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796 lines
27 KiB
Python
796 lines
27 KiB
Python
"""Generic cross-platform module for typical devices like lights, displays,
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speakers, and batteries."""
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from .parameters import Direction, Stop, Axis
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class DCMotor():
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"""Generic class to control simple motors without rotation sensors, such
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as train motors."""
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def __init__(self, port,
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positive_direction=Direction.CLOCKWISE):
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"""
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Arguments:
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port (Port): Port to which the motor is connected.
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positive_direction (Direction): Which direction the motor should
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turn when you give a positive duty cycle value.
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"""
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pass
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def dc(self, duty):
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"""Rotate the motor at a given duty cycle (also known as "power").
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Arguments:
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duty (:ref:`percentage`): The duty cycle (-100.0 to 100).
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"""
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pass
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def set_dc_settings(self, duty_limit, duty_offset):
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"""Configure the settings to adjust the behavior of the :meth:`.dc`
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command. This also affects all of the ``run`` commands, which use
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the :meth:`.dc` method in the background.
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Arguments:
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duty_limit (:ref:`percentage`): Relative torque limit during
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subsequent motor commands. This
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sets the maximum duty cycle that is
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applied during any subsequent motor
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command. This reduces the maximum
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torque output to a percentage of
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the absolute maximum stall torque.
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This is useful to avoid applying
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the full motor torque to a geared
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or lever mechanism, or to prevent
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your motor from
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unintentionally going at full
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speed. (*Default*: 100).
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duty_offset (:ref:`percentage`): Minimum duty cycle given when you
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use :meth:`.dc`. This adds a small
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feed forward torque so that your
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motor will move even for very low
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duty cycle values, which can be
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useful when you create your own
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feedback controllers
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(*Default*: 0).
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"""
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pass
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class Control():
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"""Class to interact with PID controller and settings."""
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def __init__(self, scale=1):
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"""Initialize the PID controller.
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Arguments:
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scale (float):
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Number of integer counts per unit of output. For example, two
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counts per degree of the motor.
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"""
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pass
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def limits(self, speed, acceleration, actuation):
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"""Configure the maximum speed, acceleration, and actuation.
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If no arguments are given, this will return the current values.
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Arguments:
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speed (:ref:`speed` or :ref:`linspeed`):
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Maximum speed. All speed commands will be capped to this value.
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acceleration (:ref:`acceleration` or :ref:`linacceleration`):
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Maximum acceleration.
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actuation (:ref:`percentage`):
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Maximum actuation as percentage of absolute maximum.
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"""
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pass
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def pid(self, kp, ki, kd):
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"""Get or set the PID values for position and speed control.
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If no arguments are given, this will return the current values.
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Arguments:
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kp (int): Proportional position (or integral speed) control
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constant.
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ki (int): Integral position control constant.
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kd (int): Derivative position (or proportional speed) control
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constant.
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"""
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pass
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def target_tolerances(self, speed, position):
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"""Get or set the tolerances that say when a maneuver is done.
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If no arguments are given, this will return the current values.
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Arguments:
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position (:ref:`angle` or :ref:`distance`): Allowed
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deviation from the target before motion is considered
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complete.
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speed (:ref:`speed` or :ref:`linspeed`): Allowed deviation
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from zero speed before motion is considered complete.
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"""
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pass
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def stall_tolerances(self, speed, time):
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"""Get or set stalling tolerances.
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If no arguments are given, this will return the current values.
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Arguments:
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speed (:ref:`speed` or :ref:`linspeed`): If the controller
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cannot reach this speed during at least ``stall_time``,
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it is stalled.
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time (:ref:`time`): See ``speed``.
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"""
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pass
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def stalled(self):
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"""Check whether the controller is currently stalled.
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A controller is stalled when it cannot move even with the maximum
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actuation signal.
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Returns:
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bool: ``True`` if the controller is stalled,``False`` if not.
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"""
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pass
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def active(self):
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"""Check whether the controller is currently active.
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When active, it continuously adjusts the actuation to reach the control
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objective. When it is passive, the control signal is zero or constant.
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Returns:
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bool: ``True`` if the controller is active,``False`` if not.
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"""
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pass
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class Motor(DCMotor):
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"""Generic class to control motors with built-in rotation sensors."""
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control = Control()
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"""The motors use PID control to accurately track the speed and
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angle targets that you specify. You can change its behavior through the
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``control`` attribute of the motor. See :ref:`control` for an overview
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of available methods."""
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def __init__(self, port,
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positive_direction=Direction.CLOCKWISE,
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gears=None):
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"""
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Arguments:
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port (Port): Port to which the motor is connected.
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positive_direction (Direction): Which direction the motor should
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turn when you give a positive speed value or
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angle (*Default*: ``Direction.CLOCKWISE``).
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gears (list):
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List of gears linked to the motor (*Default*:``None``).
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For example: ``[12, 36]`` represents a gear train with a
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12-tooth and a 36-tooth gear. Use a list of lists for multiple
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gear trains, such as ``[[12, 36], [20, 16, 40]]``.
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When you specify a gear train, all motor commands and settings
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are automatically adjusted to account for the resulting gear
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ratio. The motor direction remains unchanged by this. See
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:ref:`gears` for more information.
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"""
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pass
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def angle(self):
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"""Get the rotation angle of the motor.
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Returns:
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:ref:`angle`: Motor angle.
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"""
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pass
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def speed(self):
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"""Get the speed of the motor.
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Returns:
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:ref:`speed`: Motor speed.
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"""
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pass
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def stalled(self):
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"""Check whether the motor is currently :ref:`stalled <stalled>`.
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Returns:
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bool: ``True`` if the motor is stalled, ``False`` if it is not.
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"""
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pass
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def reset_angle(self, angle):
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"""Reset the accumulated rotation angle of the motor.
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Arguments:
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angle (:ref:`angle`): Value to which the angle should be reset.
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"""
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pass
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def stop(self, stop_type=Stop.COAST):
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"""Stop the motor.
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Arguments:
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stop_type (Stop): Whether to coast, brake, or hold (*Default*:
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:class:`Stop.COAST <.parameters.Stop>`).
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"""
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pass
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def run(self, speed):
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"""Keep the motor running at a constant speed.
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The motor keeps running until you give a new command.
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Arguments:
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speed (:ref:`speed`): Speed of the motor.
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"""
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pass
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def run_time(self, speed, time, stop_type=Stop.COAST, wait=True):
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"""Run the motor at a constant speed for a given amount of time.
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Arguments:
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speed (:ref:`speed`): Speed of the motor.
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time (:ref:`time`): Duration of the maneuver.
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stop_type (Stop): Whether to coast, brake, or hold after coming to
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a standstill (*Default*:
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:class:`Stop.COAST <.parameters.Stop>`).
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wait (bool): Wait for the maneuver to complete before continuing
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with the rest of the program (*Default*: ``True``).
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"""
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pass
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def run_angle(self, speed, rotation_angle,
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stop_type=Stop.COAST, wait=True):
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"""Run the motor at a constant speed by a given angle.
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Arguments:
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speed (:ref:`speed`): Speed of the motor.
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rotation_angle (:ref:`angle`): Angle by which the motor should
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rotate.
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stop_type (Stop): Whether to coast, brake, or hold after coming to
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a standstill (*Default*:
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:class:`Stop.COAST <.parameters.Stop>`).
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wait (bool): Wait for the maneuver to complete before continuing
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with the rest of the program (*Default*: ``True``).
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"""
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pass
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def run_target(self, speed, target_angle, stop_type=Stop.COAST, wait=True):
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""" Run the motor at a constant speed towards a
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given target angle.
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The direction of rotation is automatically selected based on the target
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angle. It does matter if ``speed`` is positive or negative.
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Arguments:
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speed (:ref:`speed`): Speed of the motor.
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target_angle (:ref:`angle`): Angle that the motor should
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rotate to.
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stop_type (Stop): Whether to coast, brake, or hold after coming to
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a standstill (*Default*:
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:class:`Stop.COAST <.parameters.Stop>`).
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wait (bool): Wait for the motor to reach the target
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before continuing with the rest of the
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program (*Default*: ``True``).
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"""
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pass
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def run_until_stalled(self, speed, stop_type=Stop.COAST, duty_limit=None):
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"""Run the motor at a constant speed until it
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:ref:`stalls <stalled>`
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Arguments:
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speed (:ref:`speed`): Speed of the motor.
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stop_type (Stop): Whether to coast, brake, or hold after coming to
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a standstill (*Default*:
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:class:`Stop.COAST <.parameters.Stop>`).
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duty_limit (:ref:`percentage`): Torque limit during this
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command. This is useful to avoid applying the full motor
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torque to a geared or lever mechanism.
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"""
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pass
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def track_target(self, target_angle):
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"""Track a target angle. This is similar to :meth:`.run_target`, but
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the usual smooth acceleration is skipped: it will move to the target
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angle as fast as possible. This method is useful if you want to
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continuously change the target angle.
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Arguments:
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target_angle (:ref:`angle`): Target angle that the motor should
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rotate to.
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"""
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pass
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def set_run_settings(self, max_speed, acceleration):
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"""Configure the maximum speed and acceleration/deceleration of the
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motor for all run commands.
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This applies to the ``run``, ``run_time``, ``run_angle``,
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``run_target``, or ``run_until_stalled`` commands you give the motor.
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Arguments:
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max_speed (:ref:`speed`): Maximum speed of the motor during a motor
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command.
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acceleration (:ref:`acceleration`): Acceleration towards the target
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speed and deceleration towards
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standstill. This should be a
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positive value. The motor will
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automatically change the sign
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to decelerate as needed.
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"""
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pass
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def set_pid_settings(self, kp, ki, kd, tight_loop_limit, angle_tolerance,
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speed_tolerance, stall_speed, stall_time):
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"""Configure the settings of the position and speed controllers.
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Arguments:
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kp (int): Proportional position (and integral speed) control
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constant.
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ki (int): Integral position control constant.
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kd (int): Derivative position (and proportional speed) control\
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constant.
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tight_loop_limit (:ref:`time`): If you execute any of the ``run``
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commands within this interval after
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starting the previous command, the
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controllers assume that you want to
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control the speed directly. This
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means that it will ignore the
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acceleration setting and
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immediately begin tracking the
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speed you give in the ``run``
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command. This is useful in a fast
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loop, where you usually want the
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motors to respond quickly rather
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than accelerate smoothly, for
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example with a line-following
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robot.
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angle_tolerance (:ref:`angle`): Allowed deviation from the target
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angle before motion is considered
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complete.
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speed_tolerance (:ref:`speed`): Allowed deviation from zero speed
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before motion is considered
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complete.
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stall_speed (:ref:`speed`): See :meth:`.stalled`.
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stall_time (:ref:`time`): See :meth:`.stalled`.
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"""
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pass
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def dc(self, duty):
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"""Rotate the motor at a given duty cycle (also known as "power").
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This method lets you use a motor just like a simple DC motor.
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Arguments:
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duty (:ref:`percentage`): The duty cycle (-100.0 to 100).
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"""
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class Speaker():
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"""Play beeps and sounds using a speaker."""
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def beep(self, frequency=500, duration=100):
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"""Play a beep/tone.
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Arguments:
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frequency (:ref:`frequency`):
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Frequency of the beep (*Default*: 500). Frequencies below 100
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are treated as 100.
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duration (:ref:`time`):
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Duration of the beep (*Default*: 100). If the duration is less
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than 0, then the method returns immediately and the frequency
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play continues to play indefinitely.
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"""
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pass
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def play_notes(self, notes, tempo=120):
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"""Play a sequence of musical notes.
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For example, you can play: ``['C4/4', 'C4/4', 'G4/4', 'G4/4']``.
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Arguments:
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notes (iter):
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A sequence of notes to be played (see format below).
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tempo (int):
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Beats per minute where a quarter note is one beat.
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"""
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pass
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def play_file(self, file_name):
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"""Play a sound file.
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Arguments:
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file_name (str):
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Path to the sound file, including the file extension.
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"""
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pass
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def say(self, text):
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"""Say a given text string.
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You can configure the language and voice of the text using
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:meth:`set_speech_options`.
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Arguments:
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text (str): What to say.
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"""
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pass
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def set_speech_options(self, language=None, voice=None, speed=None, pitch=None):
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"""Configure speech settings used by the :meth:`say` method.
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Any option that is set to ``None`` will not be changed. If an option
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is set to an invalid value :meth:`say` will use the default value
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instead.
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Arguments:
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language (str):
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Language of the text. For example, you can choose ``'en'``
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(English) or ``'de'`` (German). A list of all available
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languages is given below.
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voice (str):
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The voice to use. For example, you can choose ``'f1'`` (female
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voice variant 1) or ``'m3'`` (male voice variant 3). A list of
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all available voices is given below.
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speed (int):
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Number of words per minute.
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pitch (int):
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Pitch (0 to 99). Higher numbers make the voice higher pitched
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and lower numbers make the voice lower pitched.
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"""
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pass
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def set_volume(self, volume, which='_all_'):
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"""Set the speaker volume.
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Arguments:
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volume (:ref:`percentage`):
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Volume of the speaker.
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which (str):
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Which volume to set. ``'Beep'`` sets the volume for
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:meth:`beep` and :meth:`play_notes`. ``'PCM'`` sets the volume
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for :meth:`play_file` and :meth:`say`. ``'_all_'`` sets both
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at the same time (*Default*: ``'_all_'``).
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"""
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pass
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class Light():
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"""Control a single-color light."""
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def on(self, brightness=100):
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"""Turn on the light at the specified brightness.
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Arguments:
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brightness (:ref:`brightness`):
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Brightness of the light (*Default*: 100).
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"""
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def off(self):
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"""Turn off the light."""
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pass
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class ColorLight():
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"""Control a multi-color light."""
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def on(self, color):
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"""Turn on the light at the specified color and brightness.
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Arguments:
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color (Color): Color of the light. The light turns off if you
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choose ``None`` or a color that is not available.
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"""
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pass
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def off(self):
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"""Turn off the light."""
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pass
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def rgb(self, red, green, blue):
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"""Set the brightness of the red, green, and blue light.
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Arguments:
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red (:ref:`brightness`): Brightness of the red light.
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green (:ref:`brightness`): Brightness of the green light.
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blue (:ref:`brightness`): Brightness of the blue light.
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"""
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pass
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class LightArray():
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"""Control an array of single-color lights."""
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def __init__(self, lights):
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"""Initialize the light array.
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Arguments:
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lights (int): Number of lights
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"""
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pass
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def on(self, brightness=100):
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"""Turn on all the lights at the specified brightness.
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Arguments:
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brightness (:ref:`brightness`):
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Brightness of the lights (*Default*: 100).
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"""
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pass
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def off(self):
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"""Turn off all the lights."""
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pass
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def array(self, *brightnesses):
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"""array(first_light, ..., last_light)
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Set the brightness of each light individually.
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Arguments:
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brightness (:ref:`brightness`, ..., :ref:`brightness`):
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Brightness of each light.
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"""
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pass
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class LightGrid():
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"""Control a rectangular grid of single-color lights."""
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def __init__(self, rows, columns):
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"""Initialize the light grid.
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Arguments:
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rows (int): Number of rows in the grid
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columns (int): Number of columns in the grid
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"""
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pass
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def image(self, matrix, clear=True):
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"""Show an image made up of pixels of a given brightness.
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Arguments:
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matrix (2D Array): Matrix of intensities (:ref:`brightness`).
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clear (bool): Whether to turn off all the lights before showing
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the new image (*Default*: ``True``). If you choose ``False``,
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the given matrix is added to one already shown.
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"""
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pass
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def pixel(self, row, column, brightness):
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"""Turn on a pixel at the specified brightness.
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Arguments:
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row (int): Vertical grid index, starting at 0 from the top.
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column (int): Horizontal grid index, starting at 0 from the left.
|
|
brightness (:ref:`brightness`): Brightness of the pixel.
|
|
"""
|
|
pass
|
|
|
|
def on(self, brightness=100):
|
|
"""Turn on all the pixels at the specified brightness.
|
|
|
|
Arguments:
|
|
brightness (:ref:`brightness`):
|
|
Brightness of the lights (*Default*: 100).
|
|
"""
|
|
pass
|
|
|
|
def off(self):
|
|
"""Turn off all the pixels."""
|
|
pass
|
|
|
|
def number(self, number):
|
|
"""Display a number on the light grid.
|
|
|
|
Arguments:
|
|
number (int): The number to be displayed.
|
|
"""
|
|
pass
|
|
|
|
def char(self, character):
|
|
"""Display a character or symbol on the light grid. This may
|
|
be any letter (``a``--``z``), capital letter (``A``--``Z``) or one of
|
|
the following symbols: ``!"#$%&'()*+,-./:;<=>?@[\\]^_`{|}``.
|
|
|
|
Arguments:
|
|
character (str): The character or symbol to be displayed.
|
|
"""
|
|
pass
|
|
|
|
def text(self, text, pause=500):
|
|
"""Display a text string, one character at a time, with a pause
|
|
between each character. After the last character is shown, the light
|
|
grid turns off.
|
|
|
|
Arguments:
|
|
character (str): The character or symbol to be displayed.
|
|
time (:ref:`time`): How long to show a character before showing
|
|
the next one.
|
|
"""
|
|
pass
|
|
|
|
|
|
class KeyPad():
|
|
"""Get status of buttons on a keypad layout."""
|
|
|
|
def pressed(self):
|
|
"""Check which buttons are currently pressed.
|
|
|
|
:returns: List of pressed buttons.
|
|
:rtype: List of :class:`Button <.parameters.Button>`
|
|
|
|
"""
|
|
pass
|
|
|
|
|
|
class Battery():
|
|
"""Get the status of a battery."""
|
|
|
|
def voltage(self):
|
|
"""Get the voltage of the battery.
|
|
|
|
Returns:
|
|
:ref:`voltage`: Battery voltage.
|
|
"""
|
|
pass
|
|
|
|
def current(self):
|
|
"""Get the current supplied by the battery.
|
|
|
|
Returns:
|
|
:ref:`current`: Battery current.
|
|
|
|
"""
|
|
pass
|
|
|
|
|
|
class Accelerometer():
|
|
"""Get measurements from an accelerometer."""
|
|
|
|
def neutral(self, top, front):
|
|
"""Configure the neutral orientation of the device or hub. You do this
|
|
by specifying how it is mounted on your design, in terms of the
|
|
:ref:`robot reference frame <robotframe>`.
|
|
|
|
In this given neutral orientation, the tilt and heading will then be
|
|
zero.
|
|
|
|
Arguments:
|
|
top (Axis): Which direction the top of the device faces in the
|
|
neutral orientation. For example, you can
|
|
choose ``top=-Axis.Z`` if you mounted it such that the
|
|
neutral orientation is upside down.
|
|
front (Axis): Which direction the front of the device faces in the
|
|
neutral orientation.
|
|
"""
|
|
pass
|
|
|
|
def acceleration(self, axis=Axis.ALL):
|
|
"""acceleration(axis=Axis.ALL)
|
|
|
|
Measure the acceleration of the device along a given axis in the
|
|
:ref:`robot reference frame <robotframe>`.
|
|
|
|
Arguments:
|
|
axis (Axis): Axis along which the acceleration is
|
|
measured. (*Default*: ``axis=Axis.ALL``)
|
|
Returns:
|
|
:ref:`linacceleration`. Returns a :ref:`scalar` of the acceleration
|
|
along the specified axis.
|
|
If you choose ``axis=Axis.ALL``, you get a :ref:`vector` with the
|
|
accelerations along all three axes (x, y, z).
|
|
|
|
"""
|
|
pass
|
|
|
|
def tilt(self):
|
|
"""Get the pitch and roll angles relative to the neutral, horizontal
|
|
orientation.
|
|
|
|
The order of rotation is pitch-then-roll. This is equivalent to a
|
|
positive rotation along the x-axis and then a positive rotation
|
|
along the y-axis.
|
|
|
|
Returns:
|
|
(:ref:`angle`, :ref:`angle`): Pitch and roll angles.
|
|
|
|
"""
|
|
pass
|
|
|
|
def tapped(self):
|
|
"""Check if the device or hub was tapped.
|
|
|
|
Returns:
|
|
bool:
|
|
``True`` if tapped since this method was last called. ``False``
|
|
otherwise.
|
|
|
|
"""
|
|
# def tapped(self, axis=Axis.ALL, bidirectional=True, tolerance=45):
|
|
pass
|
|
|
|
def shaken(self):
|
|
"""Check if the device or hub was shaken.
|
|
|
|
Returns:
|
|
bool:
|
|
``True`` if shaken since this method was last called. ``False``
|
|
otherwise.
|
|
|
|
"""
|
|
# def shaken(self, axis=Axis.ALL, bidirectional=True, tolerance=45):
|
|
pass
|
|
|
|
def up(self):
|
|
"""Check which side of the device or hub currently faces upward.
|
|
|
|
:returns:
|
|
``Side.TOP``, ``Side.BOTTOM``, ``Side.LEFT``, ``Side.RIGHT``,
|
|
``Side.FRONT`` or ``Side.BACK``.
|
|
:rtype: :class:`Side <.parameters.Side>`
|
|
|
|
"""
|
|
pass
|
|
|
|
|
|
class IMU(Accelerometer):
|
|
|
|
def heading(self):
|
|
"""Get the heading angle relative to the starting orientation. It is a
|
|
a positive rotation around the :ref:`z-axis in the robot
|
|
frame <robotframe>`, prior to applying any tilt rotation.
|
|
|
|
For a vehicle viewed from the top, this means that
|
|
a positive heading value corresponds to a counterclockwise rotation.
|
|
|
|
Returns:
|
|
:ref:`angle`: Heading angle relative to starting orientation.
|
|
|
|
"""
|
|
pass
|
|
|
|
def reset_heading(self, angle):
|
|
"""Reset the accumulated heading angle of the robot.
|
|
|
|
Arguments:
|
|
angle (:ref:`angle`): Value to which the heading should be reset.
|
|
"""
|
|
pass
|
|
|
|
def gyro(self, axis=Axis.ALL):
|
|
"""gyro(axis=Axis.ALL)
|
|
|
|
Measure the angular velocity of the device along a given axis in the
|
|
:ref:`robot reference frame <robotframe>`.
|
|
|
|
Arguments:
|
|
axis (Axis): Axis along which the angular velocity is
|
|
measured. (*Default*: ``axis=Axis.ALL``)
|
|
Returns:
|
|
:ref:`speed`. Returns a :ref:`scalar` of the angular velocity
|
|
along the specified axis.
|
|
If you choose ``axis=Axis.ALL``, you get a :ref:`vector` with the
|
|
angular velocities along all three axes (x, y, z).
|
|
|
|
"""
|
|
pass
|