mirror of
https://github.com/pybricks/pybricks-api.git
synced 2026-09-12 01:24:17 +00:00
David Lechner
87c2b6857f
Intellisense in VS Code (both jedi and ms python language server) picks up all imported names and suggests them with equal priority for code completion. By adding a leading underscore, intellisense lists these with a lower priority, so they don't get in the way. Also rename from builtins to _common while we are touching this to better reflect the intention of the module (it contains types shared by multiple modules, not builtin types like int).
137 lines
4.3 KiB
PHP
137 lines
4.3 KiB
PHP
Analog Sensor
|
|
^^^^^^^^^^^^^
|
|
|
|
.. autoclass:: pybricks.iodevices.AnalogSensor
|
|
|
|
I2C Device
|
|
^^^^^^^^^^^^^
|
|
|
|
.. 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
|
|
^^^^^^^^^^^^^
|
|
|
|
.. 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
|
|
^^^^^^^^^^^^
|
|
|
|
This class can be used to control classic LEGO motors using converter cables.
|
|
|
|
.. autoclass:: pybricks._common.DCMotor
|
|
:noindex:
|
|
:no-members:
|
|
|
|
.. automethod:: pybricks._common.DCMotor.dc
|
|
:noindex:
|
|
|
|
.. automethod:: pybricks._common.DCMotor.stop
|
|
:noindex:
|
|
|
|
Ev3dev sensors
|
|
^^^^^^^^^^^^^^^^^^^^^
|
|
|
|
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
|