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- builtins.Exception(builtins.BaseException)
-
- FirmwareVersionError
- SensorError
- builtins.object
-
- BrickPi3
- Enumeration
class BrickPi3(builtins.object) |
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Methods defined here:
- __init__(self, addr=1, detect=True)
- Do any necessary configuration, and optionally detect the BrickPi3
Optionally specify the SPI address as something other than 1
Optionally disable the detection of the BrickPi3 hardware. This can be used for debugging and testing when the BrickPi3 would otherwise not pass the detection tests.
- get_board(self)
- Read the 20 charactor BrickPi3 board name
Returns:
BrickPi3 board name string
- get_id(self)
- Read the 128-bit BrickPi hardware serial number
Returns:
serial number as 32 char HEX formatted string
- get_manufacturer(self)
- Read the 20 charactor BrickPi3 manufacturer name
Returns:
BrickPi3 manufacturer name string
- get_motor_encoder(self, port)
- Read a motor encoder in degrees
Keyword arguments:
port -- The motor port (one at a time). PORT_A, PORT_B, PORT_C, or PORT_D.
Returns the encoder position in degrees
- get_motor_status(self, port)
- Read a motor status
Keyword arguments:
port -- The motor port (one at a time). PORT_A, PORT_B, PORT_C, or PORT_D.
Returns a list:
flags -- 8-bits of bit-flags that indicate motor status:
bit 0 -- LOW_VOLTAGE_FLOAT - The motors are automatically disabled because the battery voltage is too low
bit 1 -- OVERLOADED - The motors aren't close to the target (applies to position control and dps speed control).
power -- the raw PWM power in percent (-100 to 100)
encoder -- The encoder position
dps -- The current speed in Degrees Per Second
- get_sensor(self, port)
- Read a sensor value
Keyword arguments:
port -- The sensor port (one at a time). PORT_1, PORT_2, PORT_3, or PORT_4.
Returns the value(s) for the specified sensor.
The following sensor types each return a single value:
NONE ----------------------- 0
TOUCH ---------------------- 0 or 1 (released or pressed)
NXT_TOUCH ------------------ 0 or 1 (released or pressed)
EV3_TOUCH ------------------ 0 or 1 (released or pressed)
NXT_ULTRASONIC ------------- distance in CM
NXT_LIGHT_ON -------------- reflected light
NXT_LIGHT_OFF -------------- ambient light
NXT_COLOR_RED -------------- red reflected light
NXT_COLOR_GREEN ------------ green reflected light
NXT_COLOR_BLUE ------------- blue reflected light
NXT_COLOR_OFF -------------- ambient light
EV3_GYRO_ABS --------------- absolute rotation position in degrees
EV3_GYRO_DPS --------------- rotation rate in degrees per second
EV3_COLOR_REFLECTED -------- red reflected light
EV3_COLOR_AMBIENT ---------- ambient light
EV3_COLOR_COLOR ------------ detected color
EV3_ULTRASONIC_CM ---------- distance in CM
EV3_ULTRASONIC_INCHES ------ distance in inches
EV3_ULTRASONIC_LISTEN ------ 0 or 1 (no other ultrasonic sensors or another ultrasonic sensor detected)
EV3_INFRARED_PROXIMITY ----- distance 0-100%
The following sensor types each return a list of values
CUSTOM --------------------- Pin 1 ADC (5v scale from 0 to 4095), Pin 6 ADC (3.3v scale from 0 to 4095), Pin 5 digital, Pin 6 digital
I2C ------------------------ the I2C bytes read
NXT_COLOR_FULL ------------- detected color, red light reflected, green light reflected, blue light reflected, ambient light
EV3_GYRO_ABS_DPS ----------- absolute rotation position in degrees, rotation rate in degrees per second
EV3_COLOR_RAW_REFLECTED ---- red reflected light, unknown value (maybe a raw ambient value?)
EV3_COLOR_COLOR_COMPONENTS - red reflected light, green reflected light, blue reflected light, unknown value (maybe a raw value?)
EV3_INFRARED_SEEK ---------- a list for each of the four channels. For each channel heading (-25 to 25), distance (-128 or 0 to 100)
EV3_INFRARED_REMOTE -------- a list for each of the four channels. For each channel red up, red down, blue up, blue down, boadcast
- get_version_firmware(self)
- Read the firmware version
Returns:
firmware version
- get_version_hardware(self)
- Read the hardware version
Returns:
hardware version
- get_voltage_3v3(self)
- Get the 3.3v circuit voltage
Returns:
3.3v circuit voltage
- get_voltage_5v(self)
- Get the 5v circuit voltage
Returns:
5v circuit voltage
- get_voltage_9v(self)
- Get the 9v circuit voltage
Returns:
9v circuit voltage
- get_voltage_battery(self)
- Get the battery voltage
Returns:
battery voltage
- offset_motor_encoder(self, port, position)
- Offset a motor encoder
Keyword arguments:
port -- The motor port(s). PORT_A, PORT_B, PORT_C, and/or PORT_D.
offset -- The encoder offset
You can zero the encoder by offsetting it by the current position
- reset_all(self)
- Reset the BrickPi. Set all the sensors' type to NONE, set the motors to float, and motors' limits and constants to default, and return control of the LED to the firmware.
- reset_motor_encoder(self, port)
- Reset motor encoder(s) to 0
Keyword arguments:
port -- The motor port(s). PORT_A, PORT_B, PORT_C, and/or PORT_D.
- set_led(self, value)
- Control the onboard LED
Keyword arguments:
value -- the value (in percent) to set the LED brightness to. -1 returns control of the LED to the firmware.
- set_motor_dps(self, port, dps)
- Set the motor target speed in degrees per second
Keyword arguments:
port -- The motor port(s). PORT_A, PORT_B, PORT_C, and/or PORT_D.
dps -- The target speed in degrees per second
- set_motor_limits(self, port, power=0, dps=0)
- Set the motor speed limit
Keyword arguments:
port -- The motor port(s). PORT_A, PORT_B, PORT_C, and/or PORT_D.
power -- The power limit in percent (0 to 100), with 0 being no limit (100)
dps -- The speed limit in degrees per second, with 0 being no limit
- set_motor_position(self, port, position)
- Set the motor target position in degrees
Keyword arguments:
port -- The motor port(s). PORT_A, PORT_B, PORT_C, and/or PORT_D.
position -- The target position
- set_motor_position_kd(self, port, kd=70)
- Set the motor target position KD constant
If you set kp higher, the motor will be more responsive to errors in position, at the cost of perhaps overshooting and oscillating.
kd slows down the motor as it approaches the target, and helps to prevent overshoot.
In general, if you increase kp, you should also increase kd to keep the motor from overshooting and oscillating.
Keyword arguments:
port -- The motor port(s). PORT_A, PORT_B, PORT_C, and/or PORT_D.
kd -- The KD constant (default 70)
- set_motor_position_kp(self, port, kp=25)
- Set the motor target position KP constant
If you set kp higher, the motor will be more responsive to errors in position, at the cost of perhaps overshooting and oscillating.
kd slows down the motor as it approaches the target, and helps to prevent overshoot.
In general, if you increase kp, you should also increase kd to keep the motor from overshooting and oscillating.
Keyword arguments:
port -- The motor port(s). PORT_A, PORT_B, PORT_C, and/or PORT_D.
kp -- The KP constant (default 25)
- set_motor_position_relative(self, port, degrees)
- Set the relative motor target position in degrees. Current position plus the specified degrees.
Keyword arguments:
port -- The motor port(s). PORT_A, PORT_B, PORT_C, and/or PORT_D.
degrees -- The relative target position in degrees
- set_motor_power(self, port, power)
- Set the motor power in percent
Keyword arguments:
port -- The Motor port(s). PORT_A, PORT_B, PORT_C, and/or PORT_D.
power -- The power from -100 to 100, or -128 for float
- set_sensor_type(self, port, type, params=0)
- Set the sensor type
Keyword arguments:
port -- The sensor port(s). PORT_1, PORT_2, PORT_3, and/or PORT_4.
type -- The sensor type
params = 0 -- the parameters needed for some sensor types.
params is used for the following sensor types:
CUSTOM -- a 16-bit integer used to configure the hardware.
I2C -- a list of settings:
params[0] -- Settings/flags
params[1] -- target Speed in microseconds (0-255). Realistically the speed will vary.
if SENSOR_I2C_SETTINGS_SAME flag set in I2C Settings:
params[2] -- Delay in microseconds between transactions.
params[3] -- Address
params[4] -- List of bytes to write
params[5] -- Number of bytes to read
- spi_read_16(self, MessageType)
- Read a 16-bit value over SPI
Keyword arguments:
MessageType -- the SPI message type
Returns:
value
- spi_read_32(self, MessageType)
- Read a 32-bit value over SPI
Keyword arguments:
MessageType -- the SPI message type
Returns :
value
- spi_transfer_array(self, data_out)
- Conduct a SPI transaction
Keyword arguments:
data_out -- a list of bytes to send. The length of the list will determine how many bytes are transferred.
Returns a list of the bytes read.
- spi_write_16(self, MessageType, Value)
- Send a 16-bit value over SPI
Keyword arguments:
MessageType -- the SPI message type
Value -- the value to be sent
- spi_write_24(self, MessageType, Value)
- Send a 24-bit value over SPI
Keyword arguments:
MessageType -- the SPI message type
Value -- the value to be sent
- spi_write_32(self, MessageType, Value)
- Send a 32-bit value over SPI
Keyword arguments:
MessageType -- the SPI message type
Value -- the value to be sent
- spi_write_8(self, MessageType, Value)
- Send an 8-bit value over SPI
Keyword arguments:
MessageType -- the SPI message type
Value -- the value to be sent
- transact_i2c(self, port, Address, OutArray, InBytes)
- Conduct an I2C transaction
Keyword arguments:
port -- The sensor port (one at a time). PORT_1, PORT_2, PORT_3, or PORT_4.
Address -- The I2C address for the device. Bits 1-7, not 0-6.
OutArray -- A list of bytes to write to the device
InBytes -- The number of bytes to read from the device
Data descriptors defined here:
- __dict__
- dictionary for instance variables (if defined)
- __weakref__
- list of weak references to the object (if defined)
Data and other attributes defined here:
- BPSPI_MESSAGE_TYPE = <botlib.brickpi3.Enumeration object>
- I2CInBytes = [0, 0, 0, 0]
- I2C_LENGTH_LIMIT = 16
- MOTOR_FLOAT = -128
- MOTOR_STATUS_FLAG = <botlib.brickpi3.Enumeration object>
- PORT_1 = 1
- PORT_2 = 2
- PORT_3 = 4
- PORT_4 = 8
- PORT_A = 1
- PORT_B = 2
- PORT_C = 4
- PORT_D = 8
- SENSOR_CUSTOM = <botlib.brickpi3.Enumeration object>
- SENSOR_I2C_SETTINGS = <botlib.brickpi3.Enumeration object>
- SENSOR_STATE = <botlib.brickpi3.Enumeration object>
- SENSOR_TYPE = <botlib.brickpi3.Enumeration object>
- SensorType = [0, 0, 0, 0]
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class Enumeration(builtins.object) |
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Methods defined here:
- __init__(self, names)
- Initialize self. See help(type(self)) for accurate signature.
Data descriptors defined here:
- __dict__
- dictionary for instance variables (if defined)
- __weakref__
- list of weak references to the object (if defined)
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class FirmwareVersionError(builtins.Exception) |
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Exception raised if the BrickPi3 firmware needs to be updated
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- Method resolution order:
- FirmwareVersionError
- builtins.Exception
- builtins.BaseException
- builtins.object
Data descriptors defined here:
- __weakref__
- list of weak references to the object (if defined)
Methods inherited from builtins.Exception:
- __init__(self, /, *args, **kwargs)
- Initialize self. See help(type(self)) for accurate signature.
- __new__(*args, **kwargs) from builtins.type
- Create and return a new object. See help(type) for accurate signature.
Methods inherited from builtins.BaseException:
- __delattr__(self, name, /)
- Implement delattr(self, name).
- __getattribute__(self, name, /)
- Return getattr(self, name).
- __reduce__(...)
- helper for pickle
- __repr__(self, /)
- Return repr(self).
- __setattr__(self, name, value, /)
- Implement setattr(self, name, value).
- __setstate__(...)
- __str__(self, /)
- Return str(self).
- with_traceback(...)
- Exception.with_traceback(tb) --
set self.__traceback__ to tb and return self.
Data descriptors inherited from builtins.BaseException:
- __cause__
- exception cause
- __context__
- exception context
- __dict__
- __suppress_context__
- __traceback__
- args
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class SensorError(builtins.Exception) |
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Exception raised if a sensor is not yet configured when trying to read it with get_sensor
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- Method resolution order:
- SensorError
- builtins.Exception
- builtins.BaseException
- builtins.object
Data descriptors defined here:
- __weakref__
- list of weak references to the object (if defined)
Methods inherited from builtins.Exception:
- __init__(self, /, *args, **kwargs)
- Initialize self. See help(type(self)) for accurate signature.
- __new__(*args, **kwargs) from builtins.type
- Create and return a new object. See help(type) for accurate signature.
Methods inherited from builtins.BaseException:
- __delattr__(self, name, /)
- Implement delattr(self, name).
- __getattribute__(self, name, /)
- Return getattr(self, name).
- __reduce__(...)
- helper for pickle
- __repr__(self, /)
- Return repr(self).
- __setattr__(self, name, value, /)
- Implement setattr(self, name, value).
- __setstate__(...)
- __str__(self, /)
- Return str(self).
- with_traceback(...)
- Exception.with_traceback(tb) --
set self.__traceback__ to tb and return self.
Data descriptors inherited from builtins.BaseException:
- __cause__
- exception cause
- __context__
- exception context
- __dict__
- __suppress_context__
- __traceback__
- args
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