Python API

This documentation is automatically generated based on the source file.

Warning

This API is still under development and might still change. Please take this into account when developing (course material).

class robot.Robot(*args, **kwargs)

Robot API

This class allows you to control the robot from Python. The getters and setters are just wrappers calling ROS topics or services.

getAnalogPinValue(pin: str, mode: Literal['percentage']) → int

getAnalogPinValue(pin: str, mode: Literal['raw']) → int

getAnalogPinValue(pin: str, mode: Literal['voltage']) → float

Gets the input value of an analog pin.

Parameters:

• pin (str) – The pin number of an analog pin as printed on the microcontroller.

• mode (str, optional) – The units of the value, can be “percentage”, “raw” or “voltage”. Defaults to “percentage”.

Returns:

Value of the pin (0-100 when percentage, 0-<max_mcu_value> when raw, 0-<max_mcu_voltage>V when voltage).

Return type:

int | float

getColor(sensor: str) → dict[str, float]

Gets the value of the color sensor.

Parameters:

sensor (str) – The name of the sensor as defined in the configuration.

Returns:

Hue (0-360), Saturation (0-1), Lightness. {h, s, l}: Hue (0-360), Saturation (0-1), Lightness.

Return type:

{h, s, l}

getColorRGBW(sensor: str) → dict[str, float]

Gets the value of the color sensor.

Parameters:

sensor (str) – The name of the sensor as defined in the configuration.

Returns:

Scaled (0-1) values per R(ed), G(reen), B(lue), and W(hite).

Return type:

{r, g, b, w}

getDigitalPinValue(pin: str) → bool

Gets the input value of a digital pin.

Parameters:

pin (str) – The pin number of a digital pin as printed on the microcontroller.

Returns:

The input value.

Return type:

bool

getDistance(sensor: str) → float

Gets data from a HC-SR04 distance sensor: calculated distance in meters.

Parameters:

sensor (str) – The name of the sensor as defined in the configuration.

Returns:

Range in meters measured by the HC-SR04 sensor. (The distance gets clamped to minimum and maximum range of the HC-SR04 sensor)

Return type:

float

Warning

Depeding on the MCU used, there might be a mamimum of the number of distance sensors one can use.

getEncoder(sensor: str) → int

Gets data from an encoder: every encoder pulse increments the counter.

Parameters:

sensor (str) – The name of the sensor as defined in the configuration.

Returns:

Number of encoder pulses since boot of the robot.

Return type:

int

getIntensity(sensor: str, type: Literal['analog']) → float

getIntensity(sensor: str, type: Literal['digital']) → int

Gets data from an intensity sensor.

Parameters:

• sensor (str) – The name of the sensor as defined in the configuration.

• type (str) – The type of the sensor (either ‘analog’ or ‘digital’).

Returns:

Value of the sensor (0.0-1.0 when analog, 0-1 when digital).

Return type:

int | float

getKeypad(keypad: str) → Literal['', 'up', 'down', 'left', 'right', 'enter']

Gets the value of the keypad: the button that is pressed.

Parameters:

keypad (str) – The name of the sensor as defined in the configuration.

Returns:

The name of the button (‘up’, ‘down’, ‘left’, ‘right’, ‘enter’).

Return type:

str

getROSNode()

getTimeSinceLastCall() → float

Gets the elapsed time in seconds since the last call to this function.

Returns:

Time in seconds since last call to this function. Fractions of a second may be present if the system clock provides them.

Return type:

float

getTimestamp() → float

Gets the elapsed time in seconds since the initialization of the Robot.

Returns:

Time in seconds since the initialization of the Robot. Fractions of a second may be present if the system clock provides them.

Return type:

float

setAnalogPinValue(pin: str, value: int | float, mode: Literal['percentage']) → bool

setAnalogPinValue(pin: str, value: int, mode: Literal['raw']) → bool

setAnalogPinValue(pin: str, value: float, mode: Literal['voltage']) → bool

Sets the output value of an analog pin (PWM).

Parameters:

• pin (str) – The pin number of an analog pin as printed on the microcontroller.

• value (int) – Value between 0-255.

setDigitalPinValue(pin: str, value: bool) → bool

Sets the output value of a digital pin.

Parameters:

• pin (str) – The pin number of an analog pin as printed on the microcontroller.

• value (bool) – Value to set.

setMotorControl(status: bool) → bool

Enables/disables the motor controller. This is enabled on boot, but can be disabled/enabled at runtime. This makes the ROS control node pause, so it will not respond to Twist messages anymore when disabled.

Parameters:

status (bool) – To which status the motor controller should be set.

Returns:

True if succes (ok)

Return type:

bool

setMotorSpeed(motor: str, value: int) → bool

Sets the speed of the motor.

Parameters:

• motor (str) – The name of the sensor as defined in the configuration.

• value (int) – The ‘directional duty cycle’ (range [-100, 100]) of the PWM signal (-100: full backward, 0: stand still, 100: full forward).

Returns:

True if set successfully.

Return type:

bool

setOLEDAnimation(oled: str, animation: str) → bool

Shows animation on the OLED.

Parameters:

• oled (str) – The name of the sensor as defined in the configuration.

• animation (str) – Animation (directory) name/path either an absolute path, a path relative to the folder of the mirte-oled-images repository or and package relative path (pkg://PACKAGE_NAME/REST/OF/PATH).

setOLEDImage(oled: str, image: str) → bool

Shows image on the OLED.

Parameters:

• oled (str) – The name of the sensor as defined in the configuration.

• image (str) – Image name/path either an absolute path, a path relative to the folder of the mirte-oled-images repository or and package relative path (pkg://PACKAGE_NAME/REST/OF/PATH). The image extension can be omitted if its png.

setOLEDText(oled: str, text: str) → bool

Shows text on the OLED.

Parameters:

• oled (str) – The name of the sensor as defined in the configuration.

• text (str) – String to be shown on the 128x64 OLED.

setServoAngle(servo: str, angle: float) → bool

Sets the angle of a servo.

Parameters:

• servo (str) – The name of the sensor as defined in the configuration.

• angle (float) – The angle of the servo (range [0-360], but some servos might be physically limited to [0-180].

Returns:

True if set successfully.

Return type:

bool

Warning

Servos use PWM signals, which needs MCU timers. Depending on the MCU and the servo implementation, it might be the case that enabling a servo can interfere with (or use other) timers. This can lead to PWM signals not functioning on some pins that used to have PWM (due to used timers).

Warning

Depeding on the MCU used, there might be a mamimum of the number of servos one can use.

stop() → None

Stops all DC motors defined in the configuration

Note

This function is always called when a script exits (either by the user or when it finished.