mirror of
https://github.com/pybricks/pybricks-api.git
synced 2026-09-12 01:24:17 +00:00
David Lechner
6071e4e7d3
clockwise and counterclockwise are very long to type, so replace them with the common abbriviations
559 lines
16 KiB
Python
559 lines
16 KiB
Python
"""Constant parameters/arguments for the Pybricks API."""
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from enum import Enum
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class Color(Enum):
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"""Light or surface color.
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.. data:: black
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.. data:: blue
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.. data:: green
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.. data:: yellow
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.. data:: red
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.. data:: white
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.. data:: brown
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.. data:: orange
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.. data:: purple
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"""
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black = 1
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blue = 2
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green = 3
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yellow = 4
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red = 5
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white = 6
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brown = 7
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orange = 8
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purple = 9
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class Port(Enum):
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"""Port on the EV3 Programmable Brick.
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Motor ports:
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.. data:: A
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.. data:: B
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.. data:: C
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.. data:: D
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Sensor ports:
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.. data:: S1
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.. data:: S2
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.. data:: S3
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.. data:: S4
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"""
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# Generic motor/sensor ports
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A = ord('A')
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B = ord('B')
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C = ord('C')
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D = ord('D')
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# NXT/EV3 sensor ports
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S1 = ord('1')
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S2 = ord('2')
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S3 = ord('3')
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S4 = ord('4')
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class Stop(Enum):
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"""Action after the motor stops: coast, brake, or hold.
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.. data:: COAST
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Let the motor move freely.
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.. data:: BRAKE
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Passively resist small external forces.
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.. data:: HOLD
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Keep controlling the motor to hold it at the commanded angle. This is only available on motors with encoders.
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The stop type defines the resistance to motion after coming to standstill:
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+-----------+-------------+------------------------------------------+
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|Parameter | Resistance | Physical meaning |
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+===========+=============+==========================================+
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|Stop.COAST | low | Friction |
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+-----------+-------------+------------------------------------------+
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|Stop.BRAKE | medium | Friction + Torque opposite to motion |
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+-----------+-------------+------------------------------------------+
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|Stop.HOLD | high | Friction + Torque to hold commanded angle|
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+-----------+-------------+------------------------------------------+
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"""
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COAST = 0
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BRAKE = 1
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HOLD = 2
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class Direction():
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"""Rotational direction for positive speed values: clockwise or counterclockwise.
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.. data:: CW
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A positive speed value should make the motor move clockwise.
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.. data:: CCW
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A positive speed value should make the motor move counterclockwise.
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For all motors, this is defined when looking at the shaft, just like looking at a clock.
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For NXT or EV3 motors, make sure to look at the motor with the red/orange shaft to the lower right.
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+-------------------+-------------------+------------------+
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| Parameter | Positive speed | Negative speed |
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+===================+===================+==================+
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| Direction.CW | clockwise | counterclockwise |
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+-------------------+-------------------+------------------+
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| Direction.CCW | counterclockwise | clockwise |
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+-------------------+-------------------+------------------+
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::
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Medium EV3 Motor:
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counterclockwise clockwise
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____ _____
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/ \\
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/ _____________ \\
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/ / \ \\
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| | __| |__ | |
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v | |__ o __| | v
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\______________/
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Large EV3 motor:
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________
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/ \ ___ ___
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_| \ / \\
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| ----/------ \\
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counterclockwise | __\__ | clockwise
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\__________ v / \ v
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-------| + |
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\_____/
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"""
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CW = 0
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CCW = 1
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class Button(Enum):
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"""Buttons on a brick or remote:
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.. data:: left_down
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.. data:: down
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.. data:: right_down
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.. data:: left
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.. data:: center
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.. data:: right
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.. data:: left_up
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.. data:: up
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.. data:: beacon
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.. data:: right_up
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+-----------+----------+-----------+
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| left_up |up/beacon | right_up |
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+-----------+----------+-----------+
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| left | center | right |
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+-----------+----------+-----------+
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| left_down | down | right_down|
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+-----------+----------+-----------+
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"""
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left_down = 1
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down = 2
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right_down = 3
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left = 4
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center = 5
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right = 6
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left_up = 7
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up = 8
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beacon = 8
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right_up = 9
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class Align():
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"""Alignment of an image on the display.
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.. data:: bottom_left
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.. data:: bottom
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.. data:: bottom_right
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.. data:: left
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.. data:: center
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.. data:: right
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.. data:: top_left
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.. data:: top
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.. data:: top_right
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"""
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bottom_left = 1
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bottom = 2
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bottom_right = 3
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left = 4
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center = 5
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right = 6
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top_left = 7
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top = 8
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top_right = 9
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class Sound():
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"""Paths to standard EV3 sounds.
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Expressions
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.. data:: shouting
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.. data:: cheering
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.. data:: crying
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.. data:: ouch
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.. data:: laughing_2
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.. data:: sneezing
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.. data:: smack
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.. data:: boing
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.. data:: boo
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.. data:: uh_oh
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.. data:: snoring
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.. data:: kung_fu
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.. data:: fanfare
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.. data:: crunching
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.. data:: magic_wand
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.. data:: laughing_1
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Information
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.. data:: left
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.. data:: backwards
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.. data:: right
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.. data:: object
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.. data:: color
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.. data:: flashing
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.. data:: error
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.. data:: error_alarm
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.. data:: down
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.. data:: forward
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.. data:: activate
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.. data:: searching
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.. data:: touch
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.. data:: up
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.. data:: analyze
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.. data:: stop
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.. data:: detected
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.. data:: turn
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.. data:: start
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Communication
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.. data:: morning
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.. data:: ev3
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.. data:: go
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.. data:: good_job
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.. data:: okey_dokey
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.. data:: good
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.. data:: no
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.. data:: thank_you
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.. data:: yes
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.. data:: game_over
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.. data:: okay
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.. data:: sorry
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.. data:: bravo
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.. data:: goodbye
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.. data:: hi
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.. data:: hello
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.. data:: mindstorms
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.. data:: lego
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.. data:: fantastic
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Movements
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.. data:: speed_idle
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.. data:: speed_down
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.. data:: speed_up
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Color
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.. data:: brown
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.. data:: green
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.. data:: black
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.. data:: white
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.. data:: red
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.. data:: blue
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.. data:: yellow
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Mechanical
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.. data:: tick_tack
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.. data:: horn_1
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.. data:: backing_alert
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.. data:: motor_idle
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.. data:: air_release
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.. data:: airbrake
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.. data:: ratchet
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.. data:: motor_stop
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.. data:: horn_2
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.. data:: laser
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.. data:: sonar
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.. data:: motor_start
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Animals
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.. data:: insect_buzz_2
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.. data:: elephant_call
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.. data:: snake_hiss
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.. data:: dog_bark_2
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.. data:: dog_whine
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.. data:: insect_buzz_1
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.. data:: dog_sniff
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.. data:: t_rex_roar
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.. data:: insect_chirp
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.. data:: dog_growl
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.. data:: snake_rattle
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.. data:: dog_bark_1
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.. data:: cat_purr
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Numbers
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.. data:: zero
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.. data:: one
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.. data:: two
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.. data:: three
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.. data:: four
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.. data:: five
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.. data:: six
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.. data:: seven
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.. data:: eight
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.. data:: nine
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.. data:: ten
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System
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.. data:: ready
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.. data:: confirm
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.. data:: general_alert
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.. data:: click
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.. data:: overpower
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"""
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_basepath = '/usr/share/sounds/ev3dev/'
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shouting = _basepath + 'expressions/shouting.wav'
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cheering = _basepath + 'expressions/cheering.wav'
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crying = _basepath + 'expressions/crying.wav'
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ouch = _basepath + 'expressions/ouch.wav'
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laughing_2 = _basepath + 'expressions/laughing_2.wav'
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sneezing = _basepath + 'expressions/sneezing.wav'
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smack = _basepath + 'expressions/smack.wav'
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boing = _basepath + 'expressions/boing.wav'
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boo = _basepath + 'expressions/boo.wav'
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uh_oh = _basepath + 'expressions/uh-oh.wav'
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snoring = _basepath + 'expressions/snoring.wav'
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kung_fu = _basepath + 'expressions/kung_fu.wav'
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fanfare = _basepath + 'expressions/fanfare.wav'
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crunching = _basepath + 'expressions/crunching.wav'
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magic_wand = _basepath + 'expressions/magic_wand.wav'
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laughing_1 = _basepath + 'expressions/laughing_1.wav'
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left = _basepath + 'information/left.wav'
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backwards = _basepath + 'information/backwards.wav'
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right = _basepath + 'information/right.wav'
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object = _basepath + 'information/object.wav'
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color = _basepath + 'information/color.wav'
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flashing = _basepath + 'information/flashing.wav'
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error = _basepath + 'information/error.wav'
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error_alarm = _basepath + 'information/error_alarm.wav'
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down = _basepath + 'information/down.wav'
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forward = _basepath + 'information/forward.wav'
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activate = _basepath + 'information/activate.wav'
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searching = _basepath + 'information/searching.wav'
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touch = _basepath + 'information/touch.wav'
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up = _basepath + 'information/up.wav'
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analyze = _basepath + 'information/analyze.wav'
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stop = _basepath + 'information/stop.wav'
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detected = _basepath + 'information/detected.wav'
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turn = _basepath + 'information/turn.wav'
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start = _basepath + 'information/start.wav'
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morning = _basepath + 'communication/morning.wav'
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ev3 = _basepath + 'communication/ev3.wav'
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go = _basepath + 'communication/go.wav'
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good_job = _basepath + 'communication/good_job.wav'
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okey_dokey = _basepath + 'communication/okey-dokey.wav'
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good = _basepath + 'communication/good.wav'
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no = _basepath + 'communication/no.wav'
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thank_you = _basepath + 'communication/thank_you.wav'
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yes = _basepath + 'communication/yes.wav'
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game_over = _basepath + 'communication/game_over.wav'
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okay = _basepath + 'communication/okay.wav'
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sorry = _basepath + 'communication/sorry.wav'
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bravo = _basepath + 'communication/bravo.wav'
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goodbye = _basepath + 'communication/goodbye.wav'
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hi = _basepath + 'communication/hi.wav'
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hello = _basepath + 'communication/hello.wav'
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mindstorms = _basepath + 'communication/mindstorms.wav'
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lego = _basepath + 'communication/lego.wav'
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fantastic = _basepath + 'communication/fantastic.wav'
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speed_idle = _basepath + 'movements/speed_idle.wav'
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speed_down = _basepath + 'movements/speed_down.wav'
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speed_up = _basepath + 'movements/speed_up.wav'
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brown = _basepath + 'colors/brown.wav'
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green = _basepath + 'colors/green.wav'
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black = _basepath + 'colors/black.wav'
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white = _basepath + 'colors/white.wav'
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red = _basepath + 'colors/red.wav'
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blue = _basepath + 'colors/blue.wav'
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yellow = _basepath + 'colors/yellow.wav'
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tick_tack = _basepath + 'mechanical/tick_tack.wav'
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horn_1 = _basepath + 'mechanical/horn_1.wav'
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backing_alert = _basepath + 'mechanical/backing_alert.wav'
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motor_idle = _basepath + 'mechanical/motor_idle.wav'
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air_release = _basepath + 'mechanical/air_release.wav'
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airbrake = _basepath + 'mechanical/airbrake.wav'
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ratchet = _basepath + 'mechanical/ratchet.wav'
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motor_stop = _basepath + 'mechanical/motor_stop.wav'
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horn_2 = _basepath + 'mechanical/horn_2.wav'
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laser = _basepath + 'mechanical/laser.wav'
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sonar = _basepath + 'mechanical/sonar.wav'
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motor_start = _basepath + 'mechanical/motor_start.wav'
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insect_buzz_2 = _basepath + 'animals/insect_buzz_2.wav'
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elephant_call = _basepath + 'animals/elephant_call.wav'
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snake_hiss = _basepath + 'animals/snake_hiss.wav'
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dog_bark_2 = _basepath + 'animals/dog_bark_2.wav'
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dog_whine = _basepath + 'animals/dog_whine.wav'
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insect_buzz_1 = _basepath + 'animals/insect_buzz_1.wav'
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dog_sniff = _basepath + 'animals/dog_sniff.wav'
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t_rex_roar = _basepath + 'animals/t-rex_roar.wav'
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insect_chirp = _basepath + 'animals/insect_chirp.wav'
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dog_growl = _basepath + 'animals/dog_growl.wav'
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snake_rattle = _basepath + 'animals/snake_rattle.wav'
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dog_bark_1 = _basepath + 'animals/dog_bark_1.wav'
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cat_purr = _basepath + 'animals/cat_purr.wav'
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eight = _basepath + 'numbers/eight.wav'
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seven = _basepath + 'numbers/seven.wav'
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six = _basepath + 'numbers/six.wav'
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four = _basepath + 'numbers/four.wav'
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ten = _basepath + 'numbers/ten.wav'
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one = _basepath + 'numbers/one.wav'
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two = _basepath + 'numbers/two.wav'
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three = _basepath + 'numbers/three.wav'
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zero = _basepath + 'numbers/zero.wav'
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five = _basepath + 'numbers/five.wav'
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nine = _basepath + 'numbers/nine.wav'
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ready = _basepath + 'system/ready.wav'
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confirm = _basepath + 'system/confirm.wav'
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general_alert = _basepath + 'system/general_alert.wav'
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click = _basepath + 'system/click.wav'
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overpower = _basepath + 'system/overpower.wav'
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class Image():
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"""Paths to standard EV3 images.
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Information
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.. data:: right
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.. data:: forward
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.. data:: accept
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.. data:: question_mark
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.. data:: stop_1
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.. data:: left
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.. data:: decline
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.. data:: thumbs_down
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.. data:: backward
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.. data:: no_go
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.. data:: warning
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.. data:: stop_2
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.. data:: thumbs_up
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LEGO
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.. data:: ev3
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.. data:: ev3_icon
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Objects
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.. data:: target
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Eyes
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.. data:: bottom_right
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.. data:: bottom_left
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.. data:: evil
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.. data:: crazy_2
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.. data:: knocked_out
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.. data:: pinched_right
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.. data:: winking
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.. data:: dizzy
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.. data:: down
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.. data:: tired_middle
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.. data:: middle_right
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.. data:: sleeping
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.. data:: middle_left
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.. data:: tired_right
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.. data:: pinched_left
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.. data:: pinched_middle
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.. data:: crazy_1
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.. data:: neutral
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.. data:: awake
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.. data:: up
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.. data:: tired_left
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.. data:: angry
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"""
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_basepath = '/usr/share/images/ev3dev/mono/'
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right = _basepath + 'information/right.png'
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forward = _basepath + 'information/forward.png'
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accept = _basepath + 'information/accept.png'
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question_mark = _basepath + 'information/question_mark.png'
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stop_1 = _basepath + 'information/stop_1.png'
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left = _basepath + 'information/left.png'
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decline = _basepath + 'information/decline.png'
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thumbs_down = _basepath + 'information/thumbs_down.png'
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backward = _basepath + 'information/backward.png'
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no_go = _basepath + 'information/no_go.png'
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warning = _basepath + 'information/warning.png'
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stop_2 = _basepath + 'information/stop_2.png'
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thumbs_up = _basepath + 'information/thumbs_up.png'
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ev3 = _basepath + 'lego/ev3.png'
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ev3_icon = _basepath + 'lego/ev3_icon.png'
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target = _basepath + 'objects/target.png'
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bottom_right = _basepath + 'eyes/bottom_right.png'
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bottom_left = _basepath + 'eyes/bottom_left.png'
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evil = _basepath + 'eyes/evil.png'
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crazy_2 = _basepath + 'eyes/crazy_2.png'
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knocked_out = _basepath + 'eyes/knocked_out.png'
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pinched_right = _basepath + 'eyes/pinched_right.png'
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winking = _basepath + 'eyes/winking.png'
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dizzy = _basepath + 'eyes/dizzy.png'
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down = _basepath + 'eyes/down.png'
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tired_middle = _basepath + 'eyes/tired_middle.png'
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middle_right = _basepath + 'eyes/middle_right.png'
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sleeping = _basepath + 'eyes/sleeping.png'
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middle_left = _basepath + 'eyes/middle_left.png'
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tired_right = _basepath + 'eyes/tired_right.png'
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pinched_left = _basepath + 'eyes/pinched_left.png'
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pinched_middle = _basepath + 'eyes/pinched_middle.png'
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crazy_1 = _basepath + 'eyes/crazy_1.png'
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neutral = _basepath + 'eyes/neutral.png'
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awake = _basepath + 'eyes/awake.png'
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up = _basepath + 'eyes/up.png'
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tired_left = _basepath + 'eyes/tired_left.png'
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angry = _basepath + 'eyes/angry.png'
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