mirror of
https://github.com/pybricks/pybricks-api.git
synced 2026-09-12 09:37:25 +00:00
David Lechner
eb7f441c9e
This is the v2 branch which only supports EV3. Removing the extra APIs will prevent them from showing up when this library is used for code completion.
451 lines
14 KiB
Python
451 lines
14 KiB
Python
# SPDX-License-Identifier: MIT
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# Copyright (c) 2018-2020 The Pybricks Authors
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"""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
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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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"""Rotates 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 stop(self):
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"""Stops the motor and lets it spin freely.
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The motor gradually stops due to friction."""
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pass
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def brake(self):
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"""Passively brakes the motor.
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The motor stops due to friction, plus the voltage that
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is generated while the motor is still moving."""
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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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.. data:: scale
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Scaling factor between the controlled integer variable
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and the physical output. For example, for a single
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motor this is the number of encoder pulses per degree of rotation.
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"""
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def limits(self, speed, acceleration, actuation):
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"""Configures 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, integral_range, integral_rate, feed_forward):
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"""Gets or sets 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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integral_range (:ref:`angle` or :ref:`distance`): Region around
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the target angle or distance, in which integral control errors
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are accumulated.
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integral_rate (:ref:`speed` or :ref:`linspeed`): Maximum rate at
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which the error integral is allowed to grow.
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feed_forward (:ref:`percentage`):
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This adds a feed forward signal to the PID feedback signal, in
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the direction of the speed reference. This value is expressed
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as a percentage of the absolute maximum duty cycle.
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"""
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pass
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def target_tolerances(self, speed, position):
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"""Gets or sets 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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speed (:ref:`speed` or :ref:`linspeed`): Allowed deviation
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from zero speed before motion is considered complete.
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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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"""
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pass
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def stall_tolerances(self, speed, time):
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"""Gets or sets 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 for some ``time`` even with maximum
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actuation, it is stalled.
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time (:ref:`time`): How long the controller has to be below this
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minimum ``speed`` before we say it is stalled.
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"""
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pass
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def stalled(self):
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"""Checks if the controller is currently stalled.
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A controller is stalled when it cannot reach the target speed or
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position, even with the maximum 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 done(self):
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"""Checks if an ongoing command or maneuver is done.
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Returns:
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bool: ``True`` if the command is done, ``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.
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gears (list):
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List of gears linked to the motor.
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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.
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"""
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pass
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def angle(self):
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"""Gets 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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"""Gets 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 reset_angle(self, angle):
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"""Sets the accumulated rotation angle of the motor to a desired value.
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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 hold(self):
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"""Stops the motor and actively holds it at its current angle."""
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pass
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def run(self, speed):
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"""Runs the motor at a constant speed.
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The motor accelerates to the given speed and keeps running at this
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speed 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, then=Stop.HOLD, wait=True):
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"""Runs the motor at a constant speed for a given amount of time.
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The motor accelerates to the given speed, keeps running at this speed,
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and then decelerates. The total maneuver lasts for exactly the given
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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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then (Stop): What to do after coming to a standstill.
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wait (bool): Wait for the maneuver to complete before continuing
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with the rest of the program.
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"""
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pass
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def run_angle(self, speed, rotation_angle, then=Stop.HOLD, wait=True):
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"""Runs 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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then (Stop): What to do after coming to a standstill.
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wait (bool): Wait for the maneuver to complete before continuing
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with the rest of the program.
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"""
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pass
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def run_target(self, speed, target_angle, then=Stop.HOLD, wait=True):
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"""Runs 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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then (Stop): What to do after coming to a standstill.
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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.
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"""
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pass
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def run_until_stalled(self, speed, then=Stop.COAST, duty_limit=None):
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"""Runs the motor at a constant speed until it stalls.
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Arguments:
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speed (:ref:`speed`): Speed of the motor.
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then (Stop): What to do after coming to a standstill.
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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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Returns:
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:ref:`angle`: Angle at which the motor becomes stalled.
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"""
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pass
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def track_target(self, target_angle):
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"""Tracks 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 dc(self, duty):
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"""Rotates 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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"""Plays 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. 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. 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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"""Plays 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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"""Plays 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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"""Says 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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"""Configures 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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"""Sets 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.
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"""
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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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"""Turns on the light at the specified color.
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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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"""Turns off the light."""
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pass
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def rgb(self, red, green, blue):
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"""Sets 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 KeyPad:
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"""Get status of buttons on a keypad layout."""
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def pressed(self):
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"""Checks which buttons are currently pressed.
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:returns: List of pressed buttons.
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:rtype: List of :class:`Button <.parameters.Button>`
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"""
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pass
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class Battery:
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"""Get the status of a battery."""
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def voltage(self):
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"""Gets the voltage of the battery.
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Returns:
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:ref:`voltage`: Battery voltage.
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"""
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pass
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def current(self):
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"""Gets the current supplied by the battery.
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Returns:
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:ref:`current`: Battery current.
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"""
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pass
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