Configuration Parameters
Definition at line 45 of file serializer_driver.py.
| def serializer_driver.Serializer.__init__ | ( | self, | |
pid_params = default_pid_params, |
|||
port = "/dev/ttyUSB0", |
|||
baudrate = 19200, |
|||
timeout = 0.5 |
|||
| ) |
Definition at line 80 of file serializer_driver.py.
| def serializer_driver.Serializer.blink_led | ( | self, | |
| id, | |||
| rate | |||
| ) |
Usage 1: blink_led(id, rate)
Usage 2: blink_led([id1, id2], [rate1, rate2])
The blink_led command can blink one of the two onboard green LEDs
simultaneously, or individually. Each complex parameter is comprised
of an <ledId:blinkRate> pair. The ledId specifies which of the two
green LEDs to blink, and blinkRate specifies the delay between blinks.
The minimum blink rate is 1, and the largest is 127. A value of 0 turns
the led off.
Definition at line 328 of file serializer_driver.py.
| def serializer_driver.Serializer.clear_encoder | ( | self, | |
| id | |||
| ) |
Usage 1: clear_encoder(id)
Usage 2: clear_encoder([id1, id2])
The clear_encoder command clears the values of the encoder
count (channel B) for the specified encoder Id.
Definition at line 424 of file serializer_driver.py.
| def serializer_driver.Serializer.close | ( | self | ) |
Close the serial port.
Definition at line 167 of file serializer_driver.py.
| def serializer_driver.Serializer.connect | ( | self | ) |
Definition at line 116 of file serializer_driver.py.
| def serializer_driver.Serializer.digo | ( | self, | |
| id, | |||
| dist, | |||
| vel | |||
| ) |
Usage 1: m(id, dist, vel)
Usage 2: digo([id1, id2], [dist1, dist2], [vel1, vel2])
Simply put, the digo command allows you to command your robot to
travel a specified distance, at a specified speed. This command uses
the internal VPID and DPID algorithms to control velocity and distance.
Therefore, you must have dual motors, and dual wheel encoders
connected to the Serializer motor ports and encoder inputs.
Definition at line 500 of file serializer_driver.py.
| def serializer_driver.Serializer.digo_m_per_s | ( | self, | |
| id, | |||
| dist, | |||
| vel | |||
| ) |
Identical to digo but specifies velocities in meters per second.
Definition at line 519 of file serializer_driver.py.
| def serializer_driver.Serializer.execute | ( | self, | |
| cmd | |||
| ) |
Thread safe execution of "cmd" on the SerializerTM returning a single value.
Definition at line 210 of file serializer_driver.py.
| def serializer_driver.Serializer.execute_ack | ( | self, | |
| cmd | |||
| ) |
Thread safe execution of "cmd" on the SerializerTM returning True if response is ACK.
Definition at line 253 of file serializer_driver.py.
| def serializer_driver.Serializer.execute_array | ( | self, | |
| cmd | |||
| ) |
Thread safe execution of "cmd" on the SerializerTM returning an array.
Definition at line 230 of file serializer_driver.py.
| def serializer_driver.Serializer.execute_int | ( | self, | |
| cmd | |||
| ) |
Thread safe execution of "cmd" on the SerializerTM returning an int.
Definition at line 274 of file serializer_driver.py.
| def serializer_driver.Serializer.fw | ( | self | ) |
The fw command returns the current firmware version.
Definition at line 315 of file serializer_driver.py.
| def serializer_driver.Serializer.get_all_analog | ( | self | ) |
Return the readings from all analog ports.
Definition at line 659 of file serializer_driver.py.
| def serializer_driver.Serializer.get_analog | ( | self, | |
| id | |||
| ) |
Definition at line 656 of file serializer_driver.py.
| def serializer_driver.Serializer.get_analog_cache | ( | self, | |
| ids | |||
| ) |
Definition at line 308 of file serializer_driver.py.
| def serializer_driver.Serializer.get_baud | ( | self | ) |
Get the current baud rate on the serial port.
Definition at line 372 of file serializer_driver.py.
| def serializer_driver.Serializer.get_compass | ( | self, | |
i2c_addr = None |
|||
| ) |
Usage 1: heading = get_compass()
Usage 2: heading = get_compass(i2c_addr)
The get_compass command queries a Devantech CMPS03 Electronic
compass module attached to the Serializers I2C port.
The current heading is returned in Binary Radians, or BRADS.To
convert BRADS to DEGREES, multiply BRADS by 360/255 (~1.41).
The default I2C address is 0xC0, however another I2C address can be
supplied as an optional parameter.
Definition at line 342 of file serializer_driver.py.
| def serializer_driver.Serializer.get_dpid | ( | self | ) |
Get the PIDA parameter values.
Definition at line 537 of file serializer_driver.py.
| def serializer_driver.Serializer.get_encoder | ( | self | ) |
The get_encoder command returns the encoder type for the SerializerTM,
single (0) or quadrature (1).
Definition at line 354 of file serializer_driver.py.
| def serializer_driver.Serializer.get_encoder_count | ( | self, | |
| id | |||
| ) |
Usage 1: get_encoder_count(id)
Usage 2: get_encoder_count([id1, id2])
The get_encoder_count command returns the values of the encoder
count (channel B) for the specified encoder Id(s). NOTE: The encoder
counts for channel A are used for internal VPID and DPID algorithms.
Definition at line 405 of file serializer_driver.py.
Definition at line 879 of file serializer_driver.py.
| def serializer_driver.Serializer.get_gear_reduction | ( | self | ) |
Definition at line 873 of file serializer_driver.py.
| def serializer_driver.Serializer.get_GP2D12 | ( | self, | |
| pin, | |||
cached = False |
|||
| ) |
Get the distance reading from a GP2D12 IR sensor on the given analog pin.
Definition at line 900 of file serializer_driver.py.
| def serializer_driver.Serializer.get_io | ( | self, | |
| id | |||
| ) |
Usage 1: get_io(id)
Usage 2: get_io([id1, id2, id3, ... , idN])
The get_io command changes the pin, pinId (range 0-12), to an input
(if it was an output), and gets the value of the specified General
Purpose I/O lines on the SerializerTM. The valid range of I/O pin Ids is
0 thru 12. More than one pid can be specified by enter a list as argument.
Definition at line 433 of file serializer_driver.py.
| def serializer_driver.Serializer.get_maxez1 | ( | self, | |
| triggerPin, | |||
| outputPin | |||
| ) |
The maxez1 command queries a Maxbotix MaxSonar-EZ1 sonar
sensor connected to the General Purpose I/O lines, triggerPin, and
outputPin, for a distance, and returns it in Centimeters. NOTE: MAKE
SURE there's nothing directly in front of the MaxSonar-EZ1 upon
power up, otherwise it wont range correctly for object less than 6
inches away! The sensor reading defaults to use English units
(inches). The sensor distance resolution is integer based. Also, the
maxsonar trigger pin is RX, and the echo pin is PW.
Definition at line 466 of file serializer_driver.py.
| def serializer_driver.Serializer.get_MaxEZ1 | ( | self, | |
| trigger_pin, | |||
| output_pin, | |||
cached = False |
|||
| ) |
Get the distance reading from a MaxEZ1 sonarl sensor on the given trigger and output pins.
Definition at line 891 of file serializer_driver.py.
| def serializer_driver.Serializer.get_PhidgetsCurrent | ( | self, | |
| pin, | |||
cached = False, |
|||
model = 20, |
|||
ac_dc = "dc" |
|||
| ) |
Definition at line 950 of file serializer_driver.py.
| def serializer_driver.Serializer.get_PhidgetsTemperature | ( | self, | |
| pin, | |||
cached = False, |
|||
units = "F" |
|||
| ) |
Get the temperature from a Phidgets Temperature sensor on an analog sensor port and return
the reading in either Farhenheit or Celcius depending on the units argument.
Definition at line 920 of file serializer_driver.py.
| def serializer_driver.Serializer.get_PhidgetsVoltage | ( | self, | |
| pin, | |||
cached = False |
|||
| ) |
Get the voltage from a Phidgets Voltage sensor on an analog sensor port.
Definition at line 938 of file serializer_driver.py.
| def serializer_driver.Serializer.get_pids | ( | self | ) |
Once a digo command is issued, an internal state variable within the
firmware is set to 1, and it stays in that state until the algorithm has
completed. Upon completion, the state is set to 0. The pids
command simply returns the value of the internal variable to
determine if the algorithms is currently busy, or if it has finished, thus
allowing subsequent digo commands to be issued w/o clobbering
previous ones.
Definition at line 560 of file serializer_driver.py.
| def serializer_driver.Serializer.get_Ping | ( | self, | |
| pin, | |||
cached = False |
|||
| ) |
Get the distance reading from a Ping sonarl sensor on the given GPIO pin.
Definition at line 882 of file serializer_driver.py.
| def serializer_driver.Serializer.get_units | ( | self | ) |
The get_units returns the current units used for sensor
readings. Values are 0 for metric mode, 1 for English mode, and 2 for
raw mode. In raw mode, srf04, srf05, pping, and maxez1 return
reading in units of 0.4us. srf08 and srf10 return readings of 1us..
Definition at line 387 of file serializer_driver.py.
| def serializer_driver.Serializer.get_vpid | ( | self | ) |
Get the PIDL parameter values.
Definition at line 483 of file serializer_driver.py.
| def serializer_driver.Serializer.get_wheel_diameter | ( | self | ) |
Definition at line 861 of file serializer_driver.py.
| def serializer_driver.Serializer.get_wheel_track | ( | self | ) |
Definition at line 867 of file serializer_driver.py.
| def serializer_driver.Serializer.i2c | ( | self, | |
| op, | |||
| addr, | |||
data = None |
|||
| ) |
Usage1: i2c(op, addr)
Usage2: i2c(op, addr, data)
The flexible i2c command allows you to execute a generic i2c read, or
write command to the specified device at address addr. Depending on
whether you issue a read or write, additional parameters vary.
Definition at line 824 of file serializer_driver.py.
| def serializer_driver.Serializer.init_PID | ( | self | ) |
Definition at line 154 of file serializer_driver.py.
| def serializer_driver.Serializer.line | ( | self, | |
| addr, | |||
newaddr = None, |
|||
seven = False |
|||
| ) |
Queries a RoboticsConnection Line Following Sensor at address addr.
If the -a option is specified, then the address of the module will be
changed to the new address associated w the -a switch.
If the optional 7 is appended to the end of the line command, e.g.
line7, then two additional values will be returned from those Line
Following Sensors (manufactured after 11/1/07) which have additional
sensor inputs on the sides of the board. This can be used to read
additional Single Line Following sensors, or read any type of on/off
momentary switch, such those used for bumpers.
Definition at line 809 of file serializer_driver.py.
| def serializer_driver.Serializer.mogo | ( | self, | |
| id, | |||
| vel | |||
| ) |
Usage 1: mogo(id, vel)
Usage 2: mogo([id1, id2], [vel1, vel2])
The mogo command sets motor speed using one or more complex
parameters containing a <motorId:spd> value pair.
The motorId can be either 1 or 2, which corresponds to the Motor
Terminal port.
The vel value specifies the motor velocity, and it's range depends on
your VPID settings. See the VPID parameters section below to
determine your MAX velocity. A positive value rotates the motors in
one direction, which a negative value rotates the motors in the
opposite direction.
You will have to determine which direction is positive for your motors,
and connect the motors wires to the terminals on the Serializer board
in the appropriate configuration.
Definition at line 983 of file serializer_driver.py.
| def serializer_driver.Serializer.mogo_m_per_s | ( | self, | |
| id, | |||
| vel | |||
| ) |
Set the motor speeds in meters per second.
Definition at line 1008 of file serializer_driver.py.
| def serializer_driver.Serializer.open | ( | self | ) |
Open the serial port.
Definition at line 161 of file serializer_driver.py.
| def serializer_driver.Serializer.pping | ( | self, | |
| pinId | |||
| ) |
The srf05/Ping command queries an SRF05/Ping sonar sensor
connected to the General Purpose I/O line pinId for a distance,
and returns it in the units configured (default is English - inches).
If the Serializer units are configured (using cfg units) for raw mode,
pping and srf05 return readings in units of 0.4us, and the max
distance returned is 65000 (out of range). When configured for
English units, max distance returned is 100 inches (out of range), and
when configured for Metric units, max distance returned is 255 (out of
range). Sonar distance resolution is integer based.
Definition at line 716 of file serializer_driver.py.
| def serializer_driver.Serializer.pwm | ( | self, | |
| id, | |||
| vel, | |||
rate = None |
|||
| ) |
Usage 1: pwm(id, vel)
Usage 2: pwm(id, vel, rate=r)
Usage 3: pwm([id1, id2], [vel1, vel2])
Usage 4: pwm([id1, id2], [vel1, vel2], rate=r)
The pwm command sets the Pulse Width Modulation value for
Motor 1 & Motor 2. Each complex parameter is a motor
<motorId:pwm value> pair, where the motor id can be 1 or 2, and the
pwm value can be -100 to 100. Each complex parameter pair is
separated by one or more spaces.
The optional rate parameter allows the
motor(s) speed(s)s to be ramped up or down to the specified speed
from the current motor speed.
Definition at line 571 of file serializer_driver.py.
| def serializer_driver.Serializer.recv | ( | 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 179 of file serializer_driver.py.
| def serializer_driver.Serializer.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 186 of file serializer_driver.py.
| def serializer_driver.Serializer.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 200 of file serializer_driver.py.
| def serializer_driver.Serializer.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 193 of file serializer_driver.py.
| def serializer_driver.Serializer.reset | ( | self | ) |
The reset command resets the SerializerTM board and reboots it. You
will see the SerializerTM welcome screen appear after a short delay.
Once the welcome string appears, the SerializerTM is ready to accept
commands.
Definition at line 320 of file serializer_driver.py.
| def serializer_driver.Serializer.restore | ( | self | ) |
Restores the factory default settings, and resets the board. NOTE:
This will erase any configurations you have saved to EEPROM,
including VPID, DPID, and baud rate settings.
Definition at line 802 of file serializer_driver.py.
| def serializer_driver.Serializer.rotate | ( | self, | |
| angle, | |||
| vel | |||
| ) |
Rotate the robot through 'angle' degrees or radians at speed 'vel'. Use the ROS convention for right handed
coordinate systems with the z-axis pointing up so that a positive angle is counterclockwise.
Use negative angles to rotate clockwise.
Definition at line 1037 of file serializer_driver.py.
| def serializer_driver.Serializer.rotate_at_speed | ( | self, | |
| vel | |||
| ) |
Rotate the robot continously at speed 'vel' radians or degrees per second. Use the ROS convention for right handed
coordinate systems with the z-axis pointing up so that a positive speed is counterclockwise.
Use negative speeds to rotate clockwise.
Definition at line 1059 of file serializer_driver.py.
| def serializer_driver.Serializer.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 173 of file serializer_driver.py.
| def serializer_driver.Serializer.sensor | ( | self, | |
| id | |||
| ) |
Usage 1: reading = sensor(id)
Usage 2: readings = sensor([id1, id2, ..., idN])
The sensor command returns the raw A/D (8 bit) reading from the
analog sensor ports 0-5. Multiple values can be read at a time by
specifying multiple pins as a list. Pin 5 is 1/3 of
the voltage of the power supply for the SerializerTM. To calculate the
battery voltage, simply multiply the value returned by Sensor 5 by
15/1024.
Definition at line 621 of file serializer_driver.py.
| def serializer_driver.Serializer.servo | ( | self, | |
| id, | |||
| pos | |||
| ) |
Usage 1: servo(id, pos)
Usage 2: servo([id1, id2, ... , idN], [pos1, pos2, ..., posN)
The servo command sets a servo connected to General Purpose I/O
port the specified position. The value of the position can range from
-99 to 100, where 0 is the center position. Setting the position to -100
will disable the servo, allowing it to turn freely by hand.
Each parameter is a <servo id:position> pair, where the servo
id can be 1,2,3,4,5, or 6.
Definition at line 664 of file serializer_driver.py.
| def serializer_driver.Serializer.set_baud | ( | self, | |
| baudrate | |||
| ) |
The set_baud command configures the serial baud rate on the
SerializerTM. Values can be 0=2400, 1=4800, 2=9600, 3=19200,
4=57600, or 5=115200. You can also type in the actual baud rate
string as well (e.g. 19200). The default baud rate used to
communicate with the Serializer is 19200. The cfg baud command
without a parameter returns the value currently stored in EEPROM.
Definition at line 377 of file serializer_driver.py.
| def serializer_driver.Serializer.set_dpid | ( | self, | |
| prop, | |||
| integ, | |||
| deriv, | |||
| accel, | |||
| dead_band | |||
| ) |
The set_dpid command gets/sets the PIDA (Proportional, Integral,
Derivative, and Acceleration) parameters for the distance PID control
on the SerializerTM. If the PIDA parameters are absent, the PIDA
values are returned. Otherwise the PIDA parameters are parsed, and
saved (in eeprom).
Definition at line 543 of file serializer_driver.py.
| def serializer_driver.Serializer.set_encoder | ( | self, | |
| encoder_type | |||
| ) |
The set_encoder command configures the internal encoder type to be either
single (0) or quadrature (1) type. This information is saved in the
EEPROM, so that the configuration will be retained after a reboot. If
you are using a quadrature encoder (dual channels), and the Serializer
is configured for single encoder operation, then the second quadrature
channel will be ignored. Thus make sure the correct encoder type is
configured according to your setup. The cfg enc command without a
parameter returns the value currently stored in EEPROM.
Definition at line 360 of file serializer_driver.py.
| def serializer_driver.Serializer.set_encoder_resolution | ( | self, | |
| ticks | |||
| ) |
Definition at line 876 of file serializer_driver.py.
| def serializer_driver.Serializer.set_gear_reduction | ( | self, | |
| ratio | |||
| ) |
Definition at line 870 of file serializer_driver.py.
| def serializer_driver.Serializer.set_io | ( | self, | |
| id, | |||
| val | |||
| ) |
Usage 1: set_io(id, val)
Usage 2: set_io([id1, id2, ... , idN], [val1, val2, ..., valN)
The set_io command sets the specified General Purpose I/O line pinId
(range 0-12) on the SerializerTM to the specified value. Each complex
parameter is a <pinId:value> pair, where the valid range of pinId is 0
thru 12, and value can be 0 or 1 which corresponds to 0v or +5V
respectively. Also I/O lines 4,5,6,7, 8 and 9 cannot be used if you
have servos connected to them. Pin 10, 11, and 12 correspond to the
internal h-bridge enable, SCL, and SDA respectively.
Definition at line 451 of file serializer_driver.py.
| def serializer_driver.Serializer.set_rpid | ( | self, | |
| r | |||
| ) |
The rpid command sets the default PID params known to work with
either the Stinger or Traxster Robotic Kits in the firmware. This makes
it quick and easy to set up the PID params for both robots.
Definition at line 553 of file serializer_driver.py.
| def serializer_driver.Serializer.set_units | ( | self, | |
| units | |||
| ) |
The set_units command sets the internal units used for sensor
readings. Values are 0 for metric mode, 1 for English mode, and 2 for
raw mode. In raw mode, srf04, srf05, pping, and maxez1 return
reading in units of 0.4us. srf08 and srf10 return readings of 1us.
The cfg units command without a parameter returns the value
Definition at line 395 of file serializer_driver.py.
| def serializer_driver.Serializer.set_vpid | ( | self, | |
| prop, | |||
| integ, | |||
| deriv, | |||
| loop | |||
| ) |
The set_vpid command sets the PIDL (Proportional, Integral,
Derivative, and Loop) parameters for the Velocity PID control on the
SerializerTM. The PIDL parameters are parsed, and saved (in
eeprom). For more information on PIDL control, see the PIDL
configuration section below. By default the Serializer VPID
parameters are configured to work with our Traxster Robot Kit
Definition at line 489 of file serializer_driver.py.
| def serializer_driver.Serializer.set_wheel_diameter | ( | self, | |
| diameter | |||
| ) |
Definition at line 858 of file serializer_driver.py.
| def serializer_driver.Serializer.set_wheel_track | ( | self, | |
| track | |||
| ) |
Definition at line 864 of file serializer_driver.py.
| def serializer_driver.Serializer.sp03 | ( | self, | |
| msg, | |||
i2c_addr = None |
|||
| ) |
Usage1: sp03(msg)
Usage2: sp03(msg, ic2_addr)
The sp03 command instructs a Devantech SP03 Speech Synthesizer to
speak the appropriate phrase. If a character representing a number in
the range of 0 to 30, then the SP03 will speak previously programmed
canned phrases. If a phrase is sent, then it will speak the phrase. An
optional I2C address can also be specified. Otherwise, the default I2C
address of 0xC4.
Definition at line 678 of file serializer_driver.py.
| def serializer_driver.Serializer.srf04 | ( | self, | |
| triggerPin, | |||
| outputPin | |||
| ) |
The srf04 command queries an SRF04 sonar sensor
connected to the General Purpose I/O lines triggerPin and outputPin,
for a distance and returns it in the units configured (default is English
inches). If the Serializer units are configured (using cfg units) for raw mode,
srf04 returns readings in units of 0.4us, and the max distance returned
is 65000 (out of range). When configured for English units, max
distance returned is 100 inches (out of range), and when configured
for Metric units, max distance returned is 255 (out of range). NOTE:
Sonar distance resolution is integer based.
Definition at line 690 of file serializer_driver.py.
| def serializer_driver.Serializer.srf05 | ( | self, | |
| pinId | |||
| ) |
The srf05/Ping command queries an SRF05/Ping sonar sensor
connected to the General Purpose I/O line pinId for a distance,
and returns it in the units configured (default is English - inches).
If the Serializer units are configured (using cfg units) for raw mode,
pping and srf05 return readings in units of 0.4us, and the max
distance returned is 65000 (out of range). When configured for
English units, max distance returned is 100 inches (out of range), and
when configured for Metric units, max distance returned is 255 (out of
range). Sonar distance resolution is integer based.
Definition at line 703 of file serializer_driver.py.
| def serializer_driver.Serializer.srf08 | ( | self, | |
i2c_addr = None |
|||
| ) |
Usage1: srf08()
Usage2: srf08(ic2_addr)
The srf08/srf10 command queries a Devantech SRF08/SRF10 sonar
sensor at address i2c_addr for a distance reading in the units
configured (default is English - inches). The i2cAddr parameter is
optional, and defaults to 0xE0 for both sensors. The i2c address can
be changed for any i2c module using the i2cp command. Sonar
distance resolution is integer based. If the Serializer units are
configured (using cfg units) for raw mode, srf08 and srf10 return
readings in units of 1us.
Definition at line 731 of file serializer_driver.py.
| def serializer_driver.Serializer.srf10 | ( | self, | |
i2caddr = None |
|||
| ) |
Usage1: srf10()
Usage2: srf10(ic2_addr)
The srf08/srf10 command queries a Devantech SRF08/SRF10 sonar
sensor at address ic2_addr for a distance reading in the units
configured (default is English - inches). The ic2_addr parameter is
optional, and defaults to 0xE0 for both sensors. The i2c address can
be changed for any i2c module using the i2cp command. Sonar
distance resolution is integer based. If the Serializer units are
configured (using cfg units) for raw mode, srf08 and srf10 return
readings in units of 1us.
Definition at line 745 of file serializer_driver.py.
| def serializer_driver.Serializer.step | ( | self, | |
| dir, | |||
| speed, | |||
| steps | |||
| ) |
The step command is used to step a bipolar stepper motor in direction
dir, at the specified speed, for the specified number of steps.
The dir parameter specifies a CW or CCW rotational direction, and its
value can be either 0 (CCW) or 1(CW). Your specific direction is based
on the way that you have your bipolar motor connected to the
Serializer. The speed parameter can be a value from 0 to 100.
The steps parameter specifies the maximum number of steps to take.
A value of 0 means step infinitely. Internally, this number is stored in
an unsigned 32 bit variable, so the user can specify a larger number of
steps.
Definition at line 593 of file serializer_driver.py.
| def serializer_driver.Serializer.stop | ( | self | ) |
Stop both motors.
Definition at line 478 of file serializer_driver.py.
| def serializer_driver.Serializer.sweep | ( | self, | |
| id, | |||
| speed, | |||
| steps | |||
| ) |
The sweep command is used to sweep a bipolar motor, for step
number of steps, at speed (0-100), thus providing a sweeping motion.
The initial rotational direction of sweep is in the CW direction.
Upon initial receipt of the command, the firmware will sweep the
motor for 1/2 of the number of steps specified, starting in a CW
direction. Once that number of steps has occurred, the sweep
direction will change, and subsequent sweeps will rotate for the full
amount of steps. Thus, the starting point for the motor is in the
middle of each sweep. You may stop the sweep by either issuing a sweep
command w a 0 speed, or simply sending a stop command.
Definition at line 607 of file serializer_driver.py.
| def serializer_driver.Serializer.tpa81 | ( | self, | |
i2caddr = None |
|||
| ) |
Usage1: tpa81()
Usage2: tpa81(ic2_addr)
The tpa81 command queries a Devantech TPA81 thermopile sensor for
temperature values. It returns 8 temperature values.
Definition at line 759 of file serializer_driver.py.
| def serializer_driver.Serializer.travel_at_speed | ( | self, | |
| id, | |||
| vel | |||
| ) |
Move forward or backward at speed 'vel' in meters per second. Use negative speeds
to move backward. This is just an alias for mogo_m_per_s so see that function for
more details.
Definition at line 1030 of file serializer_driver.py.
| def serializer_driver.Serializer.travel_distance | ( | self, | |
| dist, | |||
| vel | |||
| ) |
Move forward or backward 'dist' (inches or meters depending on units) at speed 'vel'. Use negative distances
to move backward.
Definition at line 969 of file serializer_driver.py.
| def serializer_driver.Serializer.twist | ( | self, | |
| twist | |||
| ) |
Definition at line 1087 of file serializer_driver.py.
| def serializer_driver.Serializer.update_analog_cache | ( | self, | |
| id, | |||
| value | |||
| ) |
Definition at line 303 of file serializer_driver.py.
| def serializer_driver.Serializer.update_digital_cache | ( | self, | |
| id, | |||
| value | |||
| ) |
Definition at line 298 of file serializer_driver.py.
| def serializer_driver.Serializer.vel | ( | self | ) |
The vel command returns the left and right wheel velocities. The
velocity returned is based on the PIDL parameter configuration. The
units are encoder ticks per PID loop interval.
Definition at line 767 of file serializer_driver.py.
| def serializer_driver.Serializer.vel_fps | ( | self | ) |
Return the left and right wheel velocities in feet per second.
Definition at line 795 of file serializer_driver.py.
| def serializer_driver.Serializer.vel_m_per_s | ( | self | ) |
Return the left and right wheel velocities in meters per second.
Definition at line 774 of file serializer_driver.py.
| def serializer_driver.Serializer.vel_mph | ( | self | ) |
Return the left and right wheel velocities in miles per hour.
Definition at line 788 of file serializer_driver.py.
| def serializer_driver.Serializer.voltage | ( | self, | |
cached = False |
|||
| ) |
Definition at line 839 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
int serializer_driver.Serializer::BAD_VALUE = 999 [static] |
Definition at line 78 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
tuple serializer_driver.Serializer::default_pid_params = dict() [static] |
Definition at line 53 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
float serializer_driver.Serializer::MILLISECONDS_PER_PID_LOOP = 1.6 [static] |
Definition at line 51 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
int serializer_driver.Serializer::N_ANALOG_PORTS = 6 [static] |
Definition at line 48 of file serializer_driver.py.
int serializer_driver.Serializer::N_DIGITAL_PORTS = 12 [static] |
Definition at line 49 of file serializer_driver.py.
serializer_driver.Serializer::pi_robot = False [static] |
Definition at line 54 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 922 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.
Definition at line 80 of file serializer_driver.py.