Diferencia entre revisiones de «APIenglish»
De Proyecto Butiá
(→Useful commands in python) |
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| (No se muestran 35 ediciones intermedias de 2 usuarios) | |||
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| − | '''See also [[API]] in Spanish''' Note, the API now uses English syntax as from | + | '''See also [[API]] in Spanish.''' Note, the API now uses English syntax as from Turtlebots V17 |
Butiá can be used in many forms as a consumable service through the network as is the case of the bobot server directly using the bobot library or through various APIs such as C, Java, Python | Butiá can be used in many forms as a consumable service through the network as is the case of the bobot server directly using the bobot library or through various APIs such as C, Java, Python | ||
| Línea 7: | Línea 7: | ||
Description of the function and various examples. | Description of the function and various examples. | ||
| + | In a XO, for use from Python or Pippy begin your code with: | ||
| − | '' | + | import sys |
| + | sys.path.insert(0, '/home/olpc/Activities/TurtleBots.activity/plugins/butia/pybot') | ||
| − | + | Now, import the usb4butia library: | |
| − | + | import usb4butia | |
| − | + | ||
| − | + | Create an instance of the class: | |
| − | + | ||
| − | + | robot = usb4butia.USB4Butia() | |
| − | + | ||
| − | + | ==Functions and properties== | |
| − | + | ||
| − | + | Private properties: | |
| − | + | robot._bb | |
| − | robot.getButton(port) | + | robot._drivers_loaded |
| − | + | robot._debug #debug flag, by default is False | |
| − | + | robot._get_all_drivers() | |
| − | + | robot._get_driver() | |
| − | + | robot._hotplug | |
| − | + | robot._modules | |
| − | + | robot._openables | |
| − | + | ||
| − | + | Usefull functions | |
| − | + | ||
| − | + | robot.close() #close all open boards | |
| − | + | robot.find_butias() #search for connected boards and open | |
| − | + | robot.getBatteryCharge() #return the battery charge level (if no motors-> -1) | |
| − | + | robot.getFirmwareVersion() #return the version of the firmware inside the pic | |
| − | + | robot.getVersion() #return the version of butia module (arduino: 20, usb4butia:22) | |
| − | + | robot.get_butia_count() #the number of usb4butia board connected | |
| − | + | robot.get_modules_list() #the list of devices connected (in all boards) | |
| − | + | robot.isPresent(device) #check if device is present | |
| − | + | robot.loopBack(data) #send 'data' to the board and read the return | |
| − | + | robot.reconnect() #do nothing | |
| − | + | robot.refresh() #check if the board is connected | |
| − | + | robot.callModule(modulename, board_number, number, function, params) #generic call | |
| − | + | ||
| − | + | Sensors | |
| − | + | ||
| − | + | robot.getButton(port) #get the value por button sensor connected on port | |
| + | robot.getDistance(port) #get the value por distance sensor connected on port | ||
| + | robot.getGray(port) #get the value por gray sensor connected on port | ||
| + | robot.getLight(port) #get the value por light sensor connected on port | ||
| + | robot.getResistance(port) #get the value por resistance sensor connected on port | ||
| + | robot.getTemperature(port) #get the value por temperature sensor connected on port | ||
| + | robot.getVoltage(port) #get the value por voltage sensor connected on port | ||
| + | robot.setLed(port, on) #if on 1, turn on the LED, if 0, turn off | ||
| + | |||
| + | Hack pins | ||
| + | |||
| + | robot.modeHack(pin, mode) #pin number. mode 0 means input and 1 ouput | ||
| + | robot.setHack(pin, value) #pin number, value is 0 (GND) and 1 (VCC) | ||
| + | robot.getHack(pin) #read the value of the pin | ||
| + | |||
| + | Motors | ||
| + | |||
| + | robot.set2MotorSpeed(leftSense, leftSpeed, rightSense, rightSpeed) #sense is 0 or 1, speed is between 0 and 1023 | ||
| + | robot.setMotorSpeed(idMotor, sense, speed) #idMotor 0 for left motor, 1 for right | ||
| + | |||
| + | ==Useful commands in python== | ||
| + | |||
| + | To get a list of functions and properties of a object, for example robot: | ||
| + | |||
| + | dir(robot) #get all properties and functions | ||
| + | |||
| + | [[Archivo:Dir_robot.png]] | ||
| + | |||
| + | To get a more detail, use the help function (available on Python interprete): | ||
| + | |||
| + | help(robot) | ||
| + | |||
| + | The result: | ||
| + | |||
| + | [[Archivo:Help_robot.png]] | ||
Revisión actual del 06:33 27 feb 2013
See also API in Spanish. Note, the API now uses English syntax as from Turtlebots V17
Butiá can be used in many forms as a consumable service through the network as is the case of the bobot server directly using the bobot library or through various APIs such as C, Java, Python
The Butiá API in Python
Description of the function and various examples.
In a XO, for use from Python or Pippy begin your code with:
import sys sys.path.insert(0, '/home/olpc/Activities/TurtleBots.activity/plugins/butia/pybot')
Now, import the usb4butia library:
import usb4butia
Create an instance of the class:
robot = usb4butia.USB4Butia()
Functions and properties
Private properties:
robot._bb robot._drivers_loaded robot._debug #debug flag, by default is False robot._get_all_drivers() robot._get_driver() robot._hotplug robot._modules robot._openables
Usefull functions
robot.close() #close all open boards robot.find_butias() #search for connected boards and open robot.getBatteryCharge() #return the battery charge level (if no motors-> -1) robot.getFirmwareVersion() #return the version of the firmware inside the pic robot.getVersion() #return the version of butia module (arduino: 20, usb4butia:22) robot.get_butia_count() #the number of usb4butia board connected robot.get_modules_list() #the list of devices connected (in all boards) robot.isPresent(device) #check if device is present robot.loopBack(data) #send 'data' to the board and read the return robot.reconnect() #do nothing robot.refresh() #check if the board is connected robot.callModule(modulename, board_number, number, function, params) #generic call
Sensors
robot.getButton(port) #get the value por button sensor connected on port robot.getDistance(port) #get the value por distance sensor connected on port robot.getGray(port) #get the value por gray sensor connected on port robot.getLight(port) #get the value por light sensor connected on port robot.getResistance(port) #get the value por resistance sensor connected on port robot.getTemperature(port) #get the value por temperature sensor connected on port robot.getVoltage(port) #get the value por voltage sensor connected on port robot.setLed(port, on) #if on 1, turn on the LED, if 0, turn off
Hack pins
robot.modeHack(pin, mode) #pin number. mode 0 means input and 1 ouput robot.setHack(pin, value) #pin number, value is 0 (GND) and 1 (VCC) robot.getHack(pin) #read the value of the pin
Motors
robot.set2MotorSpeed(leftSense, leftSpeed, rightSense, rightSpeed) #sense is 0 or 1, speed is between 0 and 1023 robot.setMotorSpeed(idMotor, sense, speed) #idMotor 0 for left motor, 1 for right
Useful commands in python
To get a list of functions and properties of a object, for example robot:
dir(robot) #get all properties and functions
To get a more detail, use the help function (available on Python interprete):
help(robot)
The result:
