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

Detailed Description

Configuration Parameters

Definition at line 35 of file arduino_driver.py.

Constructor & Destructor Documentation

def src.arduino_driver.Arduino.__init__	(	self,
		port = `"/dev/ttyUSB0"`,
		baudrate = `57600`,
		timeout = `0.5`
	)

Definition at line 41 of file arduino_driver.py.

Member Function Documentation

def src.arduino_driver.Arduino.analog_read	(	self,
		pin
	)

Definition at line 298 of file arduino_driver.py.

def src.arduino_driver.Arduino.analog_write	(	self,
		pin,
		value
	)

Definition at line 301 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 304 of file arduino_driver.py.

def src.arduino_driver.Arduino.digital_write	(	self,
		pin,
		value
	)

Definition at line 307 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 277 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 282 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 218 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 180 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 258 of file arduino_driver.py.

def src.arduino_driver.Arduino.get_encoder_counts ( self )

Definition at line 263 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 310 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 325 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 272 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 319 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 313 of file arduino_driver.py.

def src.arduino_driver.Arduino.stop ( self )

Stop both motors.

Definition at line 293 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 251 of file arduino_driver.py.

Member Data Documentation

src::arduino_driver.Arduino::analog_sensor_cache

Definition at line 41 of file arduino_driver.py.

src::arduino_driver.Arduino::baudrate

Definition at line 41 of file arduino_driver.py.

src::arduino_driver.Arduino::digital_sensor_cache

Definition at line 41 of file arduino_driver.py.

src::arduino_driver.Arduino::encoder_count

Definition at line 41 of file arduino_driver.py.

src::arduino_driver.Arduino::interCharTimeout

Definition at line 41 of file arduino_driver.py.

src::arduino_driver.Arduino::mutex

Definition at line 41 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.

src::arduino_driver.Arduino::PID_INTERVAL

Definition at line 41 of file arduino_driver.py.

src::arduino_driver.Arduino::PID_RATE

Definition at line 41 of file arduino_driver.py.

src::arduino_driver.Arduino::port

Definition at line 41 of file arduino_driver.py.

src::arduino_driver.Arduino::timeout

Definition at line 41 of file arduino_driver.py.

src::arduino_driver.Arduino::writeTimeout

Definition at line 41 of file arduino_driver.py.

The documentation for this class was generated from the following file:

arduino_driver.py

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation