user-specified torque limit again. For example, this allows you to avoid high torques when resetting a mechanism, while the motor operates normally afterwards. stop_type (Stop): Whether to coast, brake, or hold after coming to standstill (*Default*: :class:`Stop.coast `). - - Returns: - :ref:`angle`: Angle at which the motor became stalled. - + duty_limit (:ref:`percentage`): Relative torque limit during subsequent ``run`` commands. This sets the maximum :ref:`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. + stall_speed (:ref:`speed`): If the motor moves slower than ``stall_speed`` for ``stall_time`` during any of the ``run`` commands, the motor is considered to be stalled. + stall_time (:ref:`time`): As above: see ``stall_speed``. """ pass From 069f59a13a7b08c241f0688bddc6cd97e8d74b73 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Sun, 13 Jan 2019 17:51:55 +0100 Subject: [PATCH 21/62] modmotor: make dc match docs This adds an optional argument to limit the duty cycle --- pybricks/ev3devices.py | 13 ------------- 1 file changed, 13 deletions(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 23a01ab..03ec043 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -67,19 +67,6 @@ class Motor(): """ pass - def dc_time(self, duty, time, stop_type=Stop.coast, wait=True, limit=100): - """dc_time(self, duty, time, stop_type=Stop.coast, wait=True, limit=100) - Set the :ref:`duty cycle ` of the motor for a given amount of time, then turn off the motor. - - Arguments: - duty (:ref:`percentage`): The duty cycle (-100.0 to 100). - time (:ref:`time`): Duration of the maneuver. - stop_type (Stop): Coast, brake, or hold after stopping (*Default*: :class:`Stop.coast `). - 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``. - limit (percentage): Limit on the maximum ``duty`` value. (*Default*: 100). - """ - pass - def angle(self): """Get the rotation angle of the motor. From b8b206db38171f5584f77d5f9815d4050c182219 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Sun, 13 Jan 2019 18:10:22 +0100 Subject: [PATCH 22/62] extmod: Make light function and doc match For now, do not implement features such as brightness and patterns. --- pybricks/ev3brick.py | 19 +++++-------------- 1 file changed, 5 insertions(+), 14 deletions(-) diff --git a/pybricks/ev3brick.py b/pybricks/ev3brick.py index b2753df..85e4f78 100644 --- a/pybricks/ev3brick.py +++ b/pybricks/ev3brick.py @@ -19,28 +19,19 @@ def buttons(): pass -def light(color, pattern=Pattern.solid, brightness=100): - """light(color, pattern=Pattern.solid, brightness=100) - - Set the color, pattern, and brightness of the brick light. +def light(color): + """Set the color of the brick light. Arguments: - color (:class:`Color ` or :ref:`colortuple`): Color of the light. - pattern (:class:`Pattern `): List of (:ref:`percentage`, :ref:`time`) tuples that give the brightness and duration of each segment of the pattern. - brightness (:ref:`percentage`): Peak brightness of the selected color or pattern. + color (Color): Color of the light. Choose ``Color.black`` or ``None`` to turn the light off. :: # Make the light red brick.light(Color.red) - # Make the light yellow and make it glow on and off. - brick.light(Color.yellow, Pattern.glow) - - # Make the light green with a custom on-off pattern. - # The light is on at 100% for 250 ms and then off (0%) for 250 ms. - my_pattern = [(100, 250), (0, 250)] - brick.light(Color.green, my_pattern) + # Turn the light off + brick.light(None) """ pass From fea24b64312bebaab61d2537aee2af45e8ee7a4e Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Sun, 13 Jan 2019 18:37:00 +0100 Subject: [PATCH 23/62] bricks/ev3dev: move print to tools --- pybricks/tools.py | 18 +++++++++++++++++- 1 file changed, 17 insertions(+), 1 deletion(-) diff --git a/pybricks/tools.py b/pybricks/tools.py index 3115a67..1e90979 100644 --- a/pybricks/tools.py +++ b/pybricks/tools.py @@ -1,6 +1,23 @@ """Common tools for timing and debugging.""" +def print(): + """print(value, ..., sep, end, file, flush) + + Prints the values to the terminal or a stream. + + :: + + # 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. @@ -10,7 +27,6 @@ def wait(time): """ pass - class StopWatch(): """A stopwatch to measure time intervals. Similar to the stopwatch feature on your phone.""" From 53e386e3cf3fd88c53020179d6816ad43997a16c Mon Sep 17 00:00:00 2001 From: David Lechner Date: Tue, 15 Jan 2019 16:40:56 -0600 Subject: [PATCH 24/62] fake-pybricks: rename python package to fake-pybricks temporary workaround for issue #92 --- setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup.py b/setup.py index 17aa2ee..c59122e 100644 --- a/setup.py +++ b/setup.py @@ -15,7 +15,7 @@ with open(path.join(here, 'README.rst'), encoding='utf-8') as f: long_description = f.read() setup( - name='pybricks', + name='fake-pybricks', version='0.1', description='Pybricks', long_description=long_description, From e0b08cfad9c18cfe76100ddd21fe7b35d39bc9cd Mon Sep 17 00:00:00 2001 From: David Lechner Date: Tue, 15 Jan 2019 20:58:43 -0600 Subject: [PATCH 25/62] use versioneer for setting python package version https://github.com/warner/python-versioneer :yum: :cookie: --- .gitattributes | 1 + MANIFEST.in | 2 + pybricks/__init__.py | 4 + pybricks/_version.py | 520 ++++++++++++ setup.cfg | 12 + setup.py | 5 +- versioneer.py | 1822 ++++++++++++++++++++++++++++++++++++++++++ 7 files changed, 2365 insertions(+), 1 deletion(-) create mode 100644 .gitattributes create mode 100644 MANIFEST.in create mode 100644 pybricks/_version.py create mode 100644 setup.cfg create mode 100644 versioneer.py diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..dca80b8 --- /dev/null +++ b/.gitattributes @@ -0,0 +1 @@ +pybricks/_version.py export-subst diff --git a/MANIFEST.in b/MANIFEST.in new file mode 100644 index 0000000..35ba291 --- /dev/null +++ b/MANIFEST.in @@ -0,0 +1,2 @@ +include versioneer.py +include pybricks/_version.py diff --git a/pybricks/__init__.py b/pybricks/__init__.py index e69de29..74f4e66 100644 --- a/pybricks/__init__.py +++ b/pybricks/__init__.py @@ -0,0 +1,4 @@ + +from ._version import get_versions +__version__ = get_versions()['version'] +del get_versions diff --git a/pybricks/_version.py b/pybricks/_version.py new file mode 100644 index 0000000..981ed11 --- /dev/null +++ b/pybricks/_version.py @@ -0,0 +1,520 @@ + +# 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} diff --git a/setup.cfg b/setup.cfg new file mode 100644 index 0000000..e55fb9f --- /dev/null +++ b/setup.cfg @@ -0,0 +1,12 @@ + +# 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-' diff --git a/setup.py b/setup.py index c59122e..3a31829 100644 --- a/setup.py +++ b/setup.py @@ -9,6 +9,8 @@ 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: @@ -16,7 +18,8 @@ with open(path.join(here, 'README.rst'), encoding='utf-8') as f: setup( name='fake-pybricks', - version='0.1', + version=versioneer.get_version(), + cmdclass=versioneer.get_cmdclass(), description='Pybricks', long_description=long_description, url='https://github.com/pybricks', diff --git a/versioneer.py b/versioneer.py new file mode 100644 index 0000000..64fea1c --- /dev/null +++ b/versioneer.py @@ -0,0 +1,1822 @@ + +# Version: 0.18 + +"""The Versioneer - like a rocketeer, but for versions. + +The Versioneer +============== + +* like a rocketeer, but for versions! +* https://github.com/warner/python-versioneer +* Brian Warner +* License: Public Domain +* Compatible With: python2.6, 2.7, 3.2, 3.3, 3.4, 3.5, 3.6, and pypy +* [![Latest Version] +(https://pypip.in/version/versioneer/badge.svg?style=flat) +](https://pypi.python.org/pypi/versioneer/) +* [![Build Status] +(https://travis-ci.org/warner/python-versioneer.png?branch=master) +](https://travis-ci.org/warner/python-versioneer) + +This is a tool for managing a recorded version number in distutils-based +python projects. The goal is to remove the tedious and error-prone "update +the embedded version string" step from your release process. Making a new +release should be as easy as recording a new tag in your version-control +system, and maybe making new tarballs. + + +## Quick Install + +* `pip install versioneer` to somewhere to your $PATH +* add a `[versioneer]` section to your setup.cfg (see below) +* run `versioneer install` in your source tree, commit the results + +## Version Identifiers + +Source trees come from a variety of places: + +* a version-control system checkout (mostly used by developers) +* a nightly tarball, produced by build automation +* a snapshot tarball, produced by a web-based VCS browser, like github's + "tarball from tag" feature +* a release tarball, produced by "setup.py sdist", distributed through PyPI + +Within each source tree, the version identifier (either a string or a number, +this tool is format-agnostic) can come from a variety of places: + +* ask the VCS tool itself, e.g. "git describe" (for checkouts), which knows + about recent "tags" and an absolute revision-id +* the name of the directory into which the tarball was unpacked +* an expanded VCS keyword ($Id$, etc) +* a `_version.py` created by some earlier build step + +For released software, the version identifier is closely related to a VCS +tag. Some projects use tag names that include more than just the version +string (e.g. "myproject-1.2" instead of just "1.2"), in which case the tool +needs to strip the tag prefix to extract the version identifier. For +unreleased software (between tags), the version identifier should provide +enough information to help developers recreate the same tree, while also +giving them an idea of roughly how old the tree is (after version 1.2, before +version 1.3). Many VCS systems can report a description that captures this, +for example `git describe --tags --dirty --always` reports things like +"0.7-1-g574ab98-dirty" to indicate that the checkout is one revision past the +0.7 tag, has a unique revision id of "574ab98", and is "dirty" (it has +uncommitted changes. + +The version identifier is used for multiple purposes: + +* to allow the module to self-identify its version: `myproject.__version__` +* to choose a name and prefix for a 'setup.py sdist' tarball + +## Theory of Operation + +Versioneer works by adding a special `_version.py` file into your source +tree, where your `__init__.py` can import it. This `_version.py` knows how to +dynamically ask the VCS tool for version information at import time. + +`_version.py` also contains `$Revision$` markers, and the installation +process marks `_version.py` to have this marker rewritten with a tag name +during the `git archive` command. As a result, generated tarballs will +contain enough information to get the proper version. + +To allow `setup.py` to compute a version too, a `versioneer.py` is added to +the top level of your source tree, next to `setup.py` and the `setup.cfg` +that configures it. This overrides several distutils/setuptools commands to +compute the version when invoked, and changes `setup.py build` and `setup.py +sdist` to replace `_version.py` with a small static file that contains just +the generated version data. + +## Installation + +See [INSTALL.md](./INSTALL.md) for detailed installation instructions. + +## Version-String Flavors + +Code which uses Versioneer can learn about its version string at runtime by +importing `_version` from your main `__init__.py` file and running the +`get_versions()` function. From the "outside" (e.g. in `setup.py`), you can +import the top-level `versioneer.py` and run `get_versions()`. + +Both functions return a dictionary with different flavors of version +information: + +* `['version']`: A condensed version string, rendered using the selected + style. This is the most commonly used value for the project's version + string. The default "pep440" style yields strings like `0.11`, + `0.11+2.g1076c97`, or `0.11+2.g1076c97.dirty`. See the "Styles" section + below for alternative styles. + +* `['full-revisionid']`: detailed revision identifier. For Git, this is the + full SHA1 commit id, e.g. "1076c978a8d3cfc70f408fe5974aa6c092c949ac". + +* `['date']`: Date and time of the latest `HEAD` commit. For Git, it is the + commit date in ISO 8601 format. This will be None if the date is not + available. + +* `['dirty']`: a boolean, True if the tree has uncommitted changes. Note that + this is only accurate if run in a VCS checkout, otherwise it is likely to + be False or None + +* `['error']`: if the version string could not be computed, this will be set + to a string describing the problem, otherwise it will be None. It may be + useful to throw an exception in setup.py if this is set, to avoid e.g. + creating tarballs with a version string of "unknown". + +Some variants are more useful than others. Including `full-revisionid` in a +bug report should allow developers to reconstruct the exact code being tested +(or indicate the presence of local changes that should be shared with the +developers). `version` is suitable for display in an "about" box or a CLI +`--version` output: it can be easily compared against release notes and lists +of bugs fixed in various releases. + +The installer adds the following text to your `__init__.py` to place a basic +version in `YOURPROJECT.__version__`: + + from ._version import get_versions + __version__ = get_versions()['version'] + del get_versions + +## Styles + +The setup.cfg `style=` configuration controls how the VCS information is +rendered into a version string. + +The default style, "pep440", produces a PEP440-compliant string, equal to the +un-prefixed tag name for actual releases, and containing an additional "local +version" section with more detail for in-between builds. For Git, this is +TAG[+DISTANCE.gHEX[.dirty]] , using information from `git describe --tags +--dirty --always`. For example "0.11+2.g1076c97.dirty" indicates that the +tree is like the "1076c97" commit but has uncommitted changes (".dirty"), and +that this commit is two revisions ("+2") beyond the "0.11" tag. For released +software (exactly equal to a known tag), the identifier will only contain the +stripped tag, e.g. "0.11". + +Other styles are available. See [details.md](details.md) in the Versioneer +source tree for descriptions. + +## Debugging + +Versioneer tries to avoid fatal errors: if something goes wrong, it will tend +to return a version of "0+unknown". To investigate the problem, run `setup.py +version`, which will run the version-lookup code in a verbose mode, and will +display the full contents of `get_versions()` (including the `error` string, +which may help identify what went wrong). + +## Known Limitations + +Some situations are known to cause problems for Versioneer. This details the +most significant ones. More can be found on Github +[issues page](https://github.com/warner/python-versioneer/issues). + +### Subprojects + +Versioneer has limited support for source trees in which `setup.py` is not in +the root directory (e.g. `setup.py` and `.git/` are *not* siblings). The are +two common reasons why `setup.py` might not be in the root: + +* Source trees which contain multiple subprojects, such as + [Buildbot](https://github.com/buildbot/buildbot), which contains both + "master" and "slave" subprojects, each with their own `setup.py`, + `setup.cfg`, and `tox.ini`. Projects like these produce multiple PyPI + distributions (and upload multiple independently-installable tarballs). +* Source trees whose main purpose is to contain a C library, but which also + provide bindings to Python (and perhaps other langauges) in subdirectories. + +Versioneer will look for `.git` in parent directories, and most operations +should get the right version string. However `pip` and `setuptools` have bugs +and implementation details which frequently cause `pip install .` from a +subproject directory to fail to find a correct version string (so it usually +defaults to `0+unknown`). + +`pip install --editable .` should work correctly. `setup.py install` might +work too. + +Pip-8.1.1 is known to have this problem, but hopefully it will get fixed in +some later version. + +[Bug #38](https://github.com/warner/python-versioneer/issues/38) is tracking +this issue. The discussion in +[PR #61](https://github.com/warner/python-versioneer/pull/61) describes the +issue from the Versioneer side in more detail. +[pip PR#3176](https://github.com/pypa/pip/pull/3176) and +[pip PR#3615](https://github.com/pypa/pip/pull/3615) contain work to improve +pip to let Versioneer work correctly. + +Versioneer-0.16 and earlier only looked for a `.git` directory next to the +`setup.cfg`, so subprojects were completely unsupported with those releases. + +### Editable installs with setuptools <= 18.5 + +`setup.py develop` and `pip install --editable .` allow you to install a +project into a virtualenv once, then continue editing the source code (and +test) without re-installing after every change. + +"Entry-point scripts" (`setup(entry_points={"console_scripts": ..})`) are a +convenient way to specify executable scripts that should be installed along +with the python package. + +These both work as expected when using modern setuptools. When using +setuptools-18.5 or earlier, however, certain operations will cause +`pkg_resources.DistributionNotFound` errors when running the entrypoint +script, which must be resolved by re-installing the package. This happens +when the install happens with one version, then the egg_info data is +regenerated while a different version is checked out. Many setup.py commands +cause egg_info to be rebuilt (including `sdist`, `wheel`, and installing into +a different virtualenv), so this can be surprising. + +[Bug #83](https://github.com/warner/python-versioneer/issues/83) describes +this one, but upgrading to a newer version of setuptools should probably +resolve it. + +### Unicode version strings + +While Versioneer works (and is continually tested) with both Python 2 and +Python 3, it is not entirely consistent with bytes-vs-unicode distinctions. +Newer releases probably generate unicode version strings on py2. It's not +clear that this is wrong, but it may be surprising for applications when then +write these strings to a network connection or include them in bytes-oriented +APIs like cryptographic checksums. + +[Bug #71](https://github.com/warner/python-versioneer/issues/71) investigates +this question. + + +## Updating Versioneer + +To upgrade your project to a new release of Versioneer, do the following: + +* install the new Versioneer (`pip install -U versioneer` or equivalent) +* edit `setup.cfg`, if necessary, to include any new configuration settings + indicated by the release notes. See [UPGRADING](./UPGRADING.md) for details. +* re-run `versioneer install` in your source tree, to replace + `SRC/_version.py` +* commit any changed files + +## Future Directions + +This tool is designed to make it easily extended to other version-control +systems: all VCS-specific components are in separate directories like +src/git/ . The top-level `versioneer.py` script is assembled from these +components by running make-versioneer.py . In the future, make-versioneer.py +will take a VCS name as an argument, and will construct a version of +`versioneer.py` that is specific to the given VCS. It might also take the +configuration arguments that are currently provided manually during +installation by editing setup.py . Alternatively, it might go the other +direction and include code from all supported VCS systems, reducing the +number of intermediate scripts. + + +## License + +To make Versioneer easier to embed, all its code is dedicated to the public +domain. The `_version.py` that it creates is also in the public domain. +Specifically, both are released under the Creative Commons "Public Domain +Dedication" license (CC0-1.0), as described in +https://creativecommons.org/publicdomain/zero/1.0/ . + +""" + +from __future__ import print_function +try: + import configparser +except ImportError: + import ConfigParser as configparser +import errno +import json +import os +import re +import subprocess +import sys + + +class VersioneerConfig: + """Container for Versioneer configuration parameters.""" + + +def get_root(): + """Get the project root directory. + + We require that all commands are run from the project root, i.e. the + directory that contains setup.py, setup.cfg, and versioneer.py . + """ + root = os.path.realpath(os.path.abspath(os.getcwd())) + setup_py = os.path.join(root, "setup.py") + versioneer_py = os.path.join(root, "versioneer.py") + if not (os.path.exists(setup_py) or os.path.exists(versioneer_py)): + # allow 'python path/to/setup.py COMMAND' + root = os.path.dirname(os.path.realpath(os.path.abspath(sys.argv[0]))) + setup_py = os.path.join(root, "setup.py") + versioneer_py = os.path.join(root, "versioneer.py") + if not (os.path.exists(setup_py) or os.path.exists(versioneer_py)): + err = ("Versioneer was unable to run the project root directory. " + "Versioneer requires setup.py to be executed from " + "its immediate directory (like 'python setup.py COMMAND'), " + "or in a way that lets it use sys.argv[0] to find the root " + "(like 'python path/to/setup.py COMMAND').") + raise VersioneerBadRootError(err) + try: + # Certain runtime workflows (setup.py install/develop in a setuptools + # tree) execute all dependencies in a single python process, so + # "versioneer" may be imported multiple times, and python's shared + # module-import table will cache the first one. So we can't use + # os.path.dirname(__file__), as that will find whichever + # versioneer.py was first imported, even in later projects. + me = os.path.realpath(os.path.abspath(__file__)) + me_dir = os.path.normcase(os.path.splitext(me)[0]) + vsr_dir = os.path.normcase(os.path.splitext(versioneer_py)[0]) + if me_dir != vsr_dir: + print("Warning: build in %s is using versioneer.py from %s" + % (os.path.dirname(me), versioneer_py)) + except NameError: + pass + return root + + +def get_config_from_root(root): + """Read the project setup.cfg file to determine Versioneer config.""" + # This might raise EnvironmentError (if setup.cfg is missing), or + # configparser.NoSectionError (if it lacks a [versioneer] section), or + # configparser.NoOptionError (if it lacks "VCS="). See the docstring at + # the top of versioneer.py for instructions on writing your setup.cfg . + setup_cfg = os.path.join(root, "setup.cfg") + parser = configparser.SafeConfigParser() + with open(setup_cfg, "r") as f: + parser.readfp(f) + VCS = parser.get("versioneer", "VCS") # mandatory + + def get(parser, name): + if parser.has_option("versioneer", name): + return parser.get("versioneer", name) + return None + cfg = VersioneerConfig() + cfg.VCS = VCS + cfg.style = get(parser, "style") or "" + cfg.versionfile_source = get(parser, "versionfile_source") + cfg.versionfile_build = get(parser, "versionfile_build") + cfg.tag_prefix = get(parser, "tag_prefix") + if cfg.tag_prefix in ("''", '""'): + cfg.tag_prefix = "" + cfg.parentdir_prefix = get(parser, "parentdir_prefix") + cfg.verbose = get(parser, "verbose") + return cfg + + +class NotThisMethod(Exception): + """Exception raised if a method is not valid for the current scenario.""" + + +# these dictionaries contain VCS-specific tools +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 + + +LONG_VERSION_PY['git'] = ''' +# 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 = "%(DOLLAR)sFormat:%%d%(DOLLAR)s" + git_full = "%(DOLLAR)sFormat:%%H%(DOLLAR)s" + git_date = "%(DOLLAR)sFormat:%%ci%(DOLLAR)s" + 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 = "%(STYLE)s" + cfg.tag_prefix = "%(TAG_PREFIX)s" + cfg.parentdir_prefix = "%(PARENTDIR_PREFIX)s" + cfg.versionfile_source = "%(VERSIONFILE_SOURCE)s" + 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} +''' + + +@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 do_vcs_install(manifest_in, versionfile_source, ipy): + """Git-specific installation logic for Versioneer. + + For Git, this means creating/changing .gitattributes to mark _version.py + for export-subst keyword substitution. + """ + GITS = ["git"] + if sys.platform == "win32": + GITS = ["git.cmd", "git.exe"] + files = [manifest_in, versionfile_source] + if ipy: + files.append(ipy) + try: + me = __file__ + if me.endswith(".pyc") or me.endswith(".pyo"): + me = os.path.splitext(me)[0] + ".py" + versioneer_file = os.path.relpath(me) + except NameError: + versioneer_file = "versioneer.py" + files.append(versioneer_file) + present = False + try: + f = open(".gitattributes", "r") + for line in f.readlines(): + if line.strip().startswith(versionfile_source): + if "export-subst" in line.strip().split()[1:]: + present = True + f.close() + except EnvironmentError: + pass + if not present: + f = open(".gitattributes", "a+") + f.write("%s export-subst\n" % versionfile_source) + f.close() + files.append(".gitattributes") + run_command(GITS, ["add", "--"] + files) + + +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") + + +SHORT_VERSION_PY = """ +# This file was generated by 'versioneer.py' (0.18) from +# revision-control system data, or from the parent directory name of an +# unpacked source archive. Distribution tarballs contain a pre-generated copy +# of this file. + +import json + +version_json = ''' +%s +''' # END VERSION_JSON + + +def get_versions(): + return json.loads(version_json) +""" + + +def versions_from_file(filename): + """Try to determine the version from _version.py if present.""" + try: + with open(filename) as f: + contents = f.read() + except EnvironmentError: + raise NotThisMethod("unable to read _version.py") + mo = re.search(r"version_json = '''\n(.*)''' # END VERSION_JSON", + contents, re.M | re.S) + if not mo: + mo = re.search(r"version_json = '''\r\n(.*)''' # END VERSION_JSON", + contents, re.M | re.S) + if not mo: + raise NotThisMethod("no version_json in _version.py") + return json.loads(mo.group(1)) + + +def write_to_version_file(filename, versions): + """Write the given version number to the given _version.py file.""" + os.unlink(filename) + contents = json.dumps(versions, sort_keys=True, + indent=1, separators=(",", ": ")) + with open(filename, "w") as f: + f.write(SHORT_VERSION_PY % contents) + + print("set %s to '%s'" % (filename, versions["version"])) + + +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")} + + +class VersioneerBadRootError(Exception): + """The project root directory is unknown or missing key files.""" + + +def get_versions(verbose=False): + """Get the project version from whatever source is available. + + Returns dict with two keys: 'version' and 'full'. + """ + if "versioneer" in sys.modules: + # see the discussion in cmdclass.py:get_cmdclass() + del sys.modules["versioneer"] + + root = get_root() + cfg = get_config_from_root(root) + + assert cfg.VCS is not None, "please set [versioneer]VCS= in setup.cfg" + handlers = HANDLERS.get(cfg.VCS) + assert handlers, "unrecognized VCS '%s'" % cfg.VCS + verbose = verbose or cfg.verbose + assert cfg.versionfile_source is not None, \ + "please set versioneer.versionfile_source" + assert cfg.tag_prefix is not None, "please set versioneer.tag_prefix" + + versionfile_abs = os.path.join(root, cfg.versionfile_source) + + # extract version from first of: _version.py, VCS command (e.g. 'git + # describe'), parentdir. This is meant to work for developers using a + # source checkout, for users of a tarball created by 'setup.py sdist', + # and for users of a tarball/zipball created by 'git archive' or github's + # download-from-tag feature or the equivalent in other VCSes. + + get_keywords_f = handlers.get("get_keywords") + from_keywords_f = handlers.get("keywords") + if get_keywords_f and from_keywords_f: + try: + keywords = get_keywords_f(versionfile_abs) + ver = from_keywords_f(keywords, cfg.tag_prefix, verbose) + if verbose: + print("got version from expanded keyword %s" % ver) + return ver + except NotThisMethod: + pass + + try: + ver = versions_from_file(versionfile_abs) + if verbose: + print("got version from file %s %s" % (versionfile_abs, ver)) + return ver + except NotThisMethod: + pass + + from_vcs_f = handlers.get("pieces_from_vcs") + if from_vcs_f: + try: + pieces = from_vcs_f(cfg.tag_prefix, root, verbose) + ver = render(pieces, cfg.style) + if verbose: + print("got version from VCS %s" % ver) + return ver + except NotThisMethod: + pass + + try: + if cfg.parentdir_prefix: + ver = versions_from_parentdir(cfg.parentdir_prefix, root, verbose) + if verbose: + print("got version from parentdir %s" % ver) + return ver + except NotThisMethod: + pass + + if verbose: + print("unable to compute version") + + return {"version": "0+unknown", "full-revisionid": None, + "dirty": None, "error": "unable to compute version", + "date": None} + + +def get_version(): + """Get the short version string for this project.""" + return get_versions()["version"] + + +def get_cmdclass(): + """Get the custom setuptools/distutils subclasses used by Versioneer.""" + if "versioneer" in sys.modules: + del sys.modules["versioneer"] + # this fixes the "python setup.py develop" case (also 'install' and + # 'easy_install .'), in which subdependencies of the main project are + # built (using setup.py bdist_egg) in the same python process. Assume + # a main project A and a dependency B, which use different versions + # of Versioneer. A's setup.py imports A's Versioneer, leaving it in + # sys.modules by the time B's setup.py is executed, causing B to run + # with the wrong versioneer. Setuptools wraps the sub-dep builds in a + # sandbox that restores sys.modules to it's pre-build state, so the + # parent is protected against the child's "import versioneer". By + # removing ourselves from sys.modules here, before the child build + # happens, we protect the child from the parent's versioneer too. + # Also see https://github.com/warner/python-versioneer/issues/52 + + cmds = {} + + # we add "version" to both distutils and setuptools + from distutils.core import Command + + class cmd_version(Command): + description = "report generated version string" + user_options = [] + boolean_options = [] + + def initialize_options(self): + pass + + def finalize_options(self): + pass + + def run(self): + vers = get_versions(verbose=True) + print("Version: %s" % vers["version"]) + print(" full-revisionid: %s" % vers.get("full-revisionid")) + print(" dirty: %s" % vers.get("dirty")) + print(" date: %s" % vers.get("date")) + if vers["error"]: + print(" error: %s" % vers["error"]) + cmds["version"] = cmd_version + + # we override "build_py" in both distutils and setuptools + # + # most invocation pathways end up running build_py: + # distutils/build -> build_py + # distutils/install -> distutils/build ->.. + # setuptools/bdist_wheel -> distutils/install ->.. + # setuptools/bdist_egg -> distutils/install_lib -> build_py + # setuptools/install -> bdist_egg ->.. + # setuptools/develop -> ? + # pip install: + # copies source tree to a tempdir before running egg_info/etc + # if .git isn't copied too, 'git describe' will fail + # then does setup.py bdist_wheel, or sometimes setup.py install + # setup.py egg_info -> ? + + # we override different "build_py" commands for both environments + if "setuptools" in sys.modules: + from setuptools.command.build_py import build_py as _build_py + else: + from distutils.command.build_py import build_py as _build_py + + class cmd_build_py(_build_py): + def run(self): + root = get_root() + cfg = get_config_from_root(root) + versions = get_versions() + _build_py.run(self) + # now locate _version.py in the new build/ directory and replace + # it with an updated value + if cfg.versionfile_build: + target_versionfile = os.path.join(self.build_lib, + cfg.versionfile_build) + print("UPDATING %s" % target_versionfile) + write_to_version_file(target_versionfile, versions) + cmds["build_py"] = cmd_build_py + + if "cx_Freeze" in sys.modules: # cx_freeze enabled? + from cx_Freeze.dist import build_exe as _build_exe + # nczeczulin reports that py2exe won't like the pep440-style string + # as FILEVERSION, but it can be used for PRODUCTVERSION, e.g. + # setup(console=[{ + # "version": versioneer.get_version().split("+", 1)[0], # FILEVERSION + # "product_version": versioneer.get_version(), + # ... + + class cmd_build_exe(_build_exe): + def run(self): + root = get_root() + cfg = get_config_from_root(root) + versions = get_versions() + target_versionfile = cfg.versionfile_source + print("UPDATING %s" % target_versionfile) + write_to_version_file(target_versionfile, versions) + + _build_exe.run(self) + os.unlink(target_versionfile) + with open(cfg.versionfile_source, "w") as f: + LONG = LONG_VERSION_PY[cfg.VCS] + f.write(LONG % + {"DOLLAR": "$", + "STYLE": cfg.style, + "TAG_PREFIX": cfg.tag_prefix, + "PARENTDIR_PREFIX": cfg.parentdir_prefix, + "VERSIONFILE_SOURCE": cfg.versionfile_source, + }) + cmds["build_exe"] = cmd_build_exe + del cmds["build_py"] + + if 'py2exe' in sys.modules: # py2exe enabled? + try: + from py2exe.distutils_buildexe import py2exe as _py2exe # py3 + except ImportError: + from py2exe.build_exe import py2exe as _py2exe # py2 + + class cmd_py2exe(_py2exe): + def run(self): + root = get_root() + cfg = get_config_from_root(root) + versions = get_versions() + target_versionfile = cfg.versionfile_source + print("UPDATING %s" % target_versionfile) + write_to_version_file(target_versionfile, versions) + + _py2exe.run(self) + os.unlink(target_versionfile) + with open(cfg.versionfile_source, "w") as f: + LONG = LONG_VERSION_PY[cfg.VCS] + f.write(LONG % + {"DOLLAR": "$", + "STYLE": cfg.style, + "TAG_PREFIX": cfg.tag_prefix, + "PARENTDIR_PREFIX": cfg.parentdir_prefix, + "VERSIONFILE_SOURCE": cfg.versionfile_source, + }) + cmds["py2exe"] = cmd_py2exe + + # we override different "sdist" commands for both environments + if "setuptools" in sys.modules: + from setuptools.command.sdist import sdist as _sdist + else: + from distutils.command.sdist import sdist as _sdist + + class cmd_sdist(_sdist): + def run(self): + versions = get_versions() + self._versioneer_generated_versions = versions + # unless we update this, the command will keep using the old + # version + self.distribution.metadata.version = versions["version"] + return _sdist.run(self) + + def make_release_tree(self, base_dir, files): + root = get_root() + cfg = get_config_from_root(root) + _sdist.make_release_tree(self, base_dir, files) + # now locate _version.py in the new base_dir directory + # (remembering that it may be a hardlink) and replace it with an + # updated value + target_versionfile = os.path.join(base_dir, cfg.versionfile_source) + print("UPDATING %s" % target_versionfile) + write_to_version_file(target_versionfile, + self._versioneer_generated_versions) + cmds["sdist"] = cmd_sdist + + return cmds + + +CONFIG_ERROR = """ +setup.cfg is missing the necessary Versioneer configuration. You need +a section like: + + [versioneer] + VCS = git + style = pep440 + versionfile_source = src/myproject/_version.py + versionfile_build = myproject/_version.py + tag_prefix = + parentdir_prefix = myproject- + +You will also need to edit your setup.py to use the results: + + import versioneer + setup(version=versioneer.get_version(), + cmdclass=versioneer.get_cmdclass(), ...) + +Please read the docstring in ./versioneer.py for configuration instructions, +edit setup.cfg, and re-run the installer or 'python versioneer.py setup'. +""" + +SAMPLE_CONFIG = """ +# 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 = +#versionfile_build = +#tag_prefix = +#parentdir_prefix = + +""" + +INIT_PY_SNIPPET = """ +from ._version import get_versions +__version__ = get_versions()['version'] +del get_versions +""" + + +def do_setup(): + """Main VCS-independent setup function for installing Versioneer.""" + root = get_root() + try: + cfg = get_config_from_root(root) + except (EnvironmentError, configparser.NoSectionError, + configparser.NoOptionError) as e: + if isinstance(e, (EnvironmentError, configparser.NoSectionError)): + print("Adding sample versioneer config to setup.cfg", + file=sys.stderr) + with open(os.path.join(root, "setup.cfg"), "a") as f: + f.write(SAMPLE_CONFIG) + print(CONFIG_ERROR, file=sys.stderr) + return 1 + + print(" creating %s" % cfg.versionfile_source) + with open(cfg.versionfile_source, "w") as f: + LONG = LONG_VERSION_PY[cfg.VCS] + f.write(LONG % {"DOLLAR": "$", + "STYLE": cfg.style, + "TAG_PREFIX": cfg.tag_prefix, + "PARENTDIR_PREFIX": cfg.parentdir_prefix, + "VERSIONFILE_SOURCE": cfg.versionfile_source, + }) + + ipy = os.path.join(os.path.dirname(cfg.versionfile_source), + "__init__.py") + if os.path.exists(ipy): + try: + with open(ipy, "r") as f: + old = f.read() + except EnvironmentError: + old = "" + if INIT_PY_SNIPPET not in old: + print(" appending to %s" % ipy) + with open(ipy, "a") as f: + f.write(INIT_PY_SNIPPET) + else: + print(" %s unmodified" % ipy) + else: + print(" %s doesn't exist, ok" % ipy) + ipy = None + + # Make sure both the top-level "versioneer.py" and versionfile_source + # (PKG/_version.py, used by runtime code) are in MANIFEST.in, so + # they'll be copied into source distributions. Pip won't be able to + # install the package without this. + manifest_in = os.path.join(root, "MANIFEST.in") + simple_includes = set() + try: + with open(manifest_in, "r") as f: + for line in f: + if line.startswith("include "): + for include in line.split()[1:]: + simple_includes.add(include) + except EnvironmentError: + pass + # That doesn't cover everything MANIFEST.in can do + # (http://docs.python.org/2/distutils/sourcedist.html#commands), so + # it might give some false negatives. Appending redundant 'include' + # lines is safe, though. + if "versioneer.py" not in simple_includes: + print(" appending 'versioneer.py' to MANIFEST.in") + with open(manifest_in, "a") as f: + f.write("include versioneer.py\n") + else: + print(" 'versioneer.py' already in MANIFEST.in") + if cfg.versionfile_source not in simple_includes: + print(" appending versionfile_source ('%s') to MANIFEST.in" % + cfg.versionfile_source) + with open(manifest_in, "a") as f: + f.write("include %s\n" % cfg.versionfile_source) + else: + print(" versionfile_source already in MANIFEST.in") + + # Make VCS-specific changes. For git, this means creating/changing + # .gitattributes to mark _version.py for export-subst keyword + # substitution. + do_vcs_install(manifest_in, cfg.versionfile_source, ipy) + return 0 + + +def scan_setup_py(): + """Validate the contents of setup.py against Versioneer's expectations.""" + found = set() + setters = False + errors = 0 + with open("setup.py", "r") as f: + for line in f.readlines(): + if "import versioneer" in line: + found.add("import") + if "versioneer.get_cmdclass()" in line: + found.add("cmdclass") + if "versioneer.get_version()" in line: + found.add("get_version") + if "versioneer.VCS" in line: + setters = True + if "versioneer.versionfile_source" in line: + setters = True + if len(found) != 3: + print("") + print("Your setup.py appears to be missing some important items") + print("(but I might be wrong). Please make sure it has something") + print("roughly like the following:") + print("") + print(" import versioneer") + print(" setup( version=versioneer.get_version(),") + print(" cmdclass=versioneer.get_cmdclass(), ...)") + print("") + errors += 1 + if setters: + print("You should remove lines like 'versioneer.VCS = ' and") + print("'versioneer.versionfile_source = ' . This configuration") + print("now lives in setup.cfg, and should be removed from setup.py") + print("") + errors += 1 + return errors + + +if __name__ == "__main__": + cmd = sys.argv[1] + if cmd == "setup": + errors = do_setup() + errors += scan_setup_py() + if errors: + sys.exit(1) From 237addb39c1d57d5f1e8dc5ade03e81df240ff74 Mon Sep 17 00:00:00 2001 From: David Lechner Date: Tue, 15 Jan 2019 21:21:05 -0600 Subject: [PATCH 26/62] fake-pybricks/setup.py: update python_requires to PEP 440 Use the PEP 440 depenency format. The `>` character was breaking the package manager on jfrog. Picked 3.4 since that is what micropython is based on. --- setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup.py b/setup.py index 3a31829..ad92834 100644 --- a/setup.py +++ b/setup.py @@ -31,6 +31,6 @@ setup( 'Programming Language :: Python :: 3', ], keywords='lego mindstorms ev3', - python_requires='>=3', + python_requires='~=3.4', packages=['pybricks'], ) From daa213b00350da7da2d3dfc82e99efad2f626cc6 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Fri, 18 Jan 2019 17:19:19 +0100 Subject: [PATCH 27/62] doc: drop features that won't be implemented for first release Combined with previous comments, this closes #91 --- pybricks/_speaker.py | 13 ------------- pybricks/ev3brick.py | 2 +- pybricks/ev3devices.py | 41 ----------------------------------------- pybricks/parameters.py | 26 ++------------------------ 4 files changed, 3 insertions(+), 79 deletions(-) diff --git a/pybricks/_speaker.py b/pybricks/_speaker.py index 9184b49..241fcdd 100644 --- a/pybricks/_speaker.py +++ b/pybricks/_speaker.py @@ -56,16 +56,3 @@ class Speaker(): """ pass - - def speak(self, text, volume=30): - """Speak a given string of text. - - Arguments: - text (str): The text to speak. - volume (:ref:`percentage`): Volume of the sound (*Default*: 100). - :: - - # Say "Hi!" - brick.sound.speak('Hi!') - """ - pass diff --git a/pybricks/ev3brick.py b/pybricks/ev3brick.py index 85e4f78..d188be9 100644 --- a/pybricks/ev3brick.py +++ b/pybricks/ev3brick.py @@ -1,6 +1,6 @@ """LEGO MINDSTORMS EV3 Brick""" -from parameters import Color, Pattern +from parameters import Color from _speaker import Speaker from _display import Display diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 03ec043..c723789 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -85,31 +85,6 @@ class Motor(): """ pass - def reference(self): - """Get the reference angle and reference speed of the motor. - - Returns: - Tuple of motor angle and speed reference at the current time. - :rtype: (:ref:`angle`, :ref:`speed`) or (``None``, ``None``) if no maneuver is active. - - """ - pass - - def maneuver(self): - """ - Get the time, angle, velocity, and acceleration parameters of the currently active motor maneuver. - See :ref:`maneuvers` for a description of each symbol. - - Returns: - (:math:`t_0`, :math:`t_1`, :math:`t_2`, :math:`t_3`), - (:math:`\\theta_0`, :math:`\\theta_1`, :math:`\\theta_2`, :math:`\\theta_3`), - (:math:`\\omega_0`, :math:`\\omega_1`), - (:math:`\\alpha_0`, :math:`\\alpha_2`) - :rtype: Four tuples of :ref:`time`, :ref:`angle`, :ref:`speed`, and :ref:`acceleration` - - """ - pass - def stalled(self): """Check whether the motor is currently stalled. @@ -520,19 +495,3 @@ class UltrasonicSensor(): :obj:`bool`: ``True`` if ultrasonic sounds are detected, ``False`` if not. """ pass - - def send(self, number): - """Transmit an encoded number using ultrasonic waves. - - The number is converted to a binary sequence, which is transmitted by turning the sensor on and off. The message always starts with one pulse as the start of the message, followed by 8 "bits" where the sensor is either on or off during a short interval. - - Arguments: - number (int): The number to transmit (0-255) - """ - - def receive(self): - """Wait for a message from another ultrasonic sensor and convert it to a number. - - Returns: - :obj:`int`: The received number (0-255) - """ diff --git a/pybricks/parameters.py b/pybricks/parameters.py index f468ccd..51b936e 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -149,8 +149,8 @@ class Direction(): """ - clockwise = 1 - counterclockwise = -1 + clockwise = 0 + counterclockwise = 1 class Button(Enum): @@ -194,28 +194,6 @@ class Button(Enum): right_up = 9 -class Pattern(): - """Standard light patterns.""" - - solid = [(100, 1000)] - """The light stays on.""" - - blink1 = [(100, 500), (0, 500)] - """The light blinks once per second: It stays on for 500 ms and then stays off for 500 ms.""" - - blink2 = [(100, 250), (0, 250)] - """The light blinks twice per second: It stays on for 250 ms and then stays off for 250 ms.""" - - blink3 = [(100, 167), (0, 167)] - """The light blinks three times per second: It stays on for 167 ms and then stays off for 167 ms.""" - - glow = [] # TODO - """The light gradually turns on and then off again, as if glowing. (TODO)""" - - ev3 = [(100, 100), (0, 100), (100, 100), (0, 700)] # TODO: Get the true values - """The default pattern of a running EV3-G program.""" - - class Align(): """Alignment of an image on a screen. TODO: use same logic as buttons?? From 59be0dab180450f7a096928f16a6c1d41a03f406 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Mon, 21 Jan 2019 18:32:02 +0100 Subject: [PATCH 28/62] doc: remove todo note --- pybricks/parameters.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pybricks/parameters.py b/pybricks/parameters.py index 51b936e..45316f8 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -195,7 +195,7 @@ class Button(Enum): class Align(): - """Alignment of an image on a screen. TODO: use same logic as buttons?? + """Alignment of an image on a screen. .. data:: center """ From c83e7d3a7d9176cb01d7132a0231bf586465c24c Mon Sep 17 00:00:00 2001 From: David Lechner Date: Mon, 21 Jan 2019 22:20:13 -0600 Subject: [PATCH 29/62] doc: make all the examples say "Example:" --- pybricks/_display.py | 4 ++-- pybricks/_speaker.py | 7 ++++--- pybricks/ev3brick.py | 4 ++-- pybricks/ev3devices.py | 8 ++++---- pybricks/tools.py | 2 +- 5 files changed, 13 insertions(+), 12 deletions(-) diff --git a/pybricks/_display.py b/pybricks/_display.py index 5475dfc..2f5407f 100644 --- a/pybricks/_display.py +++ b/pybricks/_display.py @@ -22,7 +22,7 @@ class Display(): text (str): The text to display. coordinate (tuple): ``(x, y)`` coordinate tuple. It is the top-left corner of the first character. If no location is specified, it is printed on the next line. - :: + Example:: # Clear the display brick.display.clear() @@ -52,7 +52,7 @@ class Display(): 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 showing two eyes looking upward brick.display.image(Image.up) diff --git a/pybricks/_speaker.py b/pybricks/_speaker.py index 241fcdd..9827401 100644 --- a/pybricks/_speaker.py +++ b/pybricks/_speaker.py @@ -15,7 +15,8 @@ class Speaker(): 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() @@ -31,7 +32,7 @@ class Speaker(): Arguments: number (int): Number of beeps - :: + Example:: # Make 5 simple beeps brick.sound.beeps(5) @@ -45,7 +46,7 @@ class Speaker(): 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(Sound.hello) diff --git a/pybricks/ev3brick.py b/pybricks/ev3brick.py index d188be9..545fbc1 100644 --- a/pybricks/ev3brick.py +++ b/pybricks/ev3brick.py @@ -10,7 +10,7 @@ def buttons(): :returns: List of pressed buttons. :rtype: List of :class:`Button ` - :: + Example:: if Button.left in brick.buttons(): print("The left button is pressed.") @@ -25,7 +25,7 @@ def light(color): 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) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index c723789..d2911b2 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -33,7 +33,7 @@ class Motor(): 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) @@ -53,7 +53,7 @@ class Motor(): duty (:ref:`percentage`): The duty cycle (-100.0 to 100). limit (:ref:`percentage`): Limit on the maximum ``duty`` value. (*Default*: 100). This overrides the first argument when it exceeds the limit. This ensures that ``abs(duty)`` <``limit``. This is useful when you use your own formula to set the duty cycle, because provides a limit when your formula gives a very big number. For example, you could use this to prevent your LEGO train from unintentionally going at full speed. - :: + Example:: # Set the motor duty cycle to 75%. example_motor.duty(75) @@ -199,7 +199,7 @@ class Motor(): Arguments: target_angle (:ref:`angle`): Target angle that the motor should go to. - :: + Example:: # Initialize motor and timer from math import sin @@ -231,7 +231,7 @@ class Motor(): 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 set the acceleration to 400 deg/s/s. example_motor.set_run_settings(200, 400) diff --git a/pybricks/tools.py b/pybricks/tools.py index 1e90979..bab223a 100644 --- a/pybricks/tools.py +++ b/pybricks/tools.py @@ -6,7 +6,7 @@ def print(): Prints the values to the terminal or a stream. - :: + Example:: # Print some text print("Hello, world") From b1edd667e51f3f3f95d530f4094b6edee2618ab0 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Wed, 23 Jan 2019 21:11:51 +0100 Subject: [PATCH 30/62] modmotor: respect previously specified stall limits --- pybricks/ev3devices.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index c723789..c12992e 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -171,14 +171,14 @@ class Motor(): """ pass - def run_until_stalled(self, speed, stop_type=Stop.coast, duty_limit=100, stall_speed=5, stall_time=200): - """run_until_stalled(self, speed, stop_type=Stop.coast, duty_limit=100, stall_speed=5, stall_time=200) + def run_until_stalled(self, speed, stop_type=Stop.coast, duty_limit=None, stall_speed=None, stall_time=None): + """run_until_stalled(self, speed, stop_type=Stop.coast, duty_limit=default, stall_speed=default, stall_time=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. 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``. These settings lets you adjust how soon the motor should be considered to be stalled. - These settings are exactly the same as :func:`.set_stall_settings`, but in this function they are only applied temporarily. For example, you can choose ``duty_limit=50`` to limit the motor torque during this maneuver, but it returns to its original value aftwards. + These optional settings are exactly the same as :func:`.set_stall_settings`, but in this method they are only applied temporarily. For example, you can choose ``duty_limit=50`` to limit the motor torque during this maneuver, but it returns to its previous value aftwards. Arguments: speed (:ref:`speed`): Speed of the motor. From cec568c45421f8bbdb3b164ba4f056568324e12c Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Thu, 24 Jan 2019 15:52:00 +0100 Subject: [PATCH 31/62] doc: copyediting --- pybricks/_display.py | 8 ++-- pybricks/_speaker.py | 2 +- pybricks/ev3brick.py | 2 +- pybricks/ev3devices.py | 88 +++++++++++++++++++++--------------------- pybricks/parameters.py | 4 +- pybricks/tools.py | 5 ++- 6 files changed, 55 insertions(+), 54 deletions(-) diff --git a/pybricks/_display.py b/pybricks/_display.py index 2f5407f..8886bd4 100644 --- a/pybricks/_display.py +++ b/pybricks/_display.py @@ -20,7 +20,7 @@ class Display(): 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 location is specified, it is printed on the next line. + 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:: @@ -44,13 +44,13 @@ class Display(): Show an image file. - You can specify its placement either using ``alignment`` or by specifying an ``coordinate``, but not both. + 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). + 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``) + clear (bool): Whether to clear the screen before showing the image (*Default*: ``True``). Example:: diff --git a/pybricks/_speaker.py b/pybricks/_speaker.py index 9827401..c02482b 100644 --- a/pybricks/_speaker.py +++ b/pybricks/_speaker.py @@ -30,7 +30,7 @@ class Speaker(): """Play a number of default beeps with a brief pause in between. Arguments: - number (int): Number of beeps + number (int): Number of beeps. Example:: diff --git a/pybricks/ev3brick.py b/pybricks/ev3brick.py index 545fbc1..ddf515c 100644 --- a/pybricks/ev3brick.py +++ b/pybricks/ev3brick.py @@ -5,7 +5,7 @@ from _speaker import Speaker from _display import Display def buttons(): - """Check which buttons of the EV3 brick are currently pressed. + """Check which buttons on the EV3 brick are currently pressed. :returns: List of pressed buttons. :rtype: List of :class:`Button ` diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index ea920a3..5bb0845 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -4,22 +4,22 @@ from parameters import Stop, Direction class Motor(): - """LEGO MINDSTORMS EV3 Medium or Large Motor. + """LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` 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) - * 45502 or 45502: Separate part (2013) + * 31313: LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 (2013) + * 45544: LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` Education EV3 Core Set (2013) + * 45503 or 45502: Separate part (2013) """ 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``). + 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. @@ -27,9 +27,9 @@ class Motor(): 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 by 90 degrees. + 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 says "motor angle" or "motor speed", you can read it as "mechanism output angle" and "mechanism output speed", and so on, because the gear ratio is automatically accounted for. + 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. @@ -51,7 +51,7 @@ class Motor(): Arguments: duty (:ref:`percentage`): The duty cycle (-100.0 to 100). - limit (:ref:`percentage`): Limit on the maximum ``duty`` value. (*Default*: 100). This overrides the first argument when it exceeds the limit. This ensures that ``abs(duty)`` <``limit``. This is useful when you use your own formula to set the duty cycle, because provides a limit when your formula gives a very big number. For example, you could use this to prevent your LEGO train from unintentionally going at full speed. + limit (:ref:`percentage`): Limit on the maximum ``duty`` value (*Default*: 100). This overrides the first argument when it exceeds the limit. This ensures that ``abs(duty)`` <``limit`` and is useful when you use your own formula to set the duty cycle, as it provides a limit when your formula returns a very large number. For example, you could use this to prevent your LEGO\ :sup:`®` train from unintentionally going at full speed. Example:: @@ -88,7 +88,7 @@ class Motor(): def stalled(self): """Check whether the motor is currently stalled. - When a motor is stalled, this means that it cannot move even with the maximum torque. For example, something might be blocking the motor or your mechanism simply cannot turn any further. See also :func:`.set_stall_settings`. + A motor is stalled when it cannot move even with the maximum torque. For example, something might be blocking the motor or your mechanism simply cannot turn any further. See also :func:`.set_stall_settings`. Returns: bool: ``True`` if the motor is stalled, ``False`` if it is not. @@ -115,9 +115,9 @@ class Motor(): pass def run(self, speed): - """Keep the motor runnning at a constant speed (angular velocity). + """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 until the program stops. + 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. @@ -134,7 +134,7 @@ class Motor(): 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 standstill (*Default*: :class:`Stop.coast `). + stop_type (Stop): Whether to coast, brake, or hold after coming to a standstill (*Default*: :class:`Stop.coast `). 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 @@ -144,12 +144,12 @@ class Motor(): 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 standstill after traversing the 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 standstill (*Default*: :class:`Stop.coast `). + stop_type (Stop): Whether to coast, brake, or hold after coming to a standstill (*Default*: :class:`Stop.coast `). 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 @@ -159,14 +159,14 @@ class Motor(): 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 standstill at the 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 go to, regardless of its current angle. - stop_type (Stop): Whether to coast, brake, or hold after coming to standstill (*Default*: :class:`Stop.coast `). + 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 `). 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 @@ -176,13 +176,13 @@ class Motor(): 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. - 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``. These settings lets you adjust how soon the motor should be considered to be stalled. + Specifically, the motor is stalled when the duty cycle computed by the PID controllers has reached the maximum (so ``duty`` = ``duty_limit``) and the motor still cannot reach a minimal speed (so ``speed`` < ``stall_speed``) for a period of at least ``stall_time``. These settings let you adjust how soon the motor should be considered stalled. - These optional settings are exactly the same as :func:`.set_stall_settings`, but in this method they are only applied temporarily. For example, you can choose ``duty_limit=50`` to limit the motor torque during this maneuver, but it returns to its previous value aftwards. + These optional settings are identical to :func:`.set_stall_settings`, but in this method they are only applied temporarily. For example, you can choose ``duty_limit=50`` to limit the motor torque during this maneuver, but have it return to its previous value afterwards. Arguments: speed (:ref:`speed`): Speed of the motor. - stop_type (Stop): Whether to coast, brake, or hold after coming to standstill (*Default*: :class:`Stop.coast `). + stop_type (Stop): Whether to coast, brake, or hold after coming to a standstill (*Default*: :class:`Stop.coast `). duty_limit (:ref:`percentage`): Relative torque limit during subsequent ``run`` commands. This sets the maximum :ref:`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. stall_speed (:ref:`speed`): If the motor moves slower than ``stall_speed`` for ``stall_time`` during any of the ``run`` commands, the motor is considered to be stalled. stall_time (:ref:`time`): As above: see ``stall_speed``. @@ -192,12 +192,12 @@ class Motor(): def track_target(self, target_angle): """Track a target angle that varies in time. - This function is quite similar to :func:`.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 how slowly you vary the ``target_angle``. + This function is quite similar to :func:`.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 continously changes. + This method is useful in fast loops where the motor target changes continously. Arguments: - target_angle (:ref:`angle`): Target angle that the motor should go to. + target_angle (:ref:`angle`): Target angle that the motor should rotate to. Example:: @@ -246,10 +246,10 @@ class Motor(): """Configure the settings of the position and speed controllers. See also :ref:`pid` and the :ref:`default parameters ` for each motor. Arguments: - kp (int): Proportional position (and integral speed) control constant + 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`` command 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: it will 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. + 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. """ @@ -271,12 +271,12 @@ class Motor(): class TouchSensor(): - """LEGO MINDSTORMS EV3 Touch Sensor. + """LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 Touch Sensor. Element 95648/6138404, contained in: - * 31313: LEGO MINDSTORMS EV3 (2013) - * 45544: LEGO MINDSTORMS Education EV3 Core Set (2013) + * 31313: LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 (2013) + * 45544: LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` Education EV3 Core Set (2013) * 45507: Separate part (2013) """ @@ -300,12 +300,12 @@ class TouchSensor(): class ColorSensor(): - """LEGO MINDSTORMS EV3 Color Sensor. + """LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 Color Sensor. Element 95650/6128869, contained in: - * 31313: LEGO MINDSTORMS EV3 (2013) - * 45544: LEGO MINDSTORMS Education EV3 Core Set (2013) + * 31313: LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 (2013) + * 45544: LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` Education EV3 Core Set (2013) * 45506: Separate part (2013) """ @@ -336,7 +336,7 @@ class ColorSensor(): pass def reflection(self): - """Measure the reflection of a surface to using a red light. + """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). @@ -355,11 +355,11 @@ class ColorSensor(): class InfraredSensor(): - """LEGO MINDSTORMS EV3 Infrared Sensor and Beacon. + """LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 Infrared Sensor and Beacon. Element 95654/6132629 and 72156/6127283, contained in: - * 31313: LEGO MINDSTORMS EV3 (2013) + * 31313: LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 (2013) * 45509 and 45508: Separate parts (2013) """ @@ -385,7 +385,7 @@ class InfraredSensor(): """Measure the relative distance and angle between the remote and the infrared sensor. Arguments: - channel (int): Channel number of the remote + 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. @@ -393,10 +393,10 @@ class InfraredSensor(): pass def buttons(self, channel): - """Check which buttons of the infrared remote are pressed. + """Check which buttons on the infrared remote are pressed. Arguments: - channel (int): Channel number of the remote + channel (int): Channel number of the remote. :returns: List of pressed buttons on the remote on the specified channel. :rtype: List of :class:`Button ` @@ -406,11 +406,11 @@ class InfraredSensor(): class GyroSensor(): - """LEGO MINDSTORMS EV3 Gyro Sensor. + """LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 Gyro Sensor. Element 99380/6138411, contained in: - * 45544: LEGO MINDSTORMS Education EV3 Core Set (2013) + * 45544: LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` Education EV3 Core Set (2013) * 45505: Separate part (2013) """ @@ -450,11 +450,11 @@ class GyroSensor(): class UltrasonicSensor(): - """LEGO MINDSTORMS EV3 Ultrasonic Sensor. + """LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 Ultrasonic Sensor. Element 95652/6138403, contained in: - * 45544: LEGO MINDSTORMS Education EV3 Core Set (2013) + * 45544: LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` Education EV3 Core Set (2013) * 45504: Separate part (2013) """ @@ -489,7 +489,7 @@ class UltrasonicSensor(): def presence(self): """Check for the presence of other ultrasonic sensors by detecting ultrasonic sounds. - If the other ultrasonic sensor operates in silent mode, you can only detect the presence of that sensor while it is taking a measurement. + 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. diff --git a/pybricks/parameters.py b/pybricks/parameters.py index 45316f8..51fc3c9 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -29,7 +29,7 @@ class Color(Enum): class Port(Enum): - """Port on the intelligent brick. + """Port on the EV3 Programmable Brick. Motor ports: @@ -195,7 +195,7 @@ class Button(Enum): class Align(): - """Alignment of an image on a screen. + """Alignment of an image on the display. .. data:: center """ diff --git a/pybricks/tools.py b/pybricks/tools.py index bab223a..1913d09 100644 --- a/pybricks/tools.py +++ b/pybricks/tools.py @@ -1,10 +1,10 @@ -"""Common tools for timing and debugging.""" +"""Common tools for timing and datalogging.""" def print(): """print(value, ..., sep, end, file, flush) - Prints the values to the terminal or a stream. + Print values on the terminal or a stream. Example:: @@ -27,6 +27,7 @@ def wait(time): """ pass + class StopWatch(): """A stopwatch to measure time intervals. Similar to the stopwatch feature on your phone.""" From eae359ee429bcb1ace554bfad1c45debd652f490 Mon Sep 17 00:00:00 2001 From: David Lechner Date: Thu, 24 Jan 2019 16:10:11 -0600 Subject: [PATCH 32/62] doc: fix module index some modules were missing because of missing automodule directive --- pybricks/ev3brick.py | 2 +- pybricks/ev3devices.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/pybricks/ev3brick.py b/pybricks/ev3brick.py index ddf515c..fee430c 100644 --- a/pybricks/ev3brick.py +++ b/pybricks/ev3brick.py @@ -1,4 +1,4 @@ -"""LEGO MINDSTORMS EV3 Brick""" +"""LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 Brick.""" from parameters import Color from _speaker import Speaker diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 5bb0845..7497bd4 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -1,4 +1,4 @@ -"""EV3 motors and sensors.""" +"""LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 motors and sensors.""" from parameters import Stop, Direction From 79056f10929300c9a73d1711a0c3ed9f09cc27b4 Mon Sep 17 00:00:00 2001 From: David Lechner Date: Thu, 24 Jan 2019 16:16:17 -0600 Subject: [PATCH 33/62] fake-pybricks: fix comments in example too long for pdf docs in the pdf docs, the comment lines were too long and caused the line to be wrapped which doesn't make for easy reading --- pybricks/_display.py | 3 ++- pybricks/ev3devices.py | 8 +++++--- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/pybricks/_display.py b/pybricks/_display.py index 8886bd4..cfae8f8 100644 --- a/pybricks/_display.py +++ b/pybricks/_display.py @@ -60,7 +60,8 @@ class Display(): # Display a custom image from your project folder brick.display.image('pybricks.png') - # Display a custom image image at the top right of the screen, without clearing first + # Display a custom image image at the top right of the screen, without clearing + # the screen first brick.display.image('arrow.png', Align.top_right, clear=False) """ pass diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 7497bd4..5ce84dd 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -60,7 +60,8 @@ class Motor(): :: - # Use a computed duty cycle value, but ensure it stays within the range (-30, 30). + # Use a computed duty cycle value, but ensure it stays within the range + # (-30, 30). example_duty = (sensor.reflection() - 40) / 3 example_motor.duty(example_duty, 30) @@ -236,8 +237,9 @@ class Motor(): # Set the maximum speed to 200 deg/s and set the 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. + # 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 From b3f9ae659e04b2e8f1fad19473f6e70ecfe96f25 Mon Sep 17 00:00:00 2001 From: David Lechner Date: Thu, 24 Jan 2019 19:51:33 -0600 Subject: [PATCH 34/62] fake-pybricks: don't quote strings in setup.cfg this is an ini file, not a python file also run `python3 versioneer.py setup` to apply changes --- pybricks/_version.py | 4 ++-- setup.cfg | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/pybricks/_version.py b/pybricks/_version.py index 981ed11..dd4c25a 100644 --- a/pybricks/_version.py +++ b/pybricks/_version.py @@ -41,8 +41,8 @@ def get_config(): cfg = VersioneerConfig() cfg.VCS = "git" cfg.style = "pep440" - cfg.tag_prefix = "'v'" - cfg.parentdir_prefix = "'fake-pybricks-'" + cfg.tag_prefix = "v" + cfg.parentdir_prefix = "fake-pybricks-" cfg.versionfile_source = "pybricks/_version.py" cfg.verbose = False return cfg diff --git a/setup.cfg b/setup.cfg index e55fb9f..007d8e0 100644 --- a/setup.cfg +++ b/setup.cfg @@ -8,5 +8,5 @@ VCS = git style = pep440 versionfile_source = pybricks/_version.py versionfile_build = pybricks/_version.py -tag_prefix = 'v' -parentdir_prefix = 'fake-pybricks-' +tag_prefix = v +parentdir_prefix = fake-pybricks- From 5639d02daf5725d675b6b100886b1252959e2950 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Tue, 29 Jan 2019 11:00:30 +0100 Subject: [PATCH 35/62] doc: add image and sound file enums fixes #94 bricks/ev3dev: static sound and image file enums --- pybricks/parameters.py | 342 ++++++++++++++++++++++++++++++++++++++++- 1 file changed, 341 insertions(+), 1 deletion(-) diff --git a/pybricks/parameters.py b/pybricks/parameters.py index 51fc3c9..78ba150 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -197,7 +197,15 @@ class Button(Enum): 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 @@ -210,9 +218,341 @@ class Align(): top_right = 9 +class Sound(): + """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 + + """ + + _basepath = '/usr/share/sounds/ev3dev/' + shouting = _basepath + 'expressions/shouting.wav' + cheering = _basepath + 'expressions/cheering.wav' + crying = _basepath + 'expressions/crying.wav' + ouch = _basepath + 'expressions/ouch.wav' + laughing_2 = _basepath + 'expressions/laughing_2.wav' + sneezing = _basepath + 'expressions/sneezing.wav' + smack = _basepath + 'expressions/smack.wav' + boing = _basepath + 'expressions/boing.wav' + boo = _basepath + 'expressions/boo.wav' + uh_oh = _basepath + 'expressions/uh-oh.wav' + snoring = _basepath + 'expressions/snoring.wav' + kung_fu = _basepath + 'expressions/kung_fu.wav' + fanfare = _basepath + 'expressions/fanfare.wav' + crunching = _basepath + 'expressions/crunching.wav' + magic_wand = _basepath + 'expressions/magic_wand.wav' + laughing_1 = _basepath + 'expressions/laughing_1.wav' + left = _basepath + 'information/left.wav' + backwards = _basepath + 'information/backwards.wav' + right = _basepath + 'information/right.wav' + object = _basepath + 'information/object.wav' + color = _basepath + 'information/color.wav' + flashing = _basepath + 'information/flashing.wav' + error = _basepath + 'information/error.wav' + error_alarm = _basepath + 'information/error_alarm.wav' + down = _basepath + 'information/down.wav' + forward = _basepath + 'information/forward.wav' + activate = _basepath + 'information/activate.wav' + searching = _basepath + 'information/searching.wav' + touch = _basepath + 'information/touch.wav' + up = _basepath + 'information/up.wav' + analyze = _basepath + 'information/analyze.wav' + stop = _basepath + 'information/stop.wav' + detected = _basepath + 'information/detected.wav' + turn = _basepath + 'information/turn.wav' + start = _basepath + 'information/start.wav' + morning = _basepath + 'communication/morning.wav' + ev3 = _basepath + 'communication/ev3.wav' + go = _basepath + 'communication/go.wav' + good_job = _basepath + 'communication/good_job.wav' + okey_dokey = _basepath + 'communication/okey-dokey.wav' + good = _basepath + 'communication/good.wav' + no = _basepath + 'communication/no.wav' + thank_you = _basepath + 'communication/thank_you.wav' + yes = _basepath + 'communication/yes.wav' + game_over = _basepath + 'communication/game_over.wav' + okay = _basepath + 'communication/okay.wav' + sorry = _basepath + 'communication/sorry.wav' + bravo = _basepath + 'communication/bravo.wav' + goodbye = _basepath + 'communication/goodbye.wav' + hi = _basepath + 'communication/hi.wav' + hello = _basepath + 'communication/hello.wav' + mindstorms = _basepath + 'communication/mindstorms.wav' + lego = _basepath + 'communication/lego.wav' + fantastic = _basepath + 'communication/fantastic.wav' + speed_idle = _basepath + 'movements/speed_idle.wav' + speed_down = _basepath + 'movements/speed_down.wav' + speed_up = _basepath + 'movements/speed_up.wav' + brown = _basepath + 'colors/brown.wav' + green = _basepath + 'colors/green.wav' + black = _basepath + 'colors/black.wav' + white = _basepath + 'colors/white.wav' + red = _basepath + 'colors/red.wav' + blue = _basepath + 'colors/blue.wav' + yellow = _basepath + 'colors/yellow.wav' + tick_tack = _basepath + 'mechanical/tick_tack.wav' + horn_1 = _basepath + 'mechanical/horn_1.wav' + backing_alert = _basepath + 'mechanical/backing_alert.wav' + motor_idle = _basepath + 'mechanical/motor_idle.wav' + air_release = _basepath + 'mechanical/air_release.wav' + airbrake = _basepath + 'mechanical/airbrake.wav' + ratchet = _basepath + 'mechanical/ratchet.wav' + motor_stop = _basepath + 'mechanical/motor_stop.wav' + horn_2 = _basepath + 'mechanical/horn_2.wav' + laser = _basepath + 'mechanical/laser.wav' + sonar = _basepath + 'mechanical/sonar.wav' + motor_start = _basepath + 'mechanical/motor_start.wav' + insect_buzz_2 = _basepath + 'animals/insect_buzz_2.wav' + elephant_call = _basepath + 'animals/elephant_call.wav' + snake_hiss = _basepath + 'animals/snake_hiss.wav' + dog_bark_2 = _basepath + 'animals/dog_bark_2.wav' + dog_whine = _basepath + 'animals/dog_whine.wav' + insect_buzz_1 = _basepath + 'animals/insect_buzz_1.wav' + dog_sniff = _basepath + 'animals/dog_sniff.wav' + t_rex_roar = _basepath + 'animals/t-rex_roar.wav' + insect_chirp = _basepath + 'animals/insect_chirp.wav' + dog_growl = _basepath + 'animals/dog_growl.wav' + snake_rattle = _basepath + 'animals/snake_rattle.wav' + dog_bark_1 = _basepath + 'animals/dog_bark_1.wav' + cat_purr = _basepath + 'animals/cat_purr.wav' + eight = _basepath + 'numbers/eight.wav' + seven = _basepath + 'numbers/seven.wav' + six = _basepath + 'numbers/six.wav' + four = _basepath + 'numbers/four.wav' + ten = _basepath + 'numbers/ten.wav' + one = _basepath + 'numbers/one.wav' + two = _basepath + 'numbers/two.wav' + three = _basepath + 'numbers/three.wav' + zero = _basepath + 'numbers/zero.wav' + five = _basepath + 'numbers/five.wav' + nine = _basepath + 'numbers/nine.wav' + ready = _basepath + 'system/ready.wav' + confirm = _basepath + 'system/confirm.wav' + general_alert = _basepath + 'system/general_alert.wav' + click = _basepath + 'system/click.wav' + overpower = _basepath + 'system/overpower.wav' + + class Image(): """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 """ - up = '/path/to/up' + + _basepath = '/usr/share/images/ev3dev/mono/' + right = _basepath + 'information/right.png' + forward = _basepath + 'information/forward.png' + accept = _basepath + 'information/accept.png' + question_mark = _basepath + 'information/question_mark.png' + stop_1 = _basepath + 'information/stop_1.png' + left = _basepath + 'information/left.png' + decline = _basepath + 'information/decline.png' + thumbs_down = _basepath + 'information/thumbs_down.png' + backward = _basepath + 'information/backward.png' + no_go = _basepath + 'information/no_go.png' + warning = _basepath + 'information/warning.png' + stop_2 = _basepath + 'information/stop_2.png' + thumbs_up = _basepath + 'information/thumbs_up.png' + ev3 = _basepath + 'lego/ev3.png' + ev3_icon = _basepath + 'lego/ev3_icon.png' + target = _basepath + 'objects/target.png' + bottom_right = _basepath + 'eyes/bottom_right.png' + bottom_left = _basepath + 'eyes/bottom_left.png' + evil = _basepath + 'eyes/evil.png' + crazy_2 = _basepath + 'eyes/crazy_2.png' + knocked_out = _basepath + 'eyes/knocked_out.png' + pinched_right = _basepath + 'eyes/pinched_right.png' + winking = _basepath + 'eyes/winking.png' + dizzy = _basepath + 'eyes/dizzy.png' + down = _basepath + 'eyes/down.png' + tired_middle = _basepath + 'eyes/tired_middle.png' + middle_right = _basepath + 'eyes/middle_right.png' + sleeping = _basepath + 'eyes/sleeping.png' + middle_left = _basepath + 'eyes/middle_left.png' + tired_right = _basepath + 'eyes/tired_right.png' + pinched_left = _basepath + 'eyes/pinched_left.png' + pinched_middle = _basepath + 'eyes/pinched_middle.png' + crazy_1 = _basepath + 'eyes/crazy_1.png' + neutral = _basepath + 'eyes/neutral.png' + awake = _basepath + 'eyes/awake.png' + up = _basepath + 'eyes/up.png' + tired_left = _basepath + 'eyes/tired_left.png' + angry = _basepath + 'eyes/angry.png' From d273a5fea957fa7dfecccdf2e17724b5dcd16fe0 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Tue, 29 Jan 2019 11:38:56 +0100 Subject: [PATCH 36/62] bricks/ev3dev: make gyro api same as motor and add calibrate and reset_angle methods speed, angle, reset_angle and direction are now the same as in a motor --- pybricks/ev3devices.py | 39 +++++++++++++++++++++++++-------------- 1 file changed, 25 insertions(+), 14 deletions(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 5ce84dd..0fb4476 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -417,38 +417,49 @@ class GyroSensor(): """ def __init__(self, port): - """GyroSensor(port) + """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 reset(self): - """Force sensor to reset as if disconnecting and reconnecting it. - - This can take up to 3 seconds. - """ - pass - - def rate(self): - """Measure the angular velocity of the sensor. + def speed(self): + """Get the speed (angular velocity) of the sensor. Returns: - :ref:`speed`: Angular velocity (degrees per second). + :ref:`speed`: Sensor angular velocity. """ - return self.value(1) + pass def angle(self): """Get the accumulated angle of the sensor. Returns: - :ref:`angle`: Rotation angle (degrees) since initialization or last reset. + :ref:`angle`: Rotation angle. """ - return self.value(0) + pass + + def reset_angle(self, angle=0): + """Set the rotation angle of the sensor to a desired value. + + Arguments: + angle (:ref:`angle`): Value to which the angle should be reset (*Default*: 0). + """ + 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(): From 5894852ebf288c7485acc615e4df9a640a992aa0 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Wed, 6 Feb 2019 15:48:54 +0100 Subject: [PATCH 37/62] doc: proposed API update for dc motor settings --- pybricks/ev3devices.py | 51 ++++++++++++++++++++---------------------- 1 file changed, 24 insertions(+), 27 deletions(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 0fb4476..0e15770 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -89,7 +89,11 @@ class Motor(): 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, something might be blocking the motor or your mechanism simply cannot turn any further. See also :func:`.set_stall_settings`. + A motor is stalled when it cannot move even with the maximum torque. For example, it cannot move because 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. @@ -172,28 +176,24 @@ class Motor(): """ pass - def run_until_stalled(self, speed, stop_type=Stop.coast, duty_limit=None, stall_speed=None, stall_time=None): - """run_until_stalled(self, speed, stop_type=Stop.coast, duty_limit=default, stall_speed=default, stall_time=default) + def run_until_stalled(self, speed, stop_type=Stop.coast, duty_limit=None): + """run_until_stalled(self, 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. + 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. - Specifically, the motor is stalled when the duty cycle computed by the PID controllers has reached the maximum (so ``duty`` = ``duty_limit``) and the motor still cannot reach a minimal speed (so ``speed`` < ``stall_speed``) for a period of at least ``stall_time``. These settings let you adjust how soon the motor should be considered stalled. - - These optional settings are identical to :func:`.set_stall_settings`, but in this method they are only applied temporarily. For example, you can choose ``duty_limit=50`` to limit the motor torque during this maneuver, but have it return to its previous value afterwards. + 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 `). - duty_limit (:ref:`percentage`): Relative torque limit during subsequent ``run`` commands. This sets the maximum :ref:`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. - stall_speed (:ref:`speed`): If the motor moves slower than ``stall_speed`` for ``stall_time`` during any of the ``run`` commands, the motor is considered to be stalled. - stall_time (:ref:`time`): As above: see ``stall_speed``. + 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 :func:`.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 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 continously. @@ -223,6 +223,15 @@ class Motor(): """ pass + def set_dc_settings(self, duty_limit, duty_offset): + """TODO + + Arguments: + duty_limit (:ref:`percentage`): TODO + duty_offset (:ref:`percentage`): TODO + """ + pass + def set_run_settings(self, max_speed, acceleration): """Configure the maximum speed and acceleration/deceleration of the motor for all run commands. @@ -244,7 +253,7 @@ class Motor(): """ pass - def set_pid_settings(self, kp, ki, kd, tight_loop_limit, angle_tolerance, speed_tolerance): + 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 ` for each motor. Arguments: @@ -254,20 +263,8 @@ class Motor(): 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. - """ - pass - - def set_stall_settings(self, duty_limit, stall_speed, stall_time): - """Configure when the motor is considered to be :func:`.stalled`. - - The motor is considered stalled when it cannot move even with the maximum torque. - - 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``. Changing these settings lets you adjust how soon the motor should be considered to be stalled. - - Arguments: - duty_limit (:ref:`percentage`): Relative torque limit during subsequent ``run`` commands. This sets the maximum :ref:`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. - stall_speed (:ref:`speed`): If the motor moves slower than ``stall_speed`` for ``stall_time`` during any of the ``run`` commands, the motor is considered to be stalled. - stall_time (:ref:`time`): As above: see ``stall_speed``. + stall_speed (:ref:`speed`): See :meth:`.stalled`. + stall_time (:ref:`time`): See :meth:`.stalled`. """ pass @@ -433,7 +430,7 @@ class GyroSensor(): :ref:`speed`: Sensor angular velocity. """ - pass + pass def angle(self): """Get the accumulated angle of the sensor. From e35c0ddb1217a8bc7eff2f8f49eda5bb58d4768e Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Thu, 7 Feb 2019 10:16:59 +0100 Subject: [PATCH 38/62] motorcontrol: partial terminology update for duty steps when we add an offset internally, the argument isn't really duty cycle anymore. This could use some further work. Offsets are still zero by default. --- pybricks/ev3devices.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 0e15770..1e8bc33 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -224,11 +224,11 @@ class Motor(): pass def set_dc_settings(self, duty_limit, duty_offset): - """TODO + """Configure the settings to adjust the behavior of the :meth:`.dc` command. This also affects the all of the ``run`` commands, which use the :meth:`.dc` in the background. Arguments: - duty_limit (:ref:`percentage`): TODO - duty_offset (:ref:`percentage`): TODO + 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. (*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 @@ -418,7 +418,7 @@ class GyroSensor(): 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). + direction (Direction): Positive rotation direction when looking at the red dot on top of the sensor (*Default*: Direction.clockwise). """ pass From 08990f6342316f6c3c3156891dce92718e0fdf49 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Tue, 19 Feb 2019 17:02:27 +0100 Subject: [PATCH 39/62] doc: images for run with brickman --- pybricks/ev3brick.py | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/pybricks/ev3brick.py b/pybricks/ev3brick.py index fee430c..8b3c00b 100644 --- a/pybricks/ev3brick.py +++ b/pybricks/ev3brick.py @@ -10,11 +10,22 @@ def buttons(): :returns: List of pressed buttons. :rtype: List of :class:`Button ` - Example:: + 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 is pressed + while not any(brick.buttons()): + wait(10) + + # Wait until all buttons are released + while any(brick.buttons()): + wait(10) + """ pass From 78bb431bc0b8829b5c6846431690da26c94e7c78 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Tue, 19 Feb 2019 21:24:05 +0100 Subject: [PATCH 40/62] doc: fix duty setting fixes #118 --- pybricks/ev3devices.py | 12 ++---------- 1 file changed, 2 insertions(+), 10 deletions(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 1e8bc33..886680b 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -46,25 +46,17 @@ class Motor(): """ pass - def dc(self, duty, limit=100): + def dc(self, duty): """Set the :ref:`duty cycle ` of the motor. Arguments: duty (:ref:`percentage`): The duty cycle (-100.0 to 100). - limit (:ref:`percentage`): Limit on the maximum ``duty`` value (*Default*: 100). This overrides the first argument when it exceeds the limit. This ensures that ``abs(duty)`` <``limit`` and is useful when you use your own formula to set the duty cycle, as it provides a limit when your formula returns a very large number. For example, you could use this to prevent your LEGO\ :sup:`®` train from unintentionally going at full speed. Example:: # Set the motor duty cycle to 75%. example_motor.duty(75) - :: - - # Use a computed duty cycle value, but ensure it stays within the range - # (-30, 30). - example_duty = (sensor.reflection() - 40) / 3 - example_motor.duty(example_duty, 30) - """ pass @@ -227,7 +219,7 @@ class Motor(): """Configure the settings to adjust the behavior of the :meth:`.dc` command. This also affects the all of the ``run`` commands, which use the :meth:`.dc` 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. (*Default*: 100). + 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\ :sup:`®` 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 From 312b2a4818bf4a059f945f625c5ed324c5a4c39b Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Thu, 21 Feb 2019 12:24:25 +0100 Subject: [PATCH 41/62] robotics: basic placeholder DriveBase class --- pybricks/robotics.py | 77 ++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 77 insertions(+) create mode 100644 pybricks/robotics.py diff --git a/pybricks/robotics.py b/pybricks/robotics.py new file mode 100644 index 0000000..54ebc9b --- /dev/null +++ b/pybricks/robotics.py @@ -0,0 +1,77 @@ +"""Robotics module for the Pybricks API.""" + +from parameters import Stop, Direction + + +class DriveBase(): + """Class respresenting 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(100, 0, 2000) + + # Turn at 45 deg/s for three seconds + robot.drive(0, 45, 3000) + """ + pass + + def stop(self, stop_type=Stop.coast): + """stop(self, stop_type=Stop.coast) + + Stop the robot. + + Arguments: + stop_type (Stop): Whether to coast, brake, or hold (*Default*: :class:`Stop.coast `). + """ + pass From c58cba2af8ec4dd51323786d03f8b14f7f063999 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Mon, 25 Feb 2019 14:04:21 +0100 Subject: [PATCH 42/62] doc: terminology and nomenclature - EV3 brick - MicroPython - microSD card - EV3 MicroPython microSD card image --- pybricks/ev3brick.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pybricks/ev3brick.py b/pybricks/ev3brick.py index 8b3c00b..45378be 100644 --- a/pybricks/ev3brick.py +++ b/pybricks/ev3brick.py @@ -1,4 +1,4 @@ -"""LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 Brick.""" +"""LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 brick.""" from parameters import Color from _speaker import Speaker From be32bd8eb3a0ef528b6029e8b37511e05a67cc49 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Tue, 26 Feb 2019 11:56:02 +0100 Subject: [PATCH 43/62] doc: remove self from methods docstrings fixes #130 --- pybricks/_display.py | 2 +- pybricks/ev3devices.py | 10 +++++----- pybricks/robotics.py | 2 +- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/pybricks/_display.py b/pybricks/_display.py index cfae8f8..9f7f379 100644 --- a/pybricks/_display.py +++ b/pybricks/_display.py @@ -40,7 +40,7 @@ class Display(): pass def image(self, file_name, alignment=Align.center, coordinate=None, clear=True): - """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. diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 886680b..6bfd335 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -102,7 +102,7 @@ class Motor(): pass def stop(self, stop_type=Stop.coast): - """stop(self, stop_type=Stop.coast) + """stop(stop_type=Stop.coast) Stop the motor. @@ -122,7 +122,7 @@ class Motor(): pass def run_time(self, speed, time, stop_type=Stop.coast, wait=True): - """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. @@ -137,7 +137,7 @@ class Motor(): pass def run_angle(self, speed, rotation_angle, stop_type=Stop.coast, wait=True): - """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. @@ -152,7 +152,7 @@ class Motor(): pass def run_target(self, speed, target_angle, stop_type=Stop.coast, wait=True): - """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. @@ -169,7 +169,7 @@ class Motor(): pass def run_until_stalled(self, speed, stop_type=Stop.coast, duty_limit=None): - """run_until_stalled(self, speed, stop_type=Stop.coast, duty_limit=default) + """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. diff --git a/pybricks/robotics.py b/pybricks/robotics.py index 54ebc9b..fd15724 100644 --- a/pybricks/robotics.py +++ b/pybricks/robotics.py @@ -67,7 +67,7 @@ class DriveBase(): pass def stop(self, stop_type=Stop.coast): - """stop(self, stop_type=Stop.coast) + """stop(stop_type=Stop.coast) Stop the robot. From 2e3d013fec7c80e6ff8ba4ffd632558bcb792604 Mon Sep 17 00:00:00 2001 From: David Lechner Date: Wed, 20 Feb 2019 20:54:15 -0600 Subject: [PATCH 44/62] parameters: make Stop enum members uppercase --- pybricks/ev3devices.py | 30 +++++++++++++++--------------- pybricks/parameters.py | 18 +++++++++--------- pybricks/robotics.py | 6 +++--- 3 files changed, 27 insertions(+), 27 deletions(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 6bfd335..171d131 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -101,13 +101,13 @@ class Motor(): """ pass - def stop(self, stop_type=Stop.coast): - """stop(stop_type=Stop.coast) + 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 `). + stop_type (Stop): Whether to coast, brake, or hold (*Default*: :class:`Stop.COAST `). """ pass @@ -121,8 +121,8 @@ class Motor(): """ pass - def run_time(self, speed, time, stop_type=Stop.coast, wait=True): - """run_time(speed, time, stop_type=Stop.coast, wait=True) + 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. @@ -131,13 +131,13 @@ class Motor(): 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 `). + stop_type (Stop): Whether to coast, brake, or hold after coming to a standstill (*Default*: :class:`Stop.COAST `). 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) + 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. @@ -146,13 +146,13 @@ class Motor(): 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 `). + stop_type (Stop): Whether to coast, brake, or hold after coming to a standstill (*Default*: :class:`Stop.COAST `). 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) + 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. @@ -163,13 +163,13 @@ class Motor(): 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 `). + stop_type (Stop): Whether to coast, brake, or hold after coming to a standstill (*Default*: :class:`Stop.COAST `). 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) + 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. @@ -177,7 +177,7 @@ class Motor(): 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 `). + stop_type (Stop): Whether to coast, brake, or hold after coming to a standstill (*Default*: :class:`Stop.COAST `). 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 diff --git a/pybricks/parameters.py b/pybricks/parameters.py index 78ba150..aba3082 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -62,15 +62,15 @@ class Port(Enum): class Stop(Enum): """Action after the motor stops: coast, brake, or hold. - .. data:: coast + .. data:: COAST Let the motor move freely. - .. data:: brake + .. data:: BRAKE Passively resist small external forces. - .. data:: hold + .. data:: HOLD Keep controlling the motor to hold it at the commanded angle. This is only available on motors with encoders. @@ -79,18 +79,18 @@ class Stop(Enum): +-----------+-------------+------------------------------------------+ |Parameter | Resistance | Physical meaning | +===========+=============+==========================================+ - |Stop.coast | low | Friction | + |Stop.COAST | low | Friction | +-----------+-------------+------------------------------------------+ - |Stop.brake | medium | Friction + Torque opposite to motion | + |Stop.BRAKE | medium | Friction + Torque opposite to motion | +-----------+-------------+------------------------------------------+ - |Stop.hold | high | Friction + Torque to hold commanded angle| + |Stop.HOLD | high | Friction + Torque to hold commanded angle| +-----------+-------------+------------------------------------------+ """ - coast = 0 - brake = 1 - hold = 2 + COAST = 0 + BRAKE = 1 + HOLD = 2 class Direction(): diff --git a/pybricks/robotics.py b/pybricks/robotics.py index fd15724..a508606 100644 --- a/pybricks/robotics.py +++ b/pybricks/robotics.py @@ -66,12 +66,12 @@ class DriveBase(): """ pass - def stop(self, stop_type=Stop.coast): - """stop(stop_type=Stop.coast) + 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 `). + stop_type (Stop): Whether to coast, brake, or hold (*Default*: :class:`Stop.COAST `). """ pass From 6071e4e7d34a5f48012079a23db515ded8162eb8 Mon Sep 17 00:00:00 2001 From: David Lechner Date: Wed, 20 Feb 2019 21:11:25 -0600 Subject: [PATCH 45/62] parameters: rename Direction.(counter)clockwise to Direction.(C)CW clockwise and counterclockwise are very long to type, so replace them with the common abbriviations --- pybricks/ev3devices.py | 14 +++++++------- pybricks/parameters.py | 22 +++++++++++----------- 2 files changed, 18 insertions(+), 18 deletions(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 171d131..5fb136b 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -13,12 +13,12 @@ class Motor(): * 45503 or 45502: Separate part (2013) """ - def __init__(self, port, direction=Direction.clockwise, gears=None): - """Motor(port, direction=Direction.clockwise, gears=None) + def __init__(self, port, direction=Direction.CW, gears=None): + """Motor(port, direction=Direction.CW, gears=None) Arguments: port (Port): Port to which the motor is connected. - direction (Direction): Positive speed direction (*Default*: Direction.clockwise). + direction (Direction): Positive speed direction (*Default*: Direction.CW). 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. @@ -39,10 +39,10 @@ class Motor(): example_motor = Motor(Port.A) # Initialize a motor where positive speed values should go counterclockwise - right_motor = Motor(Port.B, Direction.counterclockwise) + right_motor = Motor(Port.B, Direction.CCW) # Initialize a motor with a gear train - robot_arm = Motor(Port.C, Direction.clockwise, [12, 36]) + robot_arm = Motor(Port.C, Direction.CW, [12, 36]) """ pass @@ -406,11 +406,11 @@ class GyroSensor(): """ def __init__(self, port): - """GyroSensor(port, direction=Direction.clockwise) + """GyroSensor(port, direction=Direction.CW) 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). + direction (Direction): Positive rotation direction when looking at the red dot on top of the sensor (*Default*: Direction.CW). """ pass diff --git a/pybricks/parameters.py b/pybricks/parameters.py index aba3082..a5504a0 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -96,11 +96,11 @@ class Stop(Enum): class Direction(): """Rotational direction for positive speed values: clockwise or counterclockwise. - .. data:: clockwise + .. data:: CW A positive speed value should make the motor move clockwise. - .. data:: counterclockwise + .. data:: CCW A positive speed value should make the motor move counterclockwise. @@ -108,13 +108,13 @@ class Direction(): 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 | - +----------------------------+-------------------+-----------------+ + +-------------------+-------------------+------------------+ + | Parameter | Positive speed | Negative speed | + +===================+===================+==================+ + | Direction.CW | clockwise | counterclockwise | + +-------------------+-------------------+------------------+ + | Direction.CCW | counterclockwise | clockwise | + +-------------------+-------------------+------------------+ :: @@ -149,8 +149,8 @@ class Direction(): """ - clockwise = 0 - counterclockwise = 1 + CW = 0 + CCW = 1 class Button(Enum): From fe93f0c0b13e0b220d9c027b45273c012ebcf15e Mon Sep 17 00:00:00 2001 From: David Lechner Date: Wed, 20 Feb 2019 21:22:18 -0600 Subject: [PATCH 46/62] parameters: make Button enum members uppercase --- pybricks/ev3brick.py | 2 +- pybricks/parameters.py | 46 +++++++++++++++++++++--------------------- 2 files changed, 24 insertions(+), 24 deletions(-) diff --git a/pybricks/ev3brick.py b/pybricks/ev3brick.py index 45378be..fbaa596 100644 --- a/pybricks/ev3brick.py +++ b/pybricks/ev3brick.py @@ -13,7 +13,7 @@ def buttons(): Examples:: # Do something if the left button is pressed - if Button.left in brick.buttons(): + if Button.LEFT in brick.buttons(): print("The left button is pressed.") :: diff --git a/pybricks/parameters.py b/pybricks/parameters.py index a5504a0..f6014be 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -156,42 +156,42 @@ class Direction(): 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 + .. 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_UP |UP/BEACON | RIGHT_UP | | | | | +-----------+----------+-----------+ | | | | - | left | center | right | + | LEFT | CENTER | RIGHT | | | | | +-----------+----------+-----------+ | | | | - | left_down | down | right_down| + | 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 + 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(): From e44f9d7bc643317dfbc3c15284a6ba8fb4cd232d Mon Sep 17 00:00:00 2001 From: David Lechner Date: Wed, 20 Feb 2019 21:28:51 -0600 Subject: [PATCH 47/62] parameters: change Align enum members to uppercase --- pybricks/_display.py | 8 ++++---- pybricks/parameters.py | 36 ++++++++++++++++++------------------ 2 files changed, 22 insertions(+), 22 deletions(-) diff --git a/pybricks/_display.py b/pybricks/_display.py index 9f7f379..5c113c7 100644 --- a/pybricks/_display.py +++ b/pybricks/_display.py @@ -39,8 +39,8 @@ class Display(): pass - def image(self, file_name, alignment=Align.center, coordinate=None, clear=True): - """image(file_name, alignment=Align.center, coordinate=None, clear=True) + 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. @@ -48,7 +48,7 @@ class Display(): 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). + 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``). @@ -62,7 +62,7 @@ class Display(): # Display a custom image image at the top right of the screen, without clearing # the screen first - brick.display.image('arrow.png', Align.top_right, clear=False) + brick.display.image('arrow.png', Align.TOP_RIGHT, clear=False) """ pass diff --git a/pybricks/parameters.py b/pybricks/parameters.py index f6014be..be88508 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -197,25 +197,25 @@ class Button(Enum): 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 + .. 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 + BOTTOM_LEFT = 1 + BOTTOM = 2 + BOTTOM_RIGHT = 3 + LEFT = 4 + CENTER = 5 + RIGHT = 6 + TOP_LEFT = 7 + TOP = 8 + TOP_RIGHT = 9 class Sound(): From 07d5c106af6792dd86570f1e903d5ebe9c70373e Mon Sep 17 00:00:00 2001 From: David Lechner Date: Wed, 20 Feb 2019 21:40:20 -0600 Subject: [PATCH 48/62] parameters: change Sound enum members to uppercase --- pybricks/_speaker.py | 2 +- pybricks/parameters.py | 422 ++++++++++++++++++++--------------------- 2 files changed, 212 insertions(+), 212 deletions(-) diff --git a/pybricks/_speaker.py b/pybricks/_speaker.py index c02482b..f701461 100644 --- a/pybricks/_speaker.py +++ b/pybricks/_speaker.py @@ -49,7 +49,7 @@ class Speaker(): Example:: # Play one of the built-in sounds - brick.sound.file(Sound.hello) + brick.sound.file(Sound.HELLO) # Play a sound file from your project folder brick.sound.file('mysound.wav') diff --git a/pybricks/parameters.py b/pybricks/parameters.py index be88508..cb87f73 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -223,244 +223,244 @@ class Sound(): 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 + .. 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 + .. 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 + .. 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 + .. data:: SPEED_IDLE + .. data:: SPEED_DOWN + .. data:: SPEED_UP Color - .. data:: brown - .. data:: green - .. data:: black - .. data:: white - .. data:: red - .. data:: blue - .. data:: yellow + .. 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 + .. 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 + .. 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 + .. 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 + .. data:: READY + .. data:: CONFIRM + .. data:: GENERAL_ALERT + .. data:: CLICK + .. data:: OVERPOWER """ - _basepath = '/usr/share/sounds/ev3dev/' - shouting = _basepath + 'expressions/shouting.wav' - cheering = _basepath + 'expressions/cheering.wav' - crying = _basepath + 'expressions/crying.wav' - ouch = _basepath + 'expressions/ouch.wav' - laughing_2 = _basepath + 'expressions/laughing_2.wav' - sneezing = _basepath + 'expressions/sneezing.wav' - smack = _basepath + 'expressions/smack.wav' - boing = _basepath + 'expressions/boing.wav' - boo = _basepath + 'expressions/boo.wav' - uh_oh = _basepath + 'expressions/uh-oh.wav' - snoring = _basepath + 'expressions/snoring.wav' - kung_fu = _basepath + 'expressions/kung_fu.wav' - fanfare = _basepath + 'expressions/fanfare.wav' - crunching = _basepath + 'expressions/crunching.wav' - magic_wand = _basepath + 'expressions/magic_wand.wav' - laughing_1 = _basepath + 'expressions/laughing_1.wav' - left = _basepath + 'information/left.wav' - backwards = _basepath + 'information/backwards.wav' - right = _basepath + 'information/right.wav' - object = _basepath + 'information/object.wav' - color = _basepath + 'information/color.wav' - flashing = _basepath + 'information/flashing.wav' - error = _basepath + 'information/error.wav' - error_alarm = _basepath + 'information/error_alarm.wav' - down = _basepath + 'information/down.wav' - forward = _basepath + 'information/forward.wav' - activate = _basepath + 'information/activate.wav' - searching = _basepath + 'information/searching.wav' - touch = _basepath + 'information/touch.wav' - up = _basepath + 'information/up.wav' - analyze = _basepath + 'information/analyze.wav' - stop = _basepath + 'information/stop.wav' - detected = _basepath + 'information/detected.wav' - turn = _basepath + 'information/turn.wav' - start = _basepath + 'information/start.wav' - morning = _basepath + 'communication/morning.wav' - ev3 = _basepath + 'communication/ev3.wav' - go = _basepath + 'communication/go.wav' - good_job = _basepath + 'communication/good_job.wav' - okey_dokey = _basepath + 'communication/okey-dokey.wav' - good = _basepath + 'communication/good.wav' - no = _basepath + 'communication/no.wav' - thank_you = _basepath + 'communication/thank_you.wav' - yes = _basepath + 'communication/yes.wav' - game_over = _basepath + 'communication/game_over.wav' - okay = _basepath + 'communication/okay.wav' - sorry = _basepath + 'communication/sorry.wav' - bravo = _basepath + 'communication/bravo.wav' - goodbye = _basepath + 'communication/goodbye.wav' - hi = _basepath + 'communication/hi.wav' - hello = _basepath + 'communication/hello.wav' - mindstorms = _basepath + 'communication/mindstorms.wav' - lego = _basepath + 'communication/lego.wav' - fantastic = _basepath + 'communication/fantastic.wav' - speed_idle = _basepath + 'movements/speed_idle.wav' - speed_down = _basepath + 'movements/speed_down.wav' - speed_up = _basepath + 'movements/speed_up.wav' - brown = _basepath + 'colors/brown.wav' - green = _basepath + 'colors/green.wav' - black = _basepath + 'colors/black.wav' - white = _basepath + 'colors/white.wav' - red = _basepath + 'colors/red.wav' - blue = _basepath + 'colors/blue.wav' - yellow = _basepath + 'colors/yellow.wav' - tick_tack = _basepath + 'mechanical/tick_tack.wav' - horn_1 = _basepath + 'mechanical/horn_1.wav' - backing_alert = _basepath + 'mechanical/backing_alert.wav' - motor_idle = _basepath + 'mechanical/motor_idle.wav' - air_release = _basepath + 'mechanical/air_release.wav' - airbrake = _basepath + 'mechanical/airbrake.wav' - ratchet = _basepath + 'mechanical/ratchet.wav' - motor_stop = _basepath + 'mechanical/motor_stop.wav' - horn_2 = _basepath + 'mechanical/horn_2.wav' - laser = _basepath + 'mechanical/laser.wav' - sonar = _basepath + 'mechanical/sonar.wav' - motor_start = _basepath + 'mechanical/motor_start.wav' - insect_buzz_2 = _basepath + 'animals/insect_buzz_2.wav' - elephant_call = _basepath + 'animals/elephant_call.wav' - snake_hiss = _basepath + 'animals/snake_hiss.wav' - dog_bark_2 = _basepath + 'animals/dog_bark_2.wav' - dog_whine = _basepath + 'animals/dog_whine.wav' - insect_buzz_1 = _basepath + 'animals/insect_buzz_1.wav' - dog_sniff = _basepath + 'animals/dog_sniff.wav' - t_rex_roar = _basepath + 'animals/t-rex_roar.wav' - insect_chirp = _basepath + 'animals/insect_chirp.wav' - dog_growl = _basepath + 'animals/dog_growl.wav' - snake_rattle = _basepath + 'animals/snake_rattle.wav' - dog_bark_1 = _basepath + 'animals/dog_bark_1.wav' - cat_purr = _basepath + 'animals/cat_purr.wav' - eight = _basepath + 'numbers/eight.wav' - seven = _basepath + 'numbers/seven.wav' - six = _basepath + 'numbers/six.wav' - four = _basepath + 'numbers/four.wav' - ten = _basepath + 'numbers/ten.wav' - one = _basepath + 'numbers/one.wav' - two = _basepath + 'numbers/two.wav' - three = _basepath + 'numbers/three.wav' - zero = _basepath + 'numbers/zero.wav' - five = _basepath + 'numbers/five.wav' - nine = _basepath + 'numbers/nine.wav' - ready = _basepath + 'system/ready.wav' - confirm = _basepath + 'system/confirm.wav' - general_alert = _basepath + 'system/general_alert.wav' - click = _basepath + 'system/click.wav' - overpower = _basepath + 'system/overpower.wav' + _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 Image(): From f9881d1c2097513a628bb8423bb75ecb9b7c7b05 Mon Sep 17 00:00:00 2001 From: David Lechner Date: Wed, 20 Feb 2019 21:43:42 -0600 Subject: [PATCH 49/62] parameters: change Image enum members to uppercase --- pybricks/_display.py | 2 +- pybricks/parameters.py | 154 ++++++++++++++++++++--------------------- 2 files changed, 78 insertions(+), 78 deletions(-) diff --git a/pybricks/_display.py b/pybricks/_display.py index 5c113c7..b600b0c 100644 --- a/pybricks/_display.py +++ b/pybricks/_display.py @@ -55,7 +55,7 @@ class Display(): Example:: # Show a built-in image showing two eyes looking upward - brick.display.image(Image.up) + brick.display.image(Image.UP) # Display a custom image from your project folder brick.display.image('pybricks.png') diff --git a/pybricks/parameters.py b/pybricks/parameters.py index cb87f73..231a1e3 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -468,91 +468,91 @@ class Image(): 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 + .. 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 + .. data:: EV3 + .. data:: EV3_ICON Objects - .. data:: target + .. 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 + .. 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 """ - _basepath = '/usr/share/images/ev3dev/mono/' - right = _basepath + 'information/right.png' - forward = _basepath + 'information/forward.png' - accept = _basepath + 'information/accept.png' - question_mark = _basepath + 'information/question_mark.png' - stop_1 = _basepath + 'information/stop_1.png' - left = _basepath + 'information/left.png' - decline = _basepath + 'information/decline.png' - thumbs_down = _basepath + 'information/thumbs_down.png' - backward = _basepath + 'information/backward.png' - no_go = _basepath + 'information/no_go.png' - warning = _basepath + 'information/warning.png' - stop_2 = _basepath + 'information/stop_2.png' - thumbs_up = _basepath + 'information/thumbs_up.png' - ev3 = _basepath + 'lego/ev3.png' - ev3_icon = _basepath + 'lego/ev3_icon.png' - target = _basepath + 'objects/target.png' - bottom_right = _basepath + 'eyes/bottom_right.png' - bottom_left = _basepath + 'eyes/bottom_left.png' - evil = _basepath + 'eyes/evil.png' - crazy_2 = _basepath + 'eyes/crazy_2.png' - knocked_out = _basepath + 'eyes/knocked_out.png' - pinched_right = _basepath + 'eyes/pinched_right.png' - winking = _basepath + 'eyes/winking.png' - dizzy = _basepath + 'eyes/dizzy.png' - down = _basepath + 'eyes/down.png' - tired_middle = _basepath + 'eyes/tired_middle.png' - middle_right = _basepath + 'eyes/middle_right.png' - sleeping = _basepath + 'eyes/sleeping.png' - middle_left = _basepath + 'eyes/middle_left.png' - tired_right = _basepath + 'eyes/tired_right.png' - pinched_left = _basepath + 'eyes/pinched_left.png' - pinched_middle = _basepath + 'eyes/pinched_middle.png' - crazy_1 = _basepath + 'eyes/crazy_1.png' - neutral = _basepath + 'eyes/neutral.png' - awake = _basepath + 'eyes/awake.png' - up = _basepath + 'eyes/up.png' - tired_left = _basepath + 'eyes/tired_left.png' - angry = _basepath + 'eyes/angry.png' + _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' From cd57290b78870cd0bd0dd4184fdb1fb77e980f8e Mon Sep 17 00:00:00 2001 From: David Lechner Date: Wed, 20 Feb 2019 21:56:29 -0600 Subject: [PATCH 50/62] parameters: change Color enum members to uppercase --- pybricks/ev3brick.py | 5 +++-- pybricks/ev3devices.py | 3 ++- pybricks/parameters.py | 36 ++++++++++++++++++------------------ 3 files changed, 23 insertions(+), 21 deletions(-) diff --git a/pybricks/ev3brick.py b/pybricks/ev3brick.py index fbaa596..dfc4c8c 100644 --- a/pybricks/ev3brick.py +++ b/pybricks/ev3brick.py @@ -34,12 +34,13 @@ 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. + 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) + brick.light(Color.RED) # Turn the light off brick.light(None) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 5fb136b..ecd48e7 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -313,7 +313,8 @@ class ColorSensor(): """Measure the color of a surface. :returns: - ``Color.black``, ``Color.blue``, ``Color.green``, ``Color.yellow``, ``Color.red``, ``Color.white``, ``Color.brown`` or ``None``. + ``Color.BLACK``, ``Color.BLUE``, ``Color.GREEN``, ``Color.YELLOW``, + ``Color.RED``, ``Color.WHITE``, ``Color.BROWN`` or ``None``. :rtype: :class:`Color `, or ``None`` if no color is detected. """ pass diff --git a/pybricks/parameters.py b/pybricks/parameters.py index 231a1e3..2f77b1e 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -6,26 +6,26 @@ 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 + .. 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 + BLACK = 1 + BLUE = 2 + GREEN = 3 + YELLOW = 4 + RED = 5 + WHITE = 6 + BROWN = 7 + ORANGE = 8 + PURPLE = 9 class Port(Enum): From 0f3e1c84c28023af27e575ccb1f20b98a23e85e5 Mon Sep 17 00:00:00 2001 From: David Lechner Date: Wed, 27 Feb 2019 15:57:10 -0600 Subject: [PATCH 51/62] ev3dev: rename Image and Sound parameters to ImageFile and SoundFile --- pybricks/_display.py | 2 +- pybricks/_speaker.py | 2 +- pybricks/parameters.py | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/pybricks/_display.py b/pybricks/_display.py index b600b0c..59f92f3 100644 --- a/pybricks/_display.py +++ b/pybricks/_display.py @@ -55,7 +55,7 @@ class Display(): Example:: # Show a built-in image showing two eyes looking upward - brick.display.image(Image.UP) + brick.display.image(ImageFile.UP) # Display a custom image from your project folder brick.display.image('pybricks.png') diff --git a/pybricks/_speaker.py b/pybricks/_speaker.py index f701461..54fb40a 100644 --- a/pybricks/_speaker.py +++ b/pybricks/_speaker.py @@ -49,7 +49,7 @@ class Speaker(): Example:: # Play one of the built-in sounds - brick.sound.file(Sound.HELLO) + brick.sound.file(SoundFile.HELLO) # Play a sound file from your project folder brick.sound.file('mysound.wav') diff --git a/pybricks/parameters.py b/pybricks/parameters.py index 2f77b1e..55eac1c 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -218,7 +218,7 @@ class Align(): TOP_RIGHT = 9 -class Sound(): +class SoundFile(): """Paths to standard EV3 sounds. Expressions @@ -463,7 +463,7 @@ class Sound(): OVERPOWER = _BASE_PATH + 'system/overpower.wav' -class Image(): +class ImageFile(): """Paths to standard EV3 images. Information From 7b6b2d6916d58eb5f4ac821ed603ed7e37b28027 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Thu, 28 Feb 2019 11:34:04 +0100 Subject: [PATCH 52/62] parameters: revert CCW change This reverts b560a545874271ee5f1de2b8f2c42456b06e2aa2 and adds uppercasing --- pybricks/ev3devices.py | 14 +++++++------- pybricks/parameters.py | 22 +++++++++++----------- 2 files changed, 18 insertions(+), 18 deletions(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index ecd48e7..d2fef45 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -13,12 +13,12 @@ class Motor(): * 45503 or 45502: Separate part (2013) """ - def __init__(self, port, direction=Direction.CW, gears=None): - """Motor(port, direction=Direction.CW, gears=None) + 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.CW). + 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. @@ -39,10 +39,10 @@ class Motor(): example_motor = Motor(Port.A) # Initialize a motor where positive speed values should go counterclockwise - right_motor = Motor(Port.B, Direction.CCW) + right_motor = Motor(Port.B, Direction.COUNTERCLOCKWISE) # Initialize a motor with a gear train - robot_arm = Motor(Port.C, Direction.CW, [12, 36]) + robot_arm = Motor(Port.C, Direction.CLOCKWISE, [12, 36]) """ pass @@ -407,11 +407,11 @@ class GyroSensor(): """ def __init__(self, port): - """GyroSensor(port, direction=Direction.CW) + """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.CW). + direction (Direction): Positive rotation direction when looking at the red dot on top of the sensor (*Default*: Direction.CLOCKWISE). """ pass diff --git a/pybricks/parameters.py b/pybricks/parameters.py index 55eac1c..5653d1c 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -96,11 +96,11 @@ class Stop(Enum): class Direction(): """Rotational direction for positive speed values: clockwise or counterclockwise. - .. data:: CW + .. data:: CLOCKWISE A positive speed value should make the motor move clockwise. - .. data:: CCW + .. data:: COUNTERCLOCKWISE A positive speed value should make the motor move counterclockwise. @@ -108,13 +108,13 @@ class Direction(): 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.CW | clockwise | counterclockwise | - +-------------------+-------------------+------------------+ - | Direction.CCW | counterclockwise | clockwise | - +-------------------+-------------------+------------------+ + +----------------------------+-------------------+-----------------+ + | Parameter | Positive speed | Negative speed | + +============================+===================+=================+ + | Direction.CLOCKWISE | clockwise | counterclockwise| + +----------------------------+-------------------+-----------------+ + | Direction.COUNTERCLOCKWISE | counterclockwise | clockwise | + +----------------------------+-------------------+-----------------+ :: @@ -149,8 +149,8 @@ class Direction(): """ - CW = 0 - CCW = 1 + CLOCKWISE = 0 + COUNTERCLOCKWISE = 1 class Button(Enum): From a1e43998f428b325512d67a0c7b0d2359404653e Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Thu, 28 Feb 2019 17:48:14 +0100 Subject: [PATCH 53/62] doc: languages and terminology --- pybricks/_display.py | 4 ++-- pybricks/ev3brick.py | 2 +- pybricks/ev3devices.py | 8 ++++---- pybricks/parameters.py | 4 ++-- pybricks/robotics.py | 2 +- 5 files changed, 10 insertions(+), 10 deletions(-) diff --git a/pybricks/_display.py b/pybricks/_display.py index 59f92f3..85ce2da 100644 --- a/pybricks/_display.py +++ b/pybricks/_display.py @@ -54,13 +54,13 @@ class Display(): Example:: - # Show a built-in image showing two eyes looking upward + # 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 image at the top right of the screen, without clearing + # 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) """ diff --git a/pybricks/ev3brick.py b/pybricks/ev3brick.py index dfc4c8c..12fbb89 100644 --- a/pybricks/ev3brick.py +++ b/pybricks/ev3brick.py @@ -18,7 +18,7 @@ def buttons(): :: - # Wait until any of the buttons is pressed + # Wait until any of the buttons are pressed while not any(brick.buttons()): wait(10) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index d2fef45..8e6a9b5 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -81,7 +81,7 @@ class Motor(): 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, it cannot move because something is blocking the motor or your mechanism simply cannot turn any further. + 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``. @@ -187,7 +187,7 @@ class Motor(): 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 continously. + 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. @@ -216,7 +216,7 @@ class Motor(): 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 the all of the ``run`` commands, which use the :meth:`.dc` in the background. + """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\ :sup:`®` train from unintentionally going at full speed. (*Default*: 100). @@ -235,7 +235,7 @@ class Motor(): Example:: - # Set the maximum speed to 200 deg/s and set the acceleration to 400 deg/s/s. + # 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 diff --git a/pybricks/parameters.py b/pybricks/parameters.py index 5653d1c..d480e57 100644 --- a/pybricks/parameters.py +++ b/pybricks/parameters.py @@ -74,7 +74,7 @@ class Stop(Enum): 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 standstill: + The stop type defines the resistance to motion after coming to a standstill: +-----------+-------------+------------------------------------------+ |Parameter | Resistance | Physical meaning | @@ -135,7 +135,7 @@ class Direction(): \______________/ - Large EV3 motor: + Large EV3 Motor: ________ / \ ___ ___ diff --git a/pybricks/robotics.py b/pybricks/robotics.py index a508606..8bdd56c 100644 --- a/pybricks/robotics.py +++ b/pybricks/robotics.py @@ -4,7 +4,7 @@ from parameters import Stop, Direction class DriveBase(): - """Class respresenting a robotic vehicle with two powered wheels and optional wheel caster(s).""" + """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) From d0fa20a89c348c4b446d02ca7bb9b6bad290c8a9 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Thu, 28 Feb 2019 17:50:26 +0100 Subject: [PATCH 54/62] doc: nomenclature and registered signs --- pybricks/ev3brick.py | 4 ++-- pybricks/ev3devices.py | 34 +++++++++++++++++----------------- 2 files changed, 19 insertions(+), 19 deletions(-) diff --git a/pybricks/ev3brick.py b/pybricks/ev3brick.py index 12fbb89..d6eaeb9 100644 --- a/pybricks/ev3brick.py +++ b/pybricks/ev3brick.py @@ -1,11 +1,11 @@ -"""LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 brick.""" +"""LEGO® MINDSTORMS® EV3 Brick.""" from parameters import Color from _speaker import Speaker from _display import Display def buttons(): - """Check which buttons on the EV3 brick are currently pressed. + """Check which buttons on the EV3 Brick are currently pressed. :returns: List of pressed buttons. :rtype: List of :class:`Button ` diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 8e6a9b5..ca88e0f 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -1,15 +1,15 @@ -"""LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 motors and sensors.""" +"""LEGO® MINDSTORMS® EV3 motors and sensors.""" from parameters import Stop, Direction class Motor(): - """LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 Medium or Large Motor. + """LEGO® MINDSTORMS® EV3 Medium or Large Motor. Element 99455/6148292 or 95658/6148278, contained in: - * 31313: LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 (2013) - * 45544: LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` Education EV3 Core Set (2013) + * 31313: LEGO® MINDSTORMS® EV3 (2013) + * 45544: LEGO® MINDSTORMS® Education EV3 Core Set (2013) * 45503 or 45502: Separate part (2013) """ @@ -219,7 +219,7 @@ class Motor(): """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\ :sup:`®` train from unintentionally going at full speed. (*Default*: 100). + 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 @@ -262,12 +262,12 @@ class Motor(): class TouchSensor(): - """LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 Touch Sensor. + """LEGO® MINDSTORMS® EV3 Touch Sensor. Element 95648/6138404, contained in: - * 31313: LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 (2013) - * 45544: LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` Education EV3 Core Set (2013) + * 31313: LEGO® MINDSTORMS® EV3 (2013) + * 45544: LEGO® MINDSTORMS® Education EV3 Core Set (2013) * 45507: Separate part (2013) """ @@ -291,12 +291,12 @@ class TouchSensor(): class ColorSensor(): - """LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 Color Sensor. + """LEGO® MINDSTORMS® EV3 Color Sensor. Element 95650/6128869, contained in: - * 31313: LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 (2013) - * 45544: LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` Education EV3 Core Set (2013) + * 31313: LEGO® MINDSTORMS® EV3 (2013) + * 45544: LEGO® MINDSTORMS® Education EV3 Core Set (2013) * 45506: Separate part (2013) """ @@ -347,11 +347,11 @@ class ColorSensor(): class InfraredSensor(): - """LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 Infrared Sensor and Beacon. + """LEGO® MINDSTORMS® EV3 Infrared Sensor and Beacon. Element 95654/6132629 and 72156/6127283, contained in: - * 31313: LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 (2013) + * 31313: LEGO® MINDSTORMS® EV3 (2013) * 45509 and 45508: Separate parts (2013) """ @@ -398,11 +398,11 @@ class InfraredSensor(): class GyroSensor(): - """LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 Gyro Sensor. + """LEGO® MINDSTORMS® EV3 Gyro Sensor. Element 99380/6138411, contained in: - * 45544: LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` Education EV3 Core Set (2013) + * 45544: LEGO® MINDSTORMS® Education EV3 Core Set (2013) * 45505: Separate part (2013) """ @@ -453,11 +453,11 @@ class GyroSensor(): class UltrasonicSensor(): - """LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` EV3 Ultrasonic Sensor. + """LEGO® MINDSTORMS® EV3 Ultrasonic Sensor. Element 95652/6138403, contained in: - * 45544: LEGO\ :sup:`®` MINDSTORMS\ :sup:`®` Education EV3 Core Set (2013) + * 45544: LEGO® MINDSTORMS® Education EV3 Core Set (2013) * 45504: Separate part (2013) """ From 5f12f8df0be63c52b81dae81eeff0bfbe1af953d Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Fri, 1 Mar 2019 14:25:56 +0100 Subject: [PATCH 55/62] doc: add battery Fixes #114 - reorganize common classes in fake API such as Display, Speaker and Battery. - This does not change the user API --- pybricks/_common.py | 154 +++++++++++++++++++++++++++++++++++++++++++ pybricks/_display.py | 68 ------------------- pybricks/_speaker.py | 59 ----------------- pybricks/ev3brick.py | 6 +- 4 files changed, 158 insertions(+), 129 deletions(-) create mode 100644 pybricks/_common.py delete mode 100644 pybricks/_display.py delete mode 100644 pybricks/_speaker.py diff --git a/pybricks/_common.py b/pybricks/_common.py new file mode 100644 index 0000000..e26ebbc --- /dev/null +++ b/pybricks/_common.py @@ -0,0 +1,154 @@ +"""Generic cross-platform module for typical hub devices like displays, speakers, and batteries.""" + +from parameters import Align + + +class Display(): + """Show images or text on a display.""" + + def __init__(self, device_type): + """Device-specific display initialization.""" + pass + + 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 __init__(self, device_type): + """Device specific speaker initialization.""" + pass + + 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 __init__(self, device_type): + """Battery-specific initialization.""" + pass + + def voltage(self): + """Get the voltage of the battery. + + Returns: + :ref:`voltage`: Battery voltage. + + Examples:: + + # Play a warning sound when the battery voltage + # is below 7 Volt (7000 mV = 7V) + if brick.battery.voltage() < 7000: + brick.sound.beep() + + """ + pass + + def current(self): + """Get the current supplied by the battery. + + Returns: + :ref:`current`: Battery current. + + """ + pass diff --git a/pybricks/_display.py b/pybricks/_display.py deleted file mode 100644 index 85ce2da..0000000 --- a/pybricks/_display.py +++ /dev/null @@ -1,68 +0,0 @@ -"""Generic display module for showing text or images on a display (e.g. EV3 screen).""" - - -from parameters import Align - - -class Display(): - """Show images or text on a display.""" - - def __init__(self, device_type): - """Device-specific display initialization.""" - pass - - 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 - diff --git a/pybricks/_speaker.py b/pybricks/_speaker.py deleted file mode 100644 index 54fb40a..0000000 --- a/pybricks/_speaker.py +++ /dev/null @@ -1,59 +0,0 @@ -"""Generic speaker module for playing sounds (e.g. EV3 speaker, Bluetooth speaker, or IDE speaker).""" - - -class Speaker(): - """Play beeps and sound files using a speaker.""" - - def __init__(self, device_type): - """Device specific speaker initialization.""" - pass - - 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 diff --git a/pybricks/ev3brick.py b/pybricks/ev3brick.py index d6eaeb9..77e956c 100644 --- a/pybricks/ev3brick.py +++ b/pybricks/ev3brick.py @@ -1,8 +1,8 @@ """LEGO® MINDSTORMS® EV3 Brick.""" from parameters import Color -from _speaker import Speaker -from _display import Display +from _common import Speaker, Display, Battery + def buttons(): """Check which buttons on the EV3 Brick are currently pressed. @@ -47,5 +47,7 @@ def light(color): """ pass + sound = Speaker('EV3') display = Display('EV3') +battery = Battery('EV3') From ccea3aa937132ce1d69433e92a08abcccffba8f9 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Thu, 21 Mar 2019 14:19:36 +0100 Subject: [PATCH 56/62] modmotor: make reset_angle argument explicit instead of defaulting to 0 --- pybricks/ev3devices.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index ca88e0f..fe49bd2 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -93,11 +93,11 @@ class Motor(): """ pass - def reset_angle(self, angle=0): + 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 (*Default*: 0). + angle (:ref:`angle`): Value to which the angle should be reset. """ pass @@ -434,11 +434,11 @@ class GyroSensor(): """ pass - def reset_angle(self, angle=0): + 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 (*Default*: 0). + angle (:ref:`angle`): Value to which the angle should be reset. """ pass From f4fbd805f6cf29a23aa96d318ecb158d513ec807 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Mon, 25 Mar 2019 14:13:02 +0100 Subject: [PATCH 57/62] bricks/ev3dev: use dedicated reflection mode REF-RAW was giving too much variation --- pybricks/ev3devices.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index fe49bd2..58fd5ee 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -331,7 +331,7 @@ class ColorSensor(): """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). + :ref:`percentage`: Reflection, ranging from 0 (no reflection) to 100 (high reflection). """ pass From 2e2e5d76b5a1d0d0d69a6463b70809934e298494 Mon Sep 17 00:00:00 2001 From: David Lechner Date: Mon, 25 Mar 2019 15:48:24 -0500 Subject: [PATCH 58/62] ev3dev: make gyro calibrate method private This method is a bit buggy, so make it private until we get the kinks worked out --- pybricks/ev3devices.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 58fd5ee..2c28330 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -442,8 +442,11 @@ class GyroSensor(): """ 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. + 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. From beb98492a5ce9c4fcd1cb1ae0989c5d0dc6b2f4a Mon Sep 17 00:00:00 2001 From: Anton Date: Wed, 3 Apr 2019 17:15:35 +0200 Subject: [PATCH 59/62] doc: fix typo in drive_time example --- pybricks/robotics.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/pybricks/robotics.py b/pybricks/robotics.py index 8bdd56c..679e67f 100644 --- a/pybricks/robotics.py +++ b/pybricks/robotics.py @@ -59,10 +59,10 @@ class DriveBase(): Example:: # Drive forward at 100 mm/s for two seconds - robot.drive(100, 0, 2000) + robot.drive_time(100, 0, 2000) # Turn at 45 deg/s for three seconds - robot.drive(0, 45, 3000) + robot.drive_time(0, 45, 3000) """ pass From e4063ef49c27687e712764868de1ca9e000b49c1 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Sat, 20 Apr 2019 10:53:01 +0200 Subject: [PATCH 60/62] doc: share motor doc between platforms --- pybricks/_common.py | 253 ++++++++++++++++++++++++++++++++++++++- pybricks/ev3devices.py | 254 +--------------------------------------- pybricks/lpf2devices.py | 11 ++ 3 files changed, 267 insertions(+), 251 deletions(-) create mode 100644 pybricks/lpf2devices.py diff --git a/pybricks/_common.py b/pybricks/_common.py index e26ebbc..551b1b2 100644 --- a/pybricks/_common.py +++ b/pybricks/_common.py @@ -1,6 +1,257 @@ """Generic cross-platform module for typical hub devices like displays, speakers, and batteries.""" -from parameters import Align +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 ` 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 `). + """ + 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 `). + 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 `). + 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 `). + 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 `). + 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 ` 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 ` 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(): diff --git a/pybricks/ev3devices.py b/pybricks/ev3devices.py index 2c28330..6b36868 100644 --- a/pybricks/ev3devices.py +++ b/pybricks/ev3devices.py @@ -1,9 +1,10 @@ """LEGO® MINDSTORMS® EV3 motors and sensors.""" -from parameters import Stop, Direction +from parameters import Direction +from _common import Motor as CommonMotor -class Motor(): +class Motor(CommonMotor): """LEGO® MINDSTORMS® EV3 Medium or Large Motor. Element 99455/6148292 or 95658/6148278, contained in: @@ -13,253 +14,6 @@ class Motor(): * 45503 or 45502: Separate part (2013) """ - 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 ` 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 `). - """ - 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 `). - 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 `). - 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 `). - 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 `). - 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 ` 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 ` 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 TouchSensor(): """LEGO® MINDSTORMS® EV3 Touch Sensor. @@ -406,7 +160,7 @@ class GyroSensor(): * 45505: Separate part (2013) """ - def __init__(self, port): + def __init__(self, port, direction=Direction.CLOCKWISE): """GyroSensor(port, direction=Direction.CLOCKWISE) Arguments: diff --git a/pybricks/lpf2devices.py b/pybricks/lpf2devices.py new file mode 100644 index 0000000..bb52130 --- /dev/null +++ b/pybricks/lpf2devices.py @@ -0,0 +1,11 @@ +"""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 + """ From 3bf2704466c2299db90da4a218a3a264e6c25eff Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Sat, 20 Apr 2019 11:24:03 +0200 Subject: [PATCH 61/62] doc: add lpf2 ColorDistanceSensor Manually cherry-pick 925b6bc2474e8aa3b8d5c0d56029627f73edf029 --- pybricks/lpf2devices.py | 53 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 53 insertions(+) diff --git a/pybricks/lpf2devices.py b/pybricks/lpf2devices.py index bb52130..9f171a2 100644 --- a/pybricks/lpf2devices.py +++ b/pybricks/lpf2devices.py @@ -9,3 +9,56 @@ class Motor(CommonMotor): * ?/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 `, 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 `: 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 From 3ffa8a4526805229025979f4be054c56f4325339 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Sat, 20 Apr 2019 11:42:56 +0200 Subject: [PATCH 62/62] doc: initial content for hubs This is cherry-picking from 86e9b0b0fc15b019406bee43718fbdf3416dcf0d --- pybricks/_common.py | 20 -------------------- pybricks/ev3brick.py | 6 +++--- pybricks/hub4.py | 5 +++++ pybricks/movehub.py | 5 +++++ 4 files changed, 13 insertions(+), 23 deletions(-) create mode 100644 pybricks/hub4.py create mode 100644 pybricks/movehub.py diff --git a/pybricks/_common.py b/pybricks/_common.py index 551b1b2..1c22435 100644 --- a/pybricks/_common.py +++ b/pybricks/_common.py @@ -257,10 +257,6 @@ class Motor(): class Display(): """Show images or text on a display.""" - def __init__(self, device_type): - """Device-specific display initialization.""" - pass - def clear(self): """Clear everything on the display.""" pass @@ -317,10 +313,6 @@ class Display(): class Speaker(): """Play beeps and sound files using a speaker.""" - def __init__(self, device_type): - """Device specific speaker initialization.""" - pass - def beep(self, frequency=500, duration=100, volume=30): """Play a beep/tone. @@ -375,23 +367,11 @@ class Speaker(): class Battery(): """Get the status of a battery.""" - def __init__(self, device_type): - """Battery-specific initialization.""" - pass - def voltage(self): """Get the voltage of the battery. Returns: :ref:`voltage`: Battery voltage. - - Examples:: - - # Play a warning sound when the battery voltage - # is below 7 Volt (7000 mV = 7V) - if brick.battery.voltage() < 7000: - brick.sound.beep() - """ pass diff --git a/pybricks/ev3brick.py b/pybricks/ev3brick.py index 77e956c..21739a9 100644 --- a/pybricks/ev3brick.py +++ b/pybricks/ev3brick.py @@ -48,6 +48,6 @@ def light(color): pass -sound = Speaker('EV3') -display = Display('EV3') -battery = Battery('EV3') +sound = Speaker() +display = Display() +battery = Battery() diff --git a/pybricks/hub4.py b/pybricks/hub4.py new file mode 100644 index 0000000..376f194 --- /dev/null +++ b/pybricks/hub4.py @@ -0,0 +1,5 @@ +"""LEGO® Power Functions 2.0 Hub 4.""" + +from _common import Battery + +battery = Battery() diff --git a/pybricks/movehub.py b/pybricks/movehub.py new file mode 100644 index 0000000..beceefa --- /dev/null +++ b/pybricks/movehub.py @@ -0,0 +1,5 @@ +"""LEGO® Power Functions 2.0 Move Hub.""" + +from _common import Battery + +battery = Battery()