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Public Member Functions | |
def | __init__ |
def | analog_read |
def | analog_write |
def | close |
def | connect |
def | digital_read |
def | digital_write |
def | drive |
def | drive_m_per_s |
def | execute |
def | execute_ack |
def | execute_array |
def | get_baud |
def | get_encoder_counts |
def | open |
def | pin_mode |
def | ping |
def | recv |
def | recv_ack |
def | recv_array |
def | recv_int |
def | reset_encoders |
def | send |
def | servo_read |
def | servo_write |
def | stop |
def | update_pid |
Public Attributes | |
analog_sensor_cache | |
baudrate | |
digital_sensor_cache | |
encoder_count | |
interCharTimeout | |
mutex | |
PID_INTERVAL | |
PID_RATE | |
port | |
timeout | |
writeTimeout | |
Static Public Attributes | |
int | N_ANALOG_PORTS = 6 |
int | N_DIGITAL_PORTS = 12 |
Configuration Parameters
Definition at line 35 of file arduino_driver.py.
def src::arduino_driver::Arduino::__init__ | ( | self, | ||
port = "/dev/ttyUSB0" , |
||||
baudrate = 57600 , |
||||
timeout = 0.5 | ||||
) |
Definition at line 41 of file arduino_driver.py.
def src::arduino_driver::Arduino::analog_read | ( | self, | ||
pin | ||||
) |
Definition at line 301 of file arduino_driver.py.
def src::arduino_driver::Arduino::analog_write | ( | self, | ||
pin, | ||||
value | ||||
) |
Definition at line 304 of file arduino_driver.py.
def src::arduino_driver::Arduino::close | ( | self | ) |
Close the serial port.
Definition at line 90 of file arduino_driver.py.
def src::arduino_driver::Arduino::connect | ( | self | ) |
Definition at line 62 of file arduino_driver.py.
def src::arduino_driver::Arduino::digital_read | ( | self, | ||
pin | ||||
) |
Definition at line 307 of file arduino_driver.py.
def src::arduino_driver::Arduino::digital_write | ( | self, | ||
pin, | ||||
value | ||||
) |
Definition at line 310 of file arduino_driver.py.
def src::arduino_driver::Arduino::drive | ( | self, | ||
right, | ||||
left | ||||
) |
Speeds are given in encoder ticks per PID interval
Definition at line 280 of file arduino_driver.py.
def src::arduino_driver::Arduino::drive_m_per_s | ( | self, | ||
right, | ||||
left | ||||
) |
Set the motor speeds in meters per second.
Definition at line 285 of file arduino_driver.py.
def src::arduino_driver::Arduino::execute | ( | self, | ||
cmd | ||||
) |
Thread safe execution of "cmd" on the Arduino returning a single integer value.
Definition at line 148 of file arduino_driver.py.
def src::arduino_driver::Arduino::execute_ack | ( | self, | ||
cmd | ||||
) |
Thread safe execution of "cmd" on the Arduino returning True if response is ACK.
Definition at line 220 of file arduino_driver.py.
def src::arduino_driver::Arduino::execute_array | ( | self, | ||
cmd | ||||
) |
Thread safe execution of "cmd" on the Arduino returning an array.
Definition at line 181 of file arduino_driver.py.
def src::arduino_driver::Arduino::get_baud | ( | self | ) |
Get the current baud rate on the serial port.
Definition at line 261 of file arduino_driver.py.
def src::arduino_driver::Arduino::get_encoder_counts | ( | self | ) |
Definition at line 266 of file arduino_driver.py.
def src::arduino_driver::Arduino::open | ( | self | ) |
Open the serial port.
Definition at line 85 of file arduino_driver.py.
def src::arduino_driver::Arduino::pin_mode | ( | self, | ||
pin, | ||||
mode | ||||
) |
Definition at line 313 of file arduino_driver.py.
def src::arduino_driver::Arduino::ping | ( | self, | ||
pin | ||||
) |
The srf05/Ping command queries an SRF05/Ping sonar sensor connected to the General Purpose I/O line pinId for a distance, and returns the range in cm. Sonar distance resolution is integer based.
Definition at line 328 of file arduino_driver.py.
def src::arduino_driver::Arduino::recv | ( | self, | ||
timeout = 0.5 | ||||
) |
Definition at line 101 of file arduino_driver.py.
def src::arduino_driver::Arduino::recv_ack | ( | self | ) |
This command should not be used on its own: it is called by the execute commands below in a thread safe manner.
Definition at line 121 of file arduino_driver.py.
def src::arduino_driver::Arduino::recv_array | ( | self | ) |
This command should not be used on its own: it is called by the execute commands below in a thread safe manner.
Definition at line 138 of file arduino_driver.py.
def src::arduino_driver::Arduino::recv_int | ( | self | ) |
This command should not be used on its own: it is called by the execute commands below in a thread safe manner.
Definition at line 128 of file arduino_driver.py.
def src::arduino_driver::Arduino::reset_encoders | ( | self | ) |
Reset the encoder counts to 0
Definition at line 275 of file arduino_driver.py.
def src::arduino_driver::Arduino::send | ( | self, | ||
cmd | ||||
) |
This command should not be used on its own: it is called by the execute commands below in a thread safe manner.
Definition at line 95 of file arduino_driver.py.
def src::arduino_driver::Arduino::servo_read | ( | self, | ||
id | ||||
) |
Usage: servo_read(id) The returned position is converted from degrees to radians
Definition at line 322 of file arduino_driver.py.
def src::arduino_driver::Arduino::servo_write | ( | self, | ||
id, | ||||
pos | ||||
) |
Usage: servo_write(id, pos) Position is given in radians and converted to degrees before sending
Definition at line 316 of file arduino_driver.py.
def src::arduino_driver::Arduino::stop | ( | self | ) |
Stop both motors.
Definition at line 296 of file arduino_driver.py.
def src::arduino_driver::Arduino::update_pid | ( | self, | ||
Kp, | ||||
Kd, | ||||
Ki, | ||||
Ko | ||||
) |
Set the PID parameters on the Arduino
Definition at line 254 of file arduino_driver.py.
Definition at line 57 of file arduino_driver.py.
Definition at line 47 of file arduino_driver.py.
Definition at line 60 of file arduino_driver.py.
Definition at line 49 of file arduino_driver.py.
Definition at line 51 of file arduino_driver.py.
Definition at line 54 of file arduino_driver.py.
int src::arduino_driver::Arduino::N_ANALOG_PORTS = 6 [static] |
Definition at line 38 of file arduino_driver.py.
int src::arduino_driver::Arduino::N_DIGITAL_PORTS = 12 [static] |
Definition at line 39 of file arduino_driver.py.
Definition at line 44 of file arduino_driver.py.
Definition at line 43 of file arduino_driver.py.
Definition at line 46 of file arduino_driver.py.
Definition at line 48 of file arduino_driver.py.
Definition at line 50 of file arduino_driver.py.