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.