General helpers:

• map(value, in_min, in_max, out_min, out_max) -> float
  • Performs linear interpolation of a given input value based on the input and output ranges. Returns the interpolated output value. If the output value exceeds out_max, the function returns out_max. If the output value is less than out_min, the function returns out_min.
  • Args:
    • value: The input value to be interpolated.
    • in_min: The lower bound of the input range.
    • in_max: The upper bound of the input range.
    • out_min: The lower bound of the output range.
    • out_max: The upper bound of the output range.
  • Returns:
    • output: The interpolated output value.

Gamepad Class:

• Gamepad()
  • Looks for gamepads and returns a gamepad object if its finds one
• Gamepad.get()
  • Returns

    • If the gamepad disconnects or 300ms have passed without an last_update it raises a ConnectionError

    • Dictionary of possible buttons on the gamepad

    • Example

      {'button_1': False,
       'button_2': False,
       'button_3': False,
       'button_4': False,
       'l1': False,
       'r1': False,
       'l2': False,
       'r2': False,
       'select': False,
       'start': False,
       'lx': -0.00392156862745098,
       'ly': 0.00392156862745098,
       'rx': 0.00392156862745098,
       'ry': -0.00392156862745098}
      

Robot Class:

• Robot(ip: str)
  • Creates a new robot object controlling a real robot with a specified ip address
• Robot.estop()
  • Emergency Stop. Cuts power to all motors and servos. Puts robot in safe state
• Robot.start()
  • Restarts the motors and servos after an estop
• Robot.set_led(red: int, green: int, blue: int, blink: int = 0)
  • Sets a new LED color.
  • Args:
    • red: int in range 0 - 255
    • green: int in range 0 - 255
    • blue: int in range 0 - 255
    • blink: period of blinking in milliseconds. If zero no blinking
• Robot.set_motor_power(index: int, power: int)
  • Drives a motor with a fixed power
  • Args:
    • index: int in range 1-4. Which motor to drive?
    • power: int in range -1024 to 1024. What power to drive it with?
• Robot.disable_motor(index: int)
  • Cuts power to motor
  • Args:
    • index: int in range 1-4. Which motor to stop?
• Robot.set_servo(index: int, width: int)
  • Tells a servo to go to a given pulse width in us
  • Args:
    • index: int in range 1-4. Which servo to move?
    • width: int in range 500 - 2500. What pulse width to send to servo in us?
• Robot.get() -> Dict
  • Returns the state of the robots sensors.
  • Returns:

    • Dictionary of sensor readings or None if no signal from robot is received

    • Example:

      {"motor_position": [0,0, 100, -100],
       "battery_voltage": 9.43,
       "motor_position_done": [1, 1, 0, 1]}
      

      • For motor_position_done it returns true if and only if the set_motor_power_distance is done. If the motor is in a different mode it return true

New library also includes the following commands:

• Robot.set_motor_speed(index: int, speed: int)
  • Uses PID to drive motor at fixed speed
  • Args:
    • index: int in range 1-4. Which motor to drive?
    • speed: int in range -3000 to 3000 . What speed to drive it at? (Arbitrary units for now)