mirror of
https://github.com/pybricks/pybricks-api.git
synced 2026-09-11 17:14:41 +00:00
Compare commits
| Author | SHA1 | Date | |
|---|---|---|---|
 David Lechner
|
bf59ef4478 | ||
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David Lechner
|
6b1f7d8eaa | ||
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David Lechner
|
df27ebc27e | ||
|
David Lechner
|
b471cae0bc | ||
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David Lechner
|
eb7f441c9e | ||
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David Lechner
|
dca8518575 |
@@ -1,2 +0,0 @@
|
||||
|
||||
github: [pybricks]
|
||||
@@ -1,38 +0,0 @@
|
||||
name: Release @pybricks/ide-docs
|
||||
|
||||
on:
|
||||
push:
|
||||
tags:
|
||||
- '@pybricks/ide-docs/**'
|
||||
|
||||
jobs:
|
||||
publish_ide_docs:
|
||||
runs-on: ubuntu-20.04
|
||||
steps:
|
||||
- name: Ubuntu packages
|
||||
run: |
|
||||
sudo apt-get update
|
||||
sudo apt-get install -y dvisvgm preview-latex-style texlive texlive-fonts-extra texlive-latex-extra
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
submodules: recursive
|
||||
- name: Set up Python 3.8
|
||||
uses: actions/setup-python@v1
|
||||
with:
|
||||
python-version: 3.8
|
||||
- name: Install dependencies
|
||||
run: |
|
||||
pip install poetry
|
||||
poetry run python -m pip install --upgrade pip
|
||||
poetry run python -m pip install --upgrade setuptools
|
||||
poetry install
|
||||
- uses: actions/setup-node@v1
|
||||
with:
|
||||
node-version: '14.x'
|
||||
registry-url: 'https://registry.npmjs.org'
|
||||
- run: yarn build
|
||||
working-directory: doc/ide
|
||||
- run: yarn publish
|
||||
working-directory: doc/ide
|
||||
env:
|
||||
NODE_AUTH_TOKEN: ${{ secrets.NODE_AUTH_TOKEN }}
|
||||
@@ -1,14 +1,14 @@
|
||||
# This workflow will install Python dependencies, run tests and lint with a variety of Python versions
|
||||
# For more information see: https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions
|
||||
|
||||
name: Build Python package and docs
|
||||
name: Python package
|
||||
|
||||
on: [ push, pull_request ]
|
||||
|
||||
jobs:
|
||||
build:
|
||||
|
||||
runs-on: ubuntu-20.04
|
||||
runs-on: ubuntu-latest
|
||||
strategy:
|
||||
matrix:
|
||||
python-version: [3.8, 3.9]
|
||||
@@ -32,12 +32,6 @@ jobs:
|
||||
- name: Build package
|
||||
run: poetry build
|
||||
- name: Lint docs
|
||||
run: poetry run doc8
|
||||
- name: Build html docs for Read the Docs
|
||||
run: poetry run doc8 --extension .inc
|
||||
- name: Build html docs
|
||||
run: poetry run make -C doc html
|
||||
- name: Instal IDE docs dependencies
|
||||
run: |
|
||||
sudo apt-get update
|
||||
sudo apt-get install dvisvgm preview-latex-style texlive texlive-fonts-extra texlive-latex-extra
|
||||
- name: Build html docs for Pybricks Code IDE
|
||||
run: poetry run make -C doc html SOURCEDIR=ide
|
||||
@@ -1,22 +0,0 @@
|
||||
name: Release to PyPI
|
||||
|
||||
on:
|
||||
release:
|
||||
types: [published]
|
||||
|
||||
jobs:
|
||||
build_and_publish:
|
||||
runs-on: ubuntu-20.04
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
- uses: actions/setup-python@v2
|
||||
with:
|
||||
python-version: 3.8
|
||||
- uses: abatilo/actions-poetry@v2.0.0
|
||||
with:
|
||||
poetry-version: 1.1.6
|
||||
- run: poetry install
|
||||
- run: poetry build
|
||||
- run: poetry publish
|
||||
env:
|
||||
POETRY_PYPI_TOKEN_PYPI: ${{ secrets.PYPI_TOKEN }}
|
||||
@@ -1,3 +1,6 @@
|
||||
[submodule "pybricks-projects"]
|
||||
path = pybricks-projects
|
||||
url = https://github.com/pybricks/pybricks-projects
|
||||
[submodule "media/ev3dev-media"]
|
||||
path = media/ev3dev-media
|
||||
url = https://github.com/ev3dev/ev3dev-media.git
|
||||
|
||||
Vendored
+1
-1
@@ -15,7 +15,7 @@ builtins
|
||||
cdot
|
||||
Celcius
|
||||
cityhub
|
||||
technichub
|
||||
cplushub
|
||||
de
|
||||
dev
|
||||
en
|
||||
|
||||
@@ -0,0 +1,12 @@
|
||||
# Changelog
|
||||
|
||||
<!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
|
||||
|
||||
## 2.0.0.post2
|
||||
|
||||
### Added
|
||||
- Added this changelog.
|
||||
|
||||
### Fixed
|
||||
- Fixed code completion for `DCMotor` and `Motor` classes in MS Python VS Code extension.
|
||||
- Fixed missing `DCMotor` type in `ev3devices`.
|
||||
@@ -1,6 +1,6 @@
|
||||
MIT License
|
||||
|
||||
Copyright (c) 2018-2021 The Pybricks Authors
|
||||
Copyright (c) 2018-2020 The Pybricks Authors
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
|
||||
+2
-3
@@ -6,8 +6,8 @@
|
||||
import os
|
||||
|
||||
# General information about the project.
|
||||
project = 'pybricks'
|
||||
copyright = '2018-2021 The Pybricks Authors'
|
||||
project = 'pybricks-micropython'
|
||||
copyright = '2018-2020 The Pybricks Authors'
|
||||
author = ''
|
||||
|
||||
_TITLE = 'Pybricks Modules and Examples'
|
||||
@@ -15,7 +15,6 @@ _DISCLAIMER = 'LEGO, the LEGO logo, MINDSTORMS and the MINDSTORMS EV3 logo are\
|
||||
trademarks and/or copyrights of the LEGO Group of companies \
|
||||
which does not sponsor, authorize or endorse this site.'
|
||||
|
||||
html_favicon = '../common/images/favicon.ico'
|
||||
html_logo = '../common/images/pybricks-logo-rtd.png'
|
||||
latex_logo = '../common/images/pybricks-logo-large.png'
|
||||
|
||||
|
||||
@@ -1,14 +1,11 @@
|
||||
0 Name: hubs.ldr
|
||||
0 Name: pupmotors
|
||||
0 Author: Pybricks {laurens@pybricks.com}
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0 Name: hubsoverview.ldr
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0 Author: Pybricks {laurens@pybricks.com}
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|
||||
width="967.99994"
|
||||
height="402"
|
||||
|
||||
|
Before Width: | Height: | Size: 7.4 KiB After Width: | Height: | Size: 7.5 KiB |
@@ -15,7 +15,6 @@ Motors
|
||||
EV3-compatible motors. The arrows indicate the default positive direction.
|
||||
|
||||
.. autoclass:: pybricks.ev3devices.Motor
|
||||
:noindex:
|
||||
:no-members:
|
||||
|
||||
.. rubric:: Measuring
|
||||
@@ -75,10 +74,6 @@ Color Sensor
|
||||
Infrared Sensor and Beacon
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
Each method of this class puts the sensor in a different *mode*. Switching
|
||||
modes takes about one second on this sensor. To make sure that your program
|
||||
runs quickly, use only of these methods in your program.
|
||||
|
||||
.. figure:: ../api/images/sensor_ev3_ir.png
|
||||
:width: 60 %
|
||||
|
||||
|
||||
@@ -0,0 +1,32 @@
|
||||
Working with vectors
|
||||
====================
|
||||
|
||||
Scalars and Vectors
|
||||
~~~~~~~~~~~~~~~~~~~~~~~
|
||||
|
||||
.. _scalar:
|
||||
|
||||
scalar
|
||||
--------------
|
||||
|
||||
TODO
|
||||
|
||||
.. _vector:
|
||||
|
||||
vector
|
||||
--------------
|
||||
|
||||
TODO
|
||||
|
||||
Robot reference frame
|
||||
~~~~~~~~~~~~~~~~~~~~~~~
|
||||
|
||||
.. _robotframe:
|
||||
|
||||
Robot reference frame
|
||||
----------------------
|
||||
|
||||
TODO (explanation, diagram, etc)::
|
||||
* X: To the right
|
||||
* Y: forward
|
||||
* Z: upward
|
||||
@@ -0,0 +1,18 @@
|
||||
:mod:`hubs <pybricks.hubs>` -- Programmable Hubs
|
||||
================================================
|
||||
|
||||
.. module:: pybricks.hubs
|
||||
|
||||
.. _fig_hubs:
|
||||
|
||||
Select your programmable hub using the buttons below.
|
||||
|
||||
.. content-tabs::
|
||||
|
||||
.. tab-container:: ev3brick
|
||||
:title: EV3 Brick
|
||||
|
||||
.. figure:: ../api/images/ev3brick.png
|
||||
:height: 15 em
|
||||
|
||||
.. include:: hubs_ev3brick.inc
|
||||
@@ -1,51 +0,0 @@
|
||||
City Hub
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. figure:: ../../api/images/cityhub.png
|
||||
:height: 15 em
|
||||
|
||||
.. autoclass:: pybricks.hubs.CityHub
|
||||
:no-members:
|
||||
|
||||
.. rubric:: Using the hub status light
|
||||
|
||||
.. automethod:: pybricks.hubs::CityHub.light.on
|
||||
|
||||
.. automethod:: pybricks.hubs::CityHub.light.off
|
||||
|
||||
.. automethod:: pybricks.hubs::CityHub.light.blink
|
||||
|
||||
.. automethod:: pybricks.hubs::CityHub.light.animate
|
||||
|
||||
.. rubric:: Using the battery
|
||||
|
||||
.. automethod:: pybricks.hubs::CityHub.battery.voltage
|
||||
|
||||
.. automethod:: pybricks.hubs::CityHub.battery.current
|
||||
|
||||
Status light examples
|
||||
---------------------
|
||||
|
||||
Turning the light on and off
|
||||
****************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/hub_cityhub/light_off.py
|
||||
|
||||
Changing brightness and using custom colors
|
||||
*******************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/hub_cityhub/light_hsv.py
|
||||
|
||||
Making the light blink
|
||||
**********************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/hub_cityhub/light_blink.py
|
||||
|
||||
Creating light animations
|
||||
*************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/hub_cityhub/light_animate.py
|
||||
@@ -1,200 +0,0 @@
|
||||
MINDSTORMS EV3 Brick
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. figure:: ../../api/images/ev3brick.png
|
||||
:height: 15 em
|
||||
|
||||
.. autoclass:: pybricks.hubs.EV3Brick
|
||||
:no-members:
|
||||
|
||||
.. rubric:: Using the buttons
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.buttons.pressed
|
||||
|
||||
.. rubric:: Using the brick status light
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.light.on
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.light.off
|
||||
|
||||
.. rubric:: Using the speaker
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.speaker.beep
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.speaker.play_notes
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.speaker.play_file
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.speaker.say
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.speaker.set_speech_options
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.speaker.set_volume
|
||||
|
||||
.. rubric:: Using the screen
|
||||
|
||||
.. |this image| replace:: the screen
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.clear
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.draw_text
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.print
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.set_font
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.load_image
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.draw_image
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.draw_pixel
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.draw_line
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.draw_box
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.draw_circle
|
||||
|
||||
.. autoattribute:: pybricks.hubs::EV3Brick.screen.width
|
||||
|
||||
.. autoattribute:: pybricks.hubs::EV3Brick.screen.height
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.save
|
||||
|
||||
.. rubric:: Using the battery
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.battery.voltage
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.battery.current
|
||||
|
||||
Status light examples
|
||||
---------------------
|
||||
|
||||
Turn the light on and change the color
|
||||
**************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/ev3/light_color/main.py
|
||||
|
||||
Screen examples
|
||||
---------------------
|
||||
|
||||
Show an image on the screen
|
||||
***************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/ev3/screen_image/main.py
|
||||
|
||||
Drawing shapes on the screen
|
||||
****************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/ev3/screen_draw/main.py
|
||||
|
||||
Using different fonts
|
||||
*********************
|
||||
|
||||
.. raw:: latex
|
||||
|
||||
\begin{CJK}{UTF8}{gbsn}
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/ev3/screen_print/main.py
|
||||
|
||||
.. raw:: latex
|
||||
|
||||
\end{CJK}
|
||||
|
||||
.. rubric:: Available languages and voices for speech
|
||||
|
||||
.. [#espeak_lang]
|
||||
|
||||
You can choose the following languages:
|
||||
|
||||
- ``'af'``: Afrikaans
|
||||
- ``'an'``: Aragonese
|
||||
- ``'bg'``: Bulgarian
|
||||
- ``'bs'``: Bosnian
|
||||
- ``'ca'``: Catalan
|
||||
- ``'cs'``: Czech
|
||||
- ``'cy'``: Welsh
|
||||
- ``'da'``: Danish
|
||||
- ``'de'``: German
|
||||
- ``'el'``: Greek
|
||||
- ``'en'``: English (default)
|
||||
- ``'en-gb'``: English (United Kingdom)
|
||||
- ``'en-sc'``: English (Scotland)
|
||||
- ``'en-uk-north'``: English (United Kingdom, Northern)
|
||||
- ``'en-uk-rp'``: English (United Kingdom, Received Pronunciation)
|
||||
- ``'en-uk-wmids'``: English (United Kingdom, West Midlands)
|
||||
- ``'en-us'``: English (United States)
|
||||
- ``'en-wi'``: English (West Indies)
|
||||
- ``'eo'``: Esperanto
|
||||
- ``'es'``: Spanish
|
||||
- ``'es-la'``: Spanish (Latin America)
|
||||
- ``'et'``: Estonian
|
||||
- ``'fa'``: Persian
|
||||
- ``'fa-pin'``: Persian
|
||||
- ``'fi'``: Finnish
|
||||
- ``'fr-be'``: French (Belgium)
|
||||
- ``'fr-fr'``: French (France)
|
||||
- ``'ga'``: Irish
|
||||
- ``'grc'``: Greek
|
||||
- ``'hi'``: Hindi
|
||||
- ``'hr'``: Croatian
|
||||
- ``'hu'``: Hungarian
|
||||
- ``'hy'``: Armenian
|
||||
- ``'hy-west'``: Armenian (Western)
|
||||
- ``'id'``: Indonesian
|
||||
- ``'is'``: Icelandic
|
||||
- ``'it'``: Italian
|
||||
- ``'jbo'``: Lojban
|
||||
- ``'ka'``: Georgian
|
||||
- ``'kn'``: Kannada
|
||||
- ``'ku'``: Kurdish
|
||||
- ``'la'``: Latin
|
||||
- ``'lfn'``: Lingua Franca Nova
|
||||
- ``'lt'``: Lithuanian
|
||||
- ``'lv'``: Latvian
|
||||
- ``'mk'``: Macedonian
|
||||
- ``'ml'``: Malayalam
|
||||
- ``'ms'``: Malay
|
||||
- ``'ne'``: Nepali
|
||||
- ``'nl'``: Dutch
|
||||
- ``'no'``: Norwegian
|
||||
- ``'pa'``: Punjabi
|
||||
- ``'pl'``: Polish
|
||||
- ``'pt-br'``: Portuguese (Brazil)
|
||||
- ``'pt-pt'``: Portuguese (Portugal)
|
||||
- ``'ro'``: Romanian
|
||||
- ``'ru'``: Russian
|
||||
- ``'sk'``: Slovak
|
||||
- ``'sq'``: Albanian
|
||||
- ``'sr'``: Serbian
|
||||
- ``'sv'``: Swedish
|
||||
- ``'sw'``: Swahili
|
||||
- ``'ta'``: Tamil
|
||||
- ``'tr'``: Turkish
|
||||
- ``'vi'``: Vietnamese
|
||||
- ``'vi-hue'``: Vietnamese (Hue)
|
||||
- ``'vi-sgn'``: Vietnamese (Saigon)
|
||||
- ``'zh'``: Mandarin Chinese
|
||||
- ``'zh-yue'``: Cantonese Chinese
|
||||
|
||||
You can choose the following voices:
|
||||
|
||||
- ``'f1'``: female variant 1
|
||||
- ``'f2'``: female variant 2
|
||||
- ``'f3'``: female variant 3
|
||||
- ``'f4'``: female variant 4
|
||||
- ``'f5'``: female variant 5
|
||||
- ``'m1'``: male variant 1
|
||||
- ``'m2'``: male variant 2
|
||||
- ``'m3'``: male variant 3
|
||||
- ``'m4'``: male variant 4
|
||||
- ``'m5'``: male variant 5
|
||||
- ``'m6'``: male variant 6
|
||||
- ``'m7'``: male variant 7
|
||||
- ``'croak'``: croak
|
||||
- ``'whisper'``: whisper
|
||||
- ``'whisperf'``: female whisper
|
||||
@@ -1,38 +0,0 @@
|
||||
:mod:`hubs <pybricks.hubs>` -- Programmable Hubs
|
||||
================================================
|
||||
|
||||
.. module:: pybricks.hubs
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 1
|
||||
:hidden:
|
||||
|
||||
movehub
|
||||
cityhub
|
||||
technichub
|
||||
ev3brick
|
||||
|
||||
.. pybricks-classlink:: MoveHub
|
||||
|
||||
.. figure:: ../../api/images/movehub.png
|
||||
:height: 10 em
|
||||
:target: movehub.html
|
||||
|
||||
.. pybricks-classlink:: CityHub
|
||||
|
||||
.. figure:: ../../api/images/cityhub.png
|
||||
:height: 10 em
|
||||
:target: cityhub.html
|
||||
|
||||
.. pybricks-classlink:: TechnicHub
|
||||
|
||||
.. figure:: ../../api/images/technichub.png
|
||||
:height: 10 em
|
||||
:target: technichub.html
|
||||
|
||||
.. pybricks-classlink:: EV3Brick
|
||||
|
||||
.. figure:: ../../api/images/ev3brick.png
|
||||
:height: 10 em
|
||||
:target: ev3brick.html
|
||||
|
||||
@@ -1,42 +0,0 @@
|
||||
Move Hub
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. _fig_movehub:
|
||||
|
||||
.. figure:: ../../api/images/movehub_label.png
|
||||
:height: 15 em
|
||||
|
||||
.. autoclass:: pybricks.hubs.MoveHub
|
||||
:no-members:
|
||||
|
||||
.. rubric:: Using the hub status light
|
||||
|
||||
.. automethod:: pybricks.hubs::MoveHub.light.on
|
||||
|
||||
.. automethod:: pybricks.hubs::MoveHub.light.off
|
||||
|
||||
.. automethod:: pybricks.hubs::MoveHub.light.blink
|
||||
|
||||
.. automethod:: pybricks.hubs::MoveHub.light.animate
|
||||
|
||||
.. rubric:: Using the battery
|
||||
|
||||
.. automethod:: pybricks.hubs::MoveHub.battery.voltage
|
||||
|
||||
.. automethod:: pybricks.hubs::MoveHub.battery.current
|
||||
|
||||
Status light examples
|
||||
---------------------
|
||||
|
||||
Turning the light on and off
|
||||
******************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/hub_movehub/light_off.py
|
||||
|
||||
Making the light blink
|
||||
******************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/hub_movehub/light_blink.py
|
||||
|
||||
@@ -1,50 +0,0 @@
|
||||
Technic Hub
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. figure:: ../../api/images/technichub.png
|
||||
:height: 15 em
|
||||
|
||||
.. class:: TechnicHub
|
||||
|
||||
.. rubric:: Using the hub status light
|
||||
|
||||
.. automethod:: pybricks.hubs::TechnicHub.light.on
|
||||
|
||||
.. automethod:: pybricks.hubs::TechnicHub.light.off
|
||||
|
||||
.. automethod:: pybricks.hubs::TechnicHub.light.blink
|
||||
|
||||
.. automethod:: pybricks.hubs::TechnicHub.light.animate
|
||||
|
||||
.. rubric:: Using the battery
|
||||
|
||||
.. automethod:: pybricks.hubs::TechnicHub.battery.voltage
|
||||
|
||||
.. automethod:: pybricks.hubs::TechnicHub.battery.current
|
||||
|
||||
Status light examples
|
||||
---------------------
|
||||
|
||||
Turning the light on and off
|
||||
****************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/hub_technichub/light_off.py
|
||||
|
||||
Changing brightness and using custom colors
|
||||
*******************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/hub_technichub/light_hsv.py
|
||||
|
||||
Making the light blink
|
||||
**********************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/hub_technichub/light_blink.py
|
||||
|
||||
Creating light animations
|
||||
*************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/hub_technichub/light_animate.py
|
||||
@@ -0,0 +1,230 @@
|
||||
.. autoclass:: pybricks.hubs.EV3Brick
|
||||
:no-members:
|
||||
|
||||
.. rubric:: Using the buttons
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.buttons.pressed
|
||||
|
||||
.. rubric:: Using the brick status light
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.light.on
|
||||
|
||||
.. toggle-header::
|
||||
:header: **Show/hide example**
|
||||
|
||||
**Example: Turn the light on and change the color.**
|
||||
|
||||
.. literalinclude::
|
||||
../../pybricks-projects/snippets/ev3/light_color/main.py
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.light.off
|
||||
|
||||
.. rubric:: Using the speaker
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.speaker.beep
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.speaker.play_notes
|
||||
|
||||
.. toggle-header::
|
||||
:header: **Show/hide musical note format**
|
||||
|
||||
Each note is a string with the following format:
|
||||
|
||||
- The first character is the name of the note, ``A`` to ``G``
|
||||
or ``R`` for a rest.
|
||||
- Note names can also include an accidental ``#`` (sharp) or
|
||||
``b`` (flat). ``B#``/``Cb`` and ``E#``/``Fb`` are not
|
||||
allowed.
|
||||
- The note name is followed by the octave number ``2``
|
||||
to ``8``. For example ``C4`` is middle C. The octave changes
|
||||
to the next number at the note C, for example, ``B3`` is the
|
||||
note below middle C (``C4``).
|
||||
- The octave is followed by ``/`` and a number that indicates
|
||||
the size of the note. For example ``/4`` is a quarter note,
|
||||
``/8`` is an eighth note and so on.
|
||||
- This can optionally followed by a ``.`` to make a dotted
|
||||
note. Dotted notes are 1-1/2 times as long as notes without a
|
||||
dot.
|
||||
- The note can optionally end with a ``_`` which is a tie or a
|
||||
slur. This causes there to be no pause between this note and
|
||||
the next note.
|
||||
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.speaker.play_file
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.speaker.say
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.speaker.set_speech_options
|
||||
|
||||
.. toggle-header::
|
||||
:header: **Show/hide available languages and voices**
|
||||
|
||||
You can choose the following languages:
|
||||
|
||||
- ``'af'``: Afrikaans
|
||||
- ``'an'``: Aragonese
|
||||
- ``'bg'``: Bulgarian
|
||||
- ``'bs'``: Bosnian
|
||||
- ``'ca'``: Catalan
|
||||
- ``'cs'``: Czech
|
||||
- ``'cy'``: Welsh
|
||||
- ``'da'``: Danish
|
||||
- ``'de'``: German
|
||||
- ``'el'``: Greek
|
||||
- ``'en'``: English (default)
|
||||
- ``'en-gb'``: English (United Kingdom)
|
||||
- ``'en-sc'``: English (Scotland)
|
||||
- ``'en-uk-north'``: English (United Kingdom, Northern)
|
||||
- ``'en-uk-rp'``:
|
||||
English (United Kingdom, Received Pronunciation)
|
||||
- ``'en-uk-wmids'``: English (United Kingdom, West Midlands)
|
||||
- ``'en-us'``: English (United States)
|
||||
- ``'en-wi'``: English (West Indies)
|
||||
- ``'eo'``: Esperanto
|
||||
- ``'es'``: Spanish
|
||||
- ``'es-la'``: Spanish (Latin America)
|
||||
- ``'et'``: Estonian
|
||||
- ``'fa'``: Persian
|
||||
- ``'fa-pin'``: Persian
|
||||
- ``'fi'``: Finnish
|
||||
- ``'fr-be'``: French (Belgium)
|
||||
- ``'fr-fr'``: French (France)
|
||||
- ``'ga'``: Irish
|
||||
- ``'grc'``: Greek
|
||||
- ``'hi'``: Hindi
|
||||
- ``'hr'``: Croatian
|
||||
- ``'hu'``: Hungarian
|
||||
- ``'hy'``: Armenian
|
||||
- ``'hy-west'``: Armenian (Western)
|
||||
- ``'id'``: Indonesian
|
||||
- ``'is'``: Icelandic
|
||||
- ``'it'``: Italian
|
||||
- ``'jbo'``: Lojban
|
||||
- ``'ka'``: Georgian
|
||||
- ``'kn'``: Kannada
|
||||
- ``'ku'``: Kurdish
|
||||
- ``'la'``: Latin
|
||||
- ``'lfn'``: Lingua Franca Nova
|
||||
- ``'lt'``: Lithuanian
|
||||
- ``'lv'``: Latvian
|
||||
- ``'mk'``: Macedonian
|
||||
- ``'ml'``: Malayalam
|
||||
- ``'ms'``: Malay
|
||||
- ``'ne'``: Nepali
|
||||
- ``'nl'``: Dutch
|
||||
- ``'no'``: Norwegian
|
||||
- ``'pa'``: Punjabi
|
||||
- ``'pl'``: Polish
|
||||
- ``'pt-br'``: Portuguese (Brazil)
|
||||
- ``'pt-pt'``: Portuguese (Portugal)
|
||||
- ``'ro'``: Romanian
|
||||
- ``'ru'``: Russian
|
||||
- ``'sk'``: Slovak
|
||||
- ``'sq'``: Albanian
|
||||
- ``'sr'``: Serbian
|
||||
- ``'sv'``: Swedish
|
||||
- ``'sw'``: Swahili
|
||||
- ``'ta'``: Tamil
|
||||
- ``'tr'``: Turkish
|
||||
- ``'vi'``: Vietnamese
|
||||
- ``'vi-hue'``: Vietnamese (Hue)
|
||||
- ``'vi-sgn'``: Vietnamese (Saigon)
|
||||
- ``'zh'``: Mandarin Chinese
|
||||
- ``'zh-yue'``: Cantonese Chinese
|
||||
|
||||
You can choose the following voices:
|
||||
|
||||
- ``'f1'``: female variant 1
|
||||
- ``'f2'``: female variant 2
|
||||
- ``'f3'``: female variant 3
|
||||
- ``'f4'``: female variant 4
|
||||
- ``'f5'``: female variant 5
|
||||
- ``'m1'``: male variant 1
|
||||
- ``'m2'``: male variant 2
|
||||
- ``'m3'``: male variant 3
|
||||
- ``'m4'``: male variant 4
|
||||
- ``'m5'``: male variant 5
|
||||
- ``'m6'``: male variant 6
|
||||
- ``'m7'``: male variant 7
|
||||
- ``'croak'``: croak
|
||||
- ``'whisper'``: whisper
|
||||
- ``'whisperf'``: female whisper
|
||||
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.speaker.set_volume
|
||||
|
||||
|
||||
.. rubric:: Using the screen
|
||||
|
||||
.. |this image| replace:: the screen
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.clear
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.draw_text
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.print
|
||||
|
||||
.. toggle-header::
|
||||
:header: **Show/hide example**
|
||||
|
||||
**Example: Say hello... in several ways.**
|
||||
|
||||
.. raw:: latex
|
||||
|
||||
\begin{CJK}{UTF8}{gbsn}
|
||||
|
||||
.. literalinclude::
|
||||
../../pybricks-projects/snippets/ev3/screen_print/main.py
|
||||
|
||||
.. raw:: latex
|
||||
|
||||
\end{CJK}
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.set_font
|
||||
|
||||
**Example:** See example in :meth:`print`.
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.load_image
|
||||
|
||||
.. toggle-header::
|
||||
:header: **Show/hide example**
|
||||
|
||||
**Example: Show an image on the screen.**
|
||||
|
||||
.. literalinclude::
|
||||
../../pybricks-projects/snippets/ev3/screen_image/main.py
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.draw_image
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.draw_pixel
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.draw_line
|
||||
|
||||
.. toggle-header::
|
||||
:header: **Show/hide example**
|
||||
|
||||
**Example: Draw some shapes on the screen.**
|
||||
|
||||
.. literalinclude::
|
||||
../../pybricks-projects/snippets/ev3/screen_draw/main.py
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.draw_box
|
||||
|
||||
**Example:** See example in :meth:`draw_line`.
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.draw_circle
|
||||
|
||||
**Example:** See example in :meth:`draw_line`.
|
||||
|
||||
.. autoattribute:: pybricks.hubs::EV3Brick.screen.width
|
||||
|
||||
.. autoattribute:: pybricks.hubs::EV3Brick.screen.height
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.screen.save
|
||||
|
||||
|
||||
.. rubric:: Using the battery
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.battery.voltage
|
||||
|
||||
.. automethod:: pybricks.hubs::EV3Brick.battery.current
|
||||
|
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+17
-25
@@ -1,4 +1,4 @@
|
||||
Pybricks API Documentation
|
||||
Welcome to Pybricks!
|
||||
==================================================================
|
||||
|
||||
This documentation has everything you need to install Pybricks and
|
||||
@@ -7,24 +7,7 @@ run your first scripts.
|
||||
|
||||
**Step 1: Install Pybricks**
|
||||
|
||||
Pybricks scripts are the same across all hubs. The only difference is in how
|
||||
you install Pybricks and how you run scripts. To get started, click one of
|
||||
the platforms below.
|
||||
|
||||
.. list-table::
|
||||
|
||||
* - **MINDSTORMS EV3**
|
||||
- **Powered Up (Technic/City/BOOST)**
|
||||
- **SPIKE / MINDSTORMS Inventor**
|
||||
|
||||
* - .. image:: ../api/images/ev3brick.png
|
||||
:target: https://pybricks.com/install/mindstorms-ev3/installation
|
||||
|
||||
- .. figure:: ../api/images/powereduphubs.png
|
||||
:target: https://pybricks.com/install/technic-boost-city/
|
||||
|
||||
- .. figure:: ../api/images/primeinventorhub.png
|
||||
:target: https://pybricks.com/install/spike-mindstorms/
|
||||
To get started, go to the :doc:`EV3 Quick Start <start_ev3>`.
|
||||
|
||||
|
||||
**Step 2: Start coding!**
|
||||
@@ -53,20 +36,29 @@ findings on our `support page`_ so we can make Pybricks even better.
|
||||
:hidden:
|
||||
|
||||
Home Page <https://pybricks.com>
|
||||
Installation <https://pybricks.com/install/>
|
||||
Downloads <https://pybricks.com/downloads/>
|
||||
Example Projects <https://github.com/pybricks/pybricks-projects>
|
||||
Support <https://github.com/pybricks/support/issues/>
|
||||
About Pybricks <https://pybricks.com/about/>
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 1
|
||||
:caption: Getting started
|
||||
:hidden:
|
||||
|
||||
start_ev3
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 1
|
||||
:caption: Pybricks Modules
|
||||
:hidden:
|
||||
|
||||
hubs/index
|
||||
pupdevices/index
|
||||
hubs
|
||||
ev3devices
|
||||
nxtdevices
|
||||
iodevices/index
|
||||
parameters/index
|
||||
tools/index
|
||||
iodevices
|
||||
parameters
|
||||
tools
|
||||
robotics
|
||||
media
|
||||
messaging
|
||||
|
||||
@@ -0,0 +1,27 @@
|
||||
:mod:`iodevices <pybricks.iodevices>` -- Generic I/O Devices
|
||||
============================================================
|
||||
|
||||
.. automodule:: pybricks.iodevices
|
||||
:no-members:
|
||||
|
||||
.. note::
|
||||
|
||||
This module provides classes to interact with unofficial motors, sensors,
|
||||
and other custom electronics. You should only connect custom electronics
|
||||
or unofficial devices if you know what you are doing. Proceed with caution.
|
||||
|
||||
LUMP Device
|
||||
^^^^^^^^^^^^^
|
||||
|
||||
.. figure:: ../api/images/sensor_lump.png
|
||||
:width: 80 %
|
||||
|
||||
.. autoclass:: pybricks.iodevices.LUMPDevice
|
||||
|
||||
.. raw:: html
|
||||
|
||||
<h1>EV3 Only</h1>
|
||||
|
||||
The classes listed below are **only available on the EV3**.
|
||||
|
||||
.. include:: iodevices_ev3.inc
|
||||
@@ -1,11 +0,0 @@
|
||||
EV3 Analog Sensor
|
||||
^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. note::
|
||||
|
||||
This class is only available on EV3.
|
||||
|
||||
.. figure:: ../../api/images/sensor_rj12_brown.png
|
||||
:width: 25 %
|
||||
|
||||
.. autoclass:: pybricks.iodevices.AnalogSensor
|
||||
@@ -1,20 +0,0 @@
|
||||
EV3 DC Motor
|
||||
^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. note::
|
||||
|
||||
This class is specifically for on EV3. For Powered Up DC Motors, just use
|
||||
the :class:`DCMotor <pybricks.pupdevices.DCMotor>` class.
|
||||
|
||||
.. figure:: ../../api/images/rcxmotor.png
|
||||
:width: 40 %
|
||||
|
||||
.. autoclass:: pybricks._common.DCMotor
|
||||
:noindex:
|
||||
:no-members:
|
||||
|
||||
.. automethod:: pybricks._common.DCMotor.dc
|
||||
:noindex:
|
||||
|
||||
.. automethod:: pybricks._common.DCMotor.stop
|
||||
:noindex:
|
||||
@@ -1,60 +0,0 @@
|
||||
Ev3dev sensors
|
||||
^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. note::
|
||||
|
||||
This class is only available on EV3.
|
||||
|
||||
.. figure:: ../../api/images/sensor_ev3dev.png
|
||||
:width: 70 %
|
||||
|
||||
EV3 MicroPython is built on top of ev3dev, which means that a sensor
|
||||
may be supported even if it is not listed in this documentation. If so, you can
|
||||
use it with the ``Ev3devSensor`` class. This is easier and faster than using
|
||||
the custom device classes given above.
|
||||
|
||||
To check whether you can use the ``Ev3devSensor`` class:
|
||||
|
||||
* Plug the sensor into your EV3 Brick.
|
||||
* Go to the main menu of the EV3 Brick.
|
||||
* Select `Device Browser` and then `Sensors`.
|
||||
* If your sensor shows up, you can use it.
|
||||
|
||||
Now select your sensor from the menu and choose `set mode`. This shows all
|
||||
available modes for this sensor. You can use these mode names as the ``mode``
|
||||
setting below.
|
||||
|
||||
To learn more about compatible devices and what each mode does,
|
||||
visit the `ev3dev sensors`_ page.
|
||||
|
||||
.. autoclass:: pybricks.iodevices.Ev3devSensor
|
||||
:no-members:
|
||||
|
||||
.. autoattribute:: pybricks.iodevices.Ev3devSensor.sensor_index
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.iodevices.Ev3devSensor.port_index
|
||||
:annotation:
|
||||
|
||||
.. automethod:: pybricks.iodevices.Ev3devSensor.read
|
||||
|
||||
**Example: Reading values with the Ev3devSensor class**
|
||||
|
||||
In this example we use the LEGO MINDSTORMS EV3 Color Sensor with the raw
|
||||
RGB mode. This gives uncalibrated red, green, and blue reflection values.
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/ev3/ev3devsensor/main.py
|
||||
|
||||
**Example: Extending the Ev3devSensor class**
|
||||
|
||||
This example shows how to extend the ``Ev3devSensor`` class by accessing
|
||||
additional features found in the Linux system folder for this device.
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/ev3/ev3devsensor/class_example.py
|
||||
|
||||
.. _ev3dev sensors: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensors.html
|
||||
.. _Mode name: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensor_data.html
|
||||
.. _lego-sensor: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensors.html#the-lego-sensor-subsytem
|
||||
.. _lego-port: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/ports.html#the-lego-port-subsystem
|
||||
@@ -1,50 +0,0 @@
|
||||
Generic I2C Device
|
||||
^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. note::
|
||||
|
||||
This class is **only supported on the EV3** at this time. It could be added
|
||||
to Powered Up hubs in a future release. If you'd like to see this happen, be
|
||||
sure to ask us on our `support page`_.
|
||||
|
||||
.. _support page: https://github.com/pybricks/support/issues/
|
||||
|
||||
|
||||
.. figure:: ../../api/images/sensor_rj12_bluegreen.png
|
||||
:width: 25 %
|
||||
|
||||
.. autoclass:: pybricks.iodevices.I2CDevice
|
||||
|
||||
**Example: Read and write to an I2C device**
|
||||
|
||||
.. literalinclude:: ../../../examples/ev3/i2c_basics/main.py
|
||||
|
||||
.. _i2caddress:
|
||||
|
||||
I2C Addresses
|
||||
---------------
|
||||
I2C addresses are 7-bit values. However, most vendors who make LEGO compatible
|
||||
sensors provide an 8-bit address in their documentation.
|
||||
To use those addresses, you must shift them by 1 bit.
|
||||
For example, if the documented address is ``0xD2``, you can do
|
||||
``address = 0xD2 >> 1``.
|
||||
|
||||
Advanced I2C Commands
|
||||
---------------------
|
||||
Some rudimentary I2C devices do not require a register argument or even any
|
||||
data. You can achieve this behavior as shown in the examples below.
|
||||
|
||||
**Example: Advanced I2C read and write techniques**
|
||||
|
||||
.. literalinclude:: ../../../examples/ev3/i2c_extra/main.py
|
||||
|
||||
**Additional technical resources**
|
||||
|
||||
The ``I2CDevice`` class methods call functions from the Linux SMBus driver.
|
||||
To find out which commands are called under the hood, check the
|
||||
`Pybricks source code`_.
|
||||
More details about using I2C without MicroPython can be found on
|
||||
the `ev3dev I2C`_ page.
|
||||
|
||||
.. _ev3dev I2C: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/i2c.html
|
||||
.. _Pybricks source code: https://github.com/pybricks/pybricks-micropython
|
||||
@@ -1,61 +0,0 @@
|
||||
:mod:`iodevices <pybricks.iodevices>` -- Generic I/O Devices
|
||||
============================================================
|
||||
|
||||
.. automodule:: pybricks.iodevices
|
||||
:no-members:
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 1
|
||||
:hidden:
|
||||
|
||||
pupdevice
|
||||
i2cdevice
|
||||
uartdevice
|
||||
analogsensor
|
||||
lumpdevice
|
||||
dcmotor
|
||||
ev3devsensor
|
||||
|
||||
.. pybricks-classlink:: PUPDevice
|
||||
|
||||
.. figure:: ../../api/images/sensor_pup.png
|
||||
:width: 70 %
|
||||
:target: pupdevice.html
|
||||
|
||||
This class is only available on Powered Up hubs.
|
||||
|
||||
.. pybricks-classlink:: I2CDevice
|
||||
|
||||
.. figure:: ../../api/images/sensor_rj12_bluegreen.png
|
||||
:width: 25 %
|
||||
:target: i2cdevice.html
|
||||
|
||||
.. pybricks-classlink:: UARTDevice
|
||||
|
||||
.. figure:: ../../api/images/sensor_rj12_gray.png
|
||||
:width: 25 %
|
||||
:target: uartdevice.html
|
||||
|
||||
.. pybricks-classlink:: AnalogSensor
|
||||
|
||||
.. figure:: ../../api/images/sensor_rj12_brown.png
|
||||
:width: 25 %
|
||||
:target: analogsensor.html
|
||||
|
||||
.. pybricks-classlink:: LUMPDevice
|
||||
|
||||
.. figure:: ../../api/images/sensor_rj12_green.png
|
||||
:width: 25 %
|
||||
:target: lumpdevice.html
|
||||
|
||||
.. pybricks-classlink:: DCMotor
|
||||
|
||||
.. figure:: ../../api/images/rcxmotor.png
|
||||
:width: 40 %
|
||||
:target: dcmotor.html
|
||||
|
||||
.. pybricks-classlink:: Ev3devSensor
|
||||
|
||||
.. figure:: ../../api/images/sensor_ev3dev.png
|
||||
:width: 70 %
|
||||
:target: ev3devsensor.html
|
||||
@@ -1,11 +0,0 @@
|
||||
EV3 UART Device
|
||||
^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. note::
|
||||
|
||||
This class is only available on EV3.
|
||||
|
||||
.. figure:: ../../api/images/sensor_rj12_green.png
|
||||
:width: 25 %
|
||||
|
||||
.. autoclass:: pybricks.iodevices.LUMPDevice
|
||||
@@ -1,23 +0,0 @@
|
||||
Powered Up Device
|
||||
^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. figure:: ../../api/images/sensor_pup.png
|
||||
:width: 70 %
|
||||
|
||||
.. autoclass:: pybricks.iodevices.PUPDevice
|
||||
:no-members:
|
||||
|
||||
.. automethod:: pybricks.iodevices.PUPDevice.info
|
||||
|
||||
.. automethod:: pybricks.iodevices.PUPDevice.read
|
||||
|
||||
.. automethod:: pybricks.iodevices.PUPDevice.write
|
||||
|
||||
Examples
|
||||
-------------------
|
||||
|
||||
Detecting devices
|
||||
******************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/iodevices_pupdevice/port_info.py
|
||||
@@ -1,20 +0,0 @@
|
||||
Generic UART Device
|
||||
^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. note::
|
||||
|
||||
This class is **only supported on the EV3** at this time. It could be added
|
||||
to Powered Up hubs in a future release. If you'd like to see this happen,
|
||||
be sure to ask us on our `support page`_.
|
||||
|
||||
.. _support page: https://github.com/pybricks/support/issues/
|
||||
|
||||
.. figure:: ../../api/images/sensor_rj12_gray.png
|
||||
:width: 25 %
|
||||
|
||||
.. autoclass:: pybricks.iodevices.UARTDevice
|
||||
|
||||
**Example: Read and write to a UART device**
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/ev3/uart_basics/main.py
|
||||
@@ -0,0 +1,151 @@
|
||||
Analog Sensor
|
||||
^^^^^^^^^^^^^
|
||||
|
||||
.. figure:: ../api/images/sensor_rj12_brown.png
|
||||
:width: 25 %
|
||||
|
||||
.. autoclass:: pybricks.iodevices.AnalogSensor
|
||||
|
||||
I2C Device
|
||||
^^^^^^^^^^^^^
|
||||
|
||||
.. figure:: ../api/images/sensor_rj12_bluegreen.png
|
||||
:width: 25 %
|
||||
|
||||
.. autoclass:: pybricks.iodevices.I2CDevice
|
||||
|
||||
.. toggle-header::
|
||||
:header: **Show/hide example**
|
||||
|
||||
**Example: Read and write to an I2C device.**
|
||||
|
||||
.. literalinclude:: ../../pybricks-projects/snippets/ev3/i2c_basics/main.py
|
||||
|
||||
.. _i2caddress:
|
||||
|
||||
I2C Addresses
|
||||
---------------
|
||||
I2C addresses are 7-bit values. However, most vendors who make LEGO compatible
|
||||
sensors provide an 8-bit address in their documentation.
|
||||
To use those addresses, you must shift them by 1 bit.
|
||||
For example, if the documented address is ``0xD2``, you can do
|
||||
``address = 0xD2 >> 1``.
|
||||
|
||||
Advanced I2C Commands
|
||||
---------------------
|
||||
Some rudimentary I2C devices do not require a register argument or even any
|
||||
data. You can achieve this behavior as shown in the examples below.
|
||||
|
||||
.. toggle-header::
|
||||
:header: **Show/hide example**
|
||||
|
||||
**Example: Advanced I2C read and write techniques.**
|
||||
|
||||
.. literalinclude:: ../../pybricks-projects/snippets/ev3/i2c_extra/main.py
|
||||
|
||||
**Additional technical resources**
|
||||
|
||||
The ``I2CDevice`` class methods call functions from the Linux SMBus driver.
|
||||
To find out which commands are called under the hood, check the
|
||||
`Pybricks source code`_.
|
||||
More details about using I2C without MicroPython can be found on
|
||||
the `ev3dev I2C`_ page.
|
||||
|
||||
.. _ev3dev I2C: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/i2c.html
|
||||
.. _Pybricks source code: https://github.com/pybricks/pybricks-micropython
|
||||
|
||||
|
||||
UART Device
|
||||
^^^^^^^^^^^^^
|
||||
|
||||
.. figure:: ../api/images/sensor_rj12_gray.png
|
||||
:width: 25 %
|
||||
|
||||
.. autoclass:: pybricks.iodevices.UARTDevice
|
||||
|
||||
.. toggle-header::
|
||||
:header: **Show/hide example**
|
||||
|
||||
**Example: Read and write to a UART device.**
|
||||
|
||||
.. literalinclude::
|
||||
../../pybricks-projects/snippets/ev3/uart_basics/main.py
|
||||
|
||||
DC Motor
|
||||
^^^^^^^^^^^^
|
||||
|
||||
.. figure:: ../api/images/rcxmotor.png
|
||||
:width: 40 %
|
||||
|
||||
.. autoclass:: pybricks._common.DCMotor
|
||||
:noindex:
|
||||
:no-members:
|
||||
|
||||
.. automethod:: pybricks._common.DCMotor.dc
|
||||
:noindex:
|
||||
|
||||
.. automethod:: pybricks._common.DCMotor.stop
|
||||
:noindex:
|
||||
|
||||
Ev3dev sensors
|
||||
^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. figure:: ../api/images/sensor_ev3dev.png
|
||||
:width: 70 %
|
||||
|
||||
EV3 MicroPython is built on top of ev3dev, which means that a sensor
|
||||
may be supported even if it is not listed in this documentation. If so, you can
|
||||
use it with the ``Ev3devSensor`` class. This is easier and faster than using
|
||||
the custom device classes given above.
|
||||
|
||||
To check whether you can use the ``Ev3devSensor`` class:
|
||||
|
||||
* Plug the sensor into your EV3 Brick.
|
||||
* Go to the main menu of the EV3 Brick.
|
||||
* Select `Device Browser` and then `Sensors`.
|
||||
* If your sensor shows up, you can use it.
|
||||
|
||||
Now select your sensor from the menu and choose `set mode`. This shows all
|
||||
available modes for this sensor. You can use these mode names as the ``mode``
|
||||
setting below.
|
||||
|
||||
To learn more about compatible devices and what each mode does,
|
||||
visit the `ev3dev sensors`_ page.
|
||||
|
||||
.. autoclass:: pybricks.iodevices.Ev3devSensor
|
||||
:no-members:
|
||||
|
||||
.. autoattribute:: pybricks.iodevices.Ev3devSensor.sensor_index
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.iodevices.Ev3devSensor.port_index
|
||||
:annotation:
|
||||
|
||||
.. automethod:: pybricks.iodevices.Ev3devSensor.read
|
||||
|
||||
.. toggle-header::
|
||||
:header: **Show/hide example: Reading values with the Ev3devSensor class**
|
||||
|
||||
**Example**
|
||||
|
||||
In this example we use the LEGO MINDSTORMS EV3 Color Sensor with the raw
|
||||
RGB mode. This gives uncalibrated red, green, and blue reflection values.
|
||||
|
||||
.. literalinclude::
|
||||
../../pybricks-projects/snippets/ev3/ev3devsensor/main.py
|
||||
|
||||
.. toggle-header::
|
||||
:header: **Show/hide example: Extending the Ev3devSensor class**
|
||||
|
||||
**Example**
|
||||
|
||||
This example shows how to extend the ``Ev3devSensor`` class by accessing
|
||||
additional features found in the Linux system folder for this device.
|
||||
|
||||
.. literalinclude::
|
||||
../../pybricks-projects/snippets/ev3/ev3devsensor/class_example.py
|
||||
|
||||
.. _ev3dev sensors: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensors.html
|
||||
.. _Mode name: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensor_data.html
|
||||
.. _lego-sensor: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensors.html#the-lego-sensor-subsytem
|
||||
.. _lego-port: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/ports.html#the-lego-port-subsystem
|
||||
+877
-1022
File diff suppressed because it is too large
Load Diff
+20
-18
@@ -41,7 +41,7 @@ The connection will be made when you run your programs, as described below.
|
||||
Pairing one EV3 Brick to another EV3 Brick.
|
||||
|
||||
When you scan for Bluetooth devices, you'll see a list of device names. By
|
||||
default, all EV3 Bricks are named *ev3dev*. Click `here`_ to
|
||||
default, all EV3 Bricks are named *ev3dev*. Click :ref:`here <hostname>` to
|
||||
learn how to change that name. This makes it easy to tell them apart.
|
||||
|
||||
Repeat the steps in :numref:`fig_bluetooth_pair` if you want to pair more than
|
||||
@@ -64,6 +64,25 @@ and the client can send a message to the server.
|
||||
|
||||
An example network with one server and one clients.
|
||||
|
||||
.. toggle-header::
|
||||
:header: **Show/hide full server example**
|
||||
|
||||
**Example: EV3 Bluetooth Server.**
|
||||
|
||||
This is the full version of the excerpt shown in :numref:`fig_messaging`.
|
||||
|
||||
.. literalinclude:: ../../pybricks-projects/snippets/ev3/bluetooth_server/server.py
|
||||
|
||||
.. toggle-header::
|
||||
:header: **Show/hide full client example**
|
||||
|
||||
**Example: EV3 Bluetooth Client.**
|
||||
|
||||
This is the full version of the excerpt shown in :numref:`fig_messaging`.
|
||||
|
||||
.. literalinclude:: ../../pybricks-projects/snippets/ev3/bluetooth_client/client.py
|
||||
|
||||
|
||||
The only difference between the client and the server is which one initiates
|
||||
the connection at the beginning of the program:
|
||||
|
||||
@@ -104,21 +123,6 @@ numbers, or text), you can choose one of the Mailboxes below.
|
||||
.. autoclass:: TextMailbox
|
||||
:no-members:
|
||||
|
||||
Examples
|
||||
-----------------
|
||||
|
||||
**EV3 Bluetooth Server**
|
||||
|
||||
This is the full version of the excerpt shown in :numref:`fig_messaging`.
|
||||
|
||||
.. literalinclude:: ../../examples/ev3/bluetooth_server/server.py
|
||||
|
||||
**EV3 Bluetooth Client**
|
||||
|
||||
This is the full version of the excerpt shown in :numref:`fig_messaging`.
|
||||
|
||||
.. literalinclude:: ../../examples/ev3/bluetooth_client/client.py
|
||||
|
||||
Making bigger networks
|
||||
----------------------
|
||||
|
||||
@@ -134,5 +138,3 @@ is shown in :numref:`fig_messaging_network`.
|
||||
:align: center
|
||||
|
||||
An example network with one server and two clients.
|
||||
|
||||
.. _here: https://pybricks.com/install/mindstorms-ev3/beyond-micropython
|
||||
|
||||
@@ -126,8 +126,6 @@ the settings.
|
||||
|
||||
.. automethod:: pybricks._common.Control.stalled
|
||||
|
||||
.. automethod:: pybricks._common.Control.load
|
||||
|
||||
.. rubric:: Settings
|
||||
|
||||
.. automethod:: pybricks._common.Control.limits
|
||||
|
||||
@@ -90,6 +90,9 @@ Vernier Adapter
|
||||
^^^^^^^^^^^^^^^^^
|
||||
.. autoclass:: pybricks.nxtdevices.VernierAdapter
|
||||
|
||||
**Example: Using the Surface Temperature Sensor.**
|
||||
.. toggle-header::
|
||||
:header: **Show/hide example**
|
||||
|
||||
.. literalinclude:: ../../examples/ev3/vernier_surface_temperature/main.py
|
||||
**Example: Using the Surface Temperature Sensor.**
|
||||
|
||||
.. literalinclude:: ../../pybricks-projects/snippets/ev3/vernier_surface_temperature/main.py
|
||||
|
||||
@@ -1,22 +1,42 @@
|
||||
Stop
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
:mod:`parameters <pybricks.parameters>` -- Parameters and Constants
|
||||
===================================================================
|
||||
|
||||
.. class:: Stop
|
||||
.. automodule:: pybricks.parameters
|
||||
:no-members:
|
||||
|
||||
Action after the motor stops.
|
||||
.. autoclass:: pybricks.parameters.Port
|
||||
:no-members:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Stop.COAST
|
||||
:annotation:
|
||||
Motor ports:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Stop.BRAKE
|
||||
:annotation:
|
||||
.. data:: A
|
||||
.. data:: B
|
||||
.. data:: C
|
||||
.. data:: D
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Stop.HOLD
|
||||
:annotation:
|
||||
Sensor ports:
|
||||
|
||||
The following table shows how each stop type adds an extra level of
|
||||
.. data:: S1
|
||||
.. data:: S2
|
||||
.. data:: S3
|
||||
.. data:: S4
|
||||
|
||||
.. autoclass:: pybricks.parameters.Direction
|
||||
:no-members:
|
||||
|
||||
In general, clockwise is defined by **looking at the motor shaft, just
|
||||
like looking at a clock**.
|
||||
|
||||
Some motors have two shafts. If in doubt, refer to the following diagrams:
|
||||
|
||||
- Clockwise direction for :ref:`EV3/NXT motors <fig_ev3motors>`
|
||||
|
||||
.. autoclass:: pybricks.parameters.Stop
|
||||
:no-members:
|
||||
|
||||
The following table show how each stop type adds an extra level of
|
||||
resistance to motion. In these examples, ``m`` is a
|
||||
:class:`Motor <pybricks.pupdevices.Motor>` and
|
||||
:class:`Motor <pybricks.ev3devices.Motor>` and
|
||||
and ``d`` is a :class:`DriveBase <pybricks.robotics.DriveBase>`. The
|
||||
examples also show how running at zero speed compares to these stop types.
|
||||
|
||||
@@ -38,3 +58,9 @@ Stop
|
||||
| | | | | | | ``d.straight(0)`` |
|
||||
| | | | | | | ``d.straight(100)`` |
|
||||
+--------+------------+--------+-------------+---------------+-----------------------------------------+
|
||||
|
||||
.. autoclass:: pybricks.parameters.Color
|
||||
:no-members:
|
||||
|
||||
.. autoclass:: pybricks.parameters.Button
|
||||
:no-members:
|
||||
@@ -1,48 +0,0 @@
|
||||
Button
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. class:: Button
|
||||
|
||||
Buttons on a hub or remote.
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Button.LEFT_DOWN
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Button.LEFT_MINUS
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Button.DOWN
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Button.RIGHT_DOWN
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Button.RIGHT_MINUS
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Button.LEFT
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Button.CENTER
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Button.RIGHT
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Button.LEFT_UP
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Button.LEFT_PLUS
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Button.UP
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Button.BEACON
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Button.RIGHT_UP
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Button.RIGHT_PLUS
|
||||
:annotation:
|
||||
@@ -1,84 +0,0 @@
|
||||
Color
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
.. autoclass:: pybricks.parameters.Color
|
||||
:no-members:
|
||||
|
||||
.. rubric:: Saturated colors
|
||||
|
||||
These colors have maximum saturation and brightness value.
|
||||
They differ only in hue.
|
||||
|
||||
.. autoattribute:: RED
|
||||
|
||||
.. pybricks-color:: RED
|
||||
|
||||
.. autoattribute:: ORANGE
|
||||
|
||||
.. pybricks-color:: ORANGE
|
||||
|
||||
.. autoattribute:: YELLOW
|
||||
|
||||
.. pybricks-color:: YELLOW
|
||||
|
||||
.. autoattribute:: GREEN
|
||||
|
||||
.. pybricks-color:: GREEN
|
||||
|
||||
.. autoattribute:: CYAN
|
||||
|
||||
.. pybricks-color:: CYAN
|
||||
|
||||
.. autoattribute:: BLUE
|
||||
|
||||
.. pybricks-color:: BLUE
|
||||
|
||||
.. autoattribute:: VIOLET
|
||||
|
||||
.. pybricks-color:: VIOLET
|
||||
|
||||
.. autoattribute:: MAGENTA
|
||||
|
||||
.. pybricks-color:: MAGENTA
|
||||
|
||||
.. rubric:: Unsaturated colors
|
||||
|
||||
These colors have zero hue and saturation. They differ only in brightness
|
||||
value.
|
||||
|
||||
When detecting these colors using sensors, their values depend a lot
|
||||
on the distance to the object. If the distance between the sensor and the
|
||||
object is not constant in your robot, it is better to use only one of these
|
||||
colors in your programs.
|
||||
|
||||
.. autoattribute:: WHITE
|
||||
|
||||
.. pybricks-color:: WHITE
|
||||
|
||||
.. autoattribute:: GRAY
|
||||
|
||||
.. pybricks-color:: GRAY
|
||||
|
||||
.. autoattribute:: BLACK
|
||||
|
||||
This represents dark objects that still reflect
|
||||
a very small amount of light.
|
||||
|
||||
.. pybricks-color:: BLACK
|
||||
|
||||
.. autoattribute:: NONE
|
||||
|
||||
This is total darkness, with no reflection or light at all.
|
||||
|
||||
.. pybricks-color:: NONE
|
||||
|
||||
.. rubric:: Making your own colors
|
||||
|
||||
This example shows the basics of color properties, and how to define new colors.
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/parameters/color_basics.py
|
||||
|
||||
This example shows more advanced use cases of the ``Color`` class.
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/parameters/color_advanced.py
|
||||
@@ -1,24 +0,0 @@
|
||||
Direction
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. class:: Direction
|
||||
|
||||
Rotational direction for positive speed or angle values.
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Direction.CLOCKWISE
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Direction.COUNTERCLOCKWISE
|
||||
:annotation:
|
||||
|
||||
+--------------------------------+-------------------+-----------------+
|
||||
| ``positive_direction =`` | Positive speed: | Negative speed: |
|
||||
+================================+===================+=================+
|
||||
| ``Direction.CLOCKWISE`` | clockwise | counterclockwise|
|
||||
+--------------------------------+-------------------+-----------------+
|
||||
| ``Direction.COUNTERCLOCKWISE`` | counterclockwise | clockwise |
|
||||
+--------------------------------+-------------------+-----------------+
|
||||
|
||||
In general, clockwise is defined by **looking at the motor shaft, just
|
||||
like looking at a clock**. Some motors have two shafts. If in doubt,
|
||||
refer to the diagram in the ``Motor`` class documentation.
|
||||
@@ -1,26 +0,0 @@
|
||||
:mod:`parameters <pybricks.parameters>` -- Parameters and Constants
|
||||
===================================================================
|
||||
|
||||
.. automodule:: pybricks.parameters
|
||||
:no-members:
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 1
|
||||
:hidden:
|
||||
|
||||
button
|
||||
color
|
||||
direction
|
||||
port
|
||||
stop
|
||||
|
||||
.. pybricks-classlink:: Button
|
||||
|
||||
.. pybricks-classlink:: Color
|
||||
|
||||
.. pybricks-classlink:: Direction
|
||||
|
||||
.. pybricks-classlink:: Port
|
||||
|
||||
.. pybricks-classlink:: Stop
|
||||
|
||||
@@ -1,38 +0,0 @@
|
||||
Port
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. class:: Port
|
||||
|
||||
Input and output ports:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Port.A
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Port.B
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Port.C
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Port.D
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Port.E
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Port.F
|
||||
:annotation:
|
||||
|
||||
EV3 Sensor ports:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Port.S1
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Port.S2
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Port.S3
|
||||
:annotation:
|
||||
|
||||
.. autoattribute:: pybricks.parameters.Port.S4
|
||||
:annotation:
|
||||
@@ -1,79 +0,0 @@
|
||||
Color and Distance Sensor
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. figure:: ../../api/images/sensor_colordistance.png
|
||||
:width: 35 %
|
||||
|
||||
.. autoclass:: pybricks.pupdevices.ColorDistanceSensor
|
||||
:no-members:
|
||||
|
||||
.. automethod:: pybricks.pupdevices.ColorDistanceSensor.color
|
||||
|
||||
.. automethod:: pybricks.pupdevices.ColorDistanceSensor.reflection
|
||||
|
||||
.. automethod:: pybricks.pupdevices.ColorDistanceSensor.ambient
|
||||
|
||||
.. automethod:: pybricks.pupdevices.ColorDistanceSensor.distance
|
||||
|
||||
.. automethod:: pybricks.pupdevices.ColorDistanceSensor.hsv
|
||||
|
||||
.. automethod:: pybricks.pupdevices.ColorDistanceSensor.detectable_colors
|
||||
|
||||
.. rubric:: Built-in light
|
||||
|
||||
This sensor has a built-in light. You can make it red, green, blue, or turn
|
||||
it off. If you use the sensor to measure something afterwards, the light
|
||||
automatically turns back on at the default color for that sensing method.
|
||||
|
||||
.. automethod:: pybricks.pupdevices::ColorDistanceSensor.light.on
|
||||
|
||||
.. automethod:: pybricks.pupdevices::ColorDistanceSensor.light.off
|
||||
|
||||
Examples
|
||||
-------------------
|
||||
|
||||
Measuring color
|
||||
***************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/sensor_color_distance/color_print.py
|
||||
|
||||
|
||||
Waiting for a color
|
||||
*******************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/sensor_color_distance/wait_for_color.py
|
||||
|
||||
Measuring distance
|
||||
******************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/sensor_color_distance/distance_blink.py
|
||||
|
||||
Blinking the built-in light
|
||||
***************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/sensor_color_distance/distance_blink.py
|
||||
|
||||
Reading hue, saturation, value
|
||||
**********************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/sensor_color_distance/hsv.py
|
||||
|
||||
Changing the detectable colors
|
||||
******************************
|
||||
|
||||
By default, the sensor is configured to detect red, yellow, green,
|
||||
blue, white, or no color, which suits many applications.
|
||||
|
||||
For better results in your application, you can measure your desired
|
||||
colors in advance, and tell the sensor to look only for those colors.
|
||||
Be sure to measure them at the **same distance and light conditions**
|
||||
as in your final application. Then you'll get very accurate results
|
||||
even for colors that are otherwise hard to detect.
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/sensor_color_distance/detectable_colors.py
|
||||
@@ -1,82 +0,0 @@
|
||||
Color Sensor
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. figure:: ../../api/images/sensor_color_lights_label.png
|
||||
:width: 70 %
|
||||
|
||||
.. autoclass:: pybricks.pupdevices.ColorSensor
|
||||
:no-members:
|
||||
|
||||
.. automethod:: pybricks.pupdevices.ColorSensor.color
|
||||
|
||||
.. automethod:: pybricks.pupdevices.ColorSensor.reflection
|
||||
|
||||
.. automethod:: pybricks.pupdevices.ColorSensor.ambient
|
||||
|
||||
.. rubric:: Advanced color sensing
|
||||
|
||||
.. automethod:: pybricks.pupdevices.ColorSensor.hsv
|
||||
|
||||
.. automethod:: pybricks.pupdevices.ColorSensor.detectable_colors
|
||||
|
||||
.. rubric:: Built-in lights
|
||||
|
||||
This sensor has 3 built-in lights. You can adjust the brightness of each
|
||||
light. If you use the sensor to measure something, the lights will
|
||||
be turned on or off as needed for the measurement.
|
||||
|
||||
.. automethod:: pybricks.pupdevices::ColorSensor.lights.on
|
||||
|
||||
.. automethod:: pybricks.pupdevices::ColorSensor.lights.off
|
||||
|
||||
|
||||
Examples
|
||||
-------------------
|
||||
|
||||
Measuring color and reflection
|
||||
******************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/sensor_color/color_print.py
|
||||
|
||||
|
||||
Waiting for a color
|
||||
*******************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/sensor_color/wait_for_color.py
|
||||
|
||||
|
||||
Reading *reflected* hue, saturation, and value
|
||||
************************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/sensor_color/hsv.py
|
||||
|
||||
|
||||
Changing the detectable colors
|
||||
******************************
|
||||
|
||||
By default, the sensor is configured to detect red, yellow, green,
|
||||
blue, white, or no color, which suits many applications.
|
||||
|
||||
For better results in your application, you can measure your desired
|
||||
colors in advance, and tell the sensor to look only for those colors.
|
||||
Be sure to measure them at the **same distance and light conditions**
|
||||
as in your final application. Then you'll get very accurate results
|
||||
even for colors that are otherwise hard to detect.
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/sensor_color/detectable_colors.py
|
||||
|
||||
Reading *ambient* hue, saturation, value, and color
|
||||
***************************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/sensor_color/color_ambient.py
|
||||
|
||||
Blinking the built-in lights
|
||||
****************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/sensor_color/lights_blink.py
|
||||
@@ -1,51 +0,0 @@
|
||||
Motors without Rotation Sensors
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. _fig_pupdcmotors:
|
||||
|
||||
.. figure:: ../../api/images/pupdcmotors_label.png
|
||||
:width: 70 %
|
||||
:alt: pupmotors
|
||||
:align: center
|
||||
|
||||
Powered Up motors without rotation sensors. The arrows indicate the default
|
||||
positive direction.
|
||||
|
||||
.. autoclass:: pybricks.pupdevices.DCMotor
|
||||
:no-members:
|
||||
|
||||
.. automethod:: pybricks.pupdevices.DCMotor.dc
|
||||
:noindex:
|
||||
|
||||
.. automethod:: pybricks.pupdevices.DCMotor.stop
|
||||
:noindex:
|
||||
|
||||
.. automethod:: pybricks.pupdevices.DCMotor.brake
|
||||
:noindex:
|
||||
|
||||
Examples
|
||||
-------------------
|
||||
|
||||
Making a train drive forever
|
||||
************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/motor_dc/motor_dc_battery_box.py
|
||||
|
||||
Making the motor move back and forth
|
||||
************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/motor_dc/motor_dc_init_basic.py
|
||||
|
||||
Changing the positive direction
|
||||
*******************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/motor_dc/motor_dc_init_direction.py
|
||||
|
||||
Starting and stopping
|
||||
*********************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/motor_dc/motor_dc_stop.py
|
||||
@@ -1,31 +0,0 @@
|
||||
Force Sensor
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. figure:: ../../api/images/sensor_force.png
|
||||
:width: 35 %
|
||||
|
||||
.. autoclass:: pybricks.pupdevices.ForceSensor
|
||||
:no-members:
|
||||
|
||||
.. automethod:: pybricks.pupdevices.ForceSensor.force
|
||||
|
||||
.. automethod:: pybricks.pupdevices.ForceSensor.distance
|
||||
|
||||
.. automethod:: pybricks.pupdevices.ForceSensor.pressed
|
||||
|
||||
.. automethod:: pybricks.pupdevices.ForceSensor.touched
|
||||
|
||||
Examples
|
||||
-------------------
|
||||
|
||||
Measuring force and movement
|
||||
****************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/sensor_force/basics.py
|
||||
|
||||
Measuring peak force
|
||||
********************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/sensor_force/peak.py
|
||||
@@ -1,80 +0,0 @@
|
||||
:mod:`pupdevices <pybricks.pupdevices>` -- Powered Up Devices
|
||||
=============================================================
|
||||
|
||||
.. automodule:: pybricks.pupdevices
|
||||
:no-members:
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 1
|
||||
:hidden:
|
||||
|
||||
dcmotor
|
||||
motor
|
||||
tiltsensor
|
||||
infraredsensor
|
||||
colordistancesensor
|
||||
pfmotor
|
||||
colorsensor
|
||||
ultrasonicsensor
|
||||
forcesensor
|
||||
light
|
||||
|
||||
.. pybricks-classlink:: DCMotor
|
||||
|
||||
.. figure:: ../../api/images/pupdcmotors_label.png
|
||||
:width: 70 %
|
||||
:target: dcmotor.html
|
||||
|
||||
.. pybricks-classlink:: Motor
|
||||
|
||||
.. figure:: ../../api/images/pupmotors_label.png
|
||||
:width: 100 %
|
||||
:target: motor.html
|
||||
|
||||
.. pybricks-classlink:: TiltSensor
|
||||
|
||||
.. figure:: ../../api/images/sensor_tilt.png
|
||||
:width: 35 %
|
||||
:target: tiltsensor.html
|
||||
|
||||
.. pybricks-classlink:: InfraredSensor
|
||||
|
||||
.. figure:: ../../api/images/sensor_proximity.png
|
||||
:width: 35 %
|
||||
:target: infraredsensor.html
|
||||
|
||||
.. pybricks-classlink:: ColorDistanceSensor
|
||||
|
||||
.. figure:: ../../api/images/sensor_colordistance.png
|
||||
:width: 32 %
|
||||
:target: colordistancesensor.html
|
||||
|
||||
.. pybricks-classlink:: PFMotor
|
||||
|
||||
.. figure:: ../../api/images/pfmotor.png
|
||||
:width: 95 %
|
||||
:target: pfmotor.html
|
||||
|
||||
.. pybricks-classlink:: ColorSensor
|
||||
|
||||
.. figure:: ../../api/images/sensor_color.png
|
||||
:width: 32 %
|
||||
:target: colorsensor.html
|
||||
|
||||
.. pybricks-classlink:: UltrasonicSensor
|
||||
|
||||
.. figure:: ../../api/images/sensor_ultrasonic.png
|
||||
:width: 37 %
|
||||
:target: ultrasonicsensor.html
|
||||
|
||||
.. pybricks-classlink:: ForceSensor
|
||||
|
||||
.. figure:: ../../api/images/sensor_force.png
|
||||
:width: 35 %
|
||||
:target: forcesensor.html
|
||||
|
||||
.. pybricks-classlink:: Light
|
||||
|
||||
.. figure:: ../../api/images/light.png
|
||||
:width: 90 %
|
||||
:target: light.html
|
||||
@@ -1,23 +0,0 @@
|
||||
Infrared Sensor
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. figure:: ../../api/images/sensor_proximity.png
|
||||
:width: 35 %
|
||||
|
||||
.. autoclass:: pybricks.pupdevices.InfraredSensor
|
||||
:no-members:
|
||||
|
||||
.. automethod:: pybricks.pupdevices.InfraredSensor.distance
|
||||
|
||||
.. automethod:: pybricks.pupdevices.InfraredSensor.reflection
|
||||
|
||||
.. automethod:: pybricks.pupdevices.InfraredSensor.count
|
||||
|
||||
Examples
|
||||
-------------------
|
||||
|
||||
Measuring distance, object count, and reflection
|
||||
************************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/sensor_infrared/basics.py
|
||||
@@ -1,27 +0,0 @@
|
||||
Light
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. figure:: ../../api/images/light.png
|
||||
:width: 90 %
|
||||
|
||||
.. autoclass:: pybricks.pupdevices.Light
|
||||
:no-members:
|
||||
|
||||
.. automethod:: pybricks.pupdevices.Light.on
|
||||
|
||||
.. automethod:: pybricks.pupdevices.Light.off
|
||||
|
||||
Examples
|
||||
-------------------
|
||||
|
||||
Making the light blink
|
||||
**********************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/light/basics.py
|
||||
|
||||
Gradually change the brightness
|
||||
*******************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/light/math.py
|
||||
@@ -1,152 +0,0 @@
|
||||
Motors with Rotation Sensors
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. _fig_pupmotors:
|
||||
|
||||
.. figure:: ../../api/images/pupmotors_label.png
|
||||
:width: 100 %
|
||||
:alt: pupmotors
|
||||
|
||||
Powered Up motors with rotation sensors. The arrows indicate the default
|
||||
positive direction. See the :mod:`hubs <pybricks.hubs>` module for default
|
||||
directions of built-in motors.
|
||||
|
||||
.. autoclass:: pybricks.pupdevices.Motor
|
||||
:no-members:
|
||||
|
||||
.. rubric:: Measuring
|
||||
|
||||
.. automethod:: pybricks.pupdevices.Motor.speed
|
||||
|
||||
.. automethod:: pybricks.pupdevices.Motor.angle
|
||||
|
||||
.. automethod:: pybricks.pupdevices.Motor.reset_angle
|
||||
|
||||
.. rubric:: Stopping
|
||||
|
||||
.. automethod:: pybricks.pupdevices.Motor.stop
|
||||
|
||||
.. automethod:: pybricks.pupdevices.Motor.brake
|
||||
|
||||
.. automethod:: pybricks.pupdevices.Motor.hold
|
||||
|
||||
.. rubric:: Action
|
||||
|
||||
.. automethod:: pybricks.pupdevices.Motor.run
|
||||
|
||||
.. automethod:: pybricks.pupdevices.Motor.run_time
|
||||
|
||||
.. automethod:: pybricks.pupdevices.Motor.run_angle
|
||||
|
||||
.. automethod:: pybricks.pupdevices.Motor.run_target
|
||||
|
||||
.. automethod:: pybricks.pupdevices.Motor.run_until_stalled
|
||||
|
||||
.. automethod:: pybricks.pupdevices.Motor.dc
|
||||
|
||||
.. rubric:: Advanced motion control
|
||||
|
||||
.. automethod:: pybricks.pupdevices.Motor.track_target
|
||||
|
||||
.. autoattribute:: pybricks.ev3devices.Motor.control
|
||||
:annotation:
|
||||
:noindex:
|
||||
|
||||
.. FIXME: above should point to pupdevices but inherited class attributes
|
||||
do not work yet (https://github.com/sphinx-doc/sphinx/issues/741).
|
||||
|
||||
|
||||
Initialization Examples
|
||||
-----------------------
|
||||
|
||||
Making the motor move back and forth
|
||||
*******************************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/motor/motor_init_basic.py
|
||||
|
||||
Initializing multiple motors
|
||||
*******************************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/motor/motor_init_multiple.py
|
||||
|
||||
Setting the positive direction as counterclockwise
|
||||
*******************************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/motor/motor_init_direction.py
|
||||
|
||||
Using gears
|
||||
*******************************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/motor/motor_init_gears.py
|
||||
|
||||
Measurement Examples
|
||||
-----------------------
|
||||
|
||||
Measuring the angle and speed
|
||||
*******************************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/motor/motor_measure.py
|
||||
|
||||
Resetting the measured angle
|
||||
*******************************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/motor/motor_reset_angle.py
|
||||
|
||||
|
||||
Movement Examples
|
||||
-----------------------
|
||||
|
||||
Basic usage of all run methods
|
||||
*******************************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/motor/motor_action_basic.py
|
||||
|
||||
Stopping ongoing movements in different ways
|
||||
*******************************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/motor/motor_stop.py
|
||||
|
||||
Using the ``then`` argument to change how a run command stops
|
||||
*************************************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/motor/motor_action_then.py
|
||||
|
||||
Stall Examples
|
||||
-----------------------
|
||||
|
||||
Running a motor until a mechanical endpoint
|
||||
*******************************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/motor/motor_until_stalled.py
|
||||
|
||||
Centering a steering mechanism
|
||||
*******************************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/motor/motor_until_stalled.py
|
||||
|
||||
|
||||
Parallel Movement Examples
|
||||
--------------------------
|
||||
|
||||
Using the ``wait`` argument to run motors in parallel
|
||||
*********************************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/motor/motor_action_wait.py
|
||||
|
||||
Waiting for two parallel actions to complete
|
||||
*******************************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/motor/motor_action_wait_advanced.py
|
||||
@@ -1,45 +0,0 @@
|
||||
Power Functions
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
The :class:`ColorDistanceSensor <pybricks.pupdevices.ColorDistanceSensor>` can
|
||||
send infrared signals to control Power Functions infrared receivers. You can
|
||||
use this technique to control medium, large, extra large, and train
|
||||
motors. The infrared range is limited to about 30 cm, depending on the angle
|
||||
and ambient conditions.
|
||||
|
||||
.. figure:: ../../api/images/pfmotor.png
|
||||
:width: 95 %
|
||||
|
||||
Powered Up
|
||||
:class:`ColorDistanceSensor <pybricks.pupdevices.ColorDistanceSensor>`
|
||||
(left), Power Functions infrared receiver (middle), and a Power Functions
|
||||
motor (right). Here, the receiver uses channel
|
||||
1 with a motor on the red port.
|
||||
|
||||
.. autoclass:: pybricks.pupdevices.PFMotor
|
||||
:noindex:
|
||||
:no-members:
|
||||
|
||||
.. automethod:: pybricks.pupdevices.PFMotor.dc
|
||||
:noindex:
|
||||
|
||||
.. automethod:: pybricks.pupdevices.PFMotor.stop
|
||||
:noindex:
|
||||
|
||||
.. automethod:: pybricks.pupdevices.PFMotor.brake
|
||||
:noindex:
|
||||
|
||||
Examples
|
||||
-------------------
|
||||
|
||||
Control a Power Functions motor
|
||||
*******************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/motor_pf/motor_pf_basics.py
|
||||
|
||||
Controlling multiple Power Functions motors
|
||||
*******************************************
|
||||
|
||||
.. literalinclude::
|
||||
../../../examples/pup/motor_pf/motor_pf_pwm.py
|
||||
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Reference in New Issue
Block a user