Robot

Documentation for robotlibrary/robot.py

Robot

This is the central class which manages and uses all the other components of the robot. The parameters are defined in config.py

_drive

This abstracted driving function is only called locally by the other functions with better names. It accelerates and decelerates to make driving more natural. Do not call directly!

_drive_instantly

This abstracted driving function is only called locally by the other functions with better names. It sets the speed immediately. Do not call directly!

set_speed_instantly

Sets the new speed immediately. Doesn't change the driving mode of the robot. :param s: the speed you want to set.

set_speed

Sets the new speed and accelerates and decelerates. Doesn't change the driving mode of the robot. :param s: the speed you want to set.

set_forward

Sets the direction of the robot. True means forward. :param f: True for forwards and False for backwards.

spin_right

Spin right indefinitely.

spin_left

Spin left indefinitely.

turn_right

This turns the robot to the right without it spinning on the spot. Each call makes the turn steeper.

turn_left

This turns the robot to the right without it spinning on the spot. Each call makes the turn steeper.

go_left

With Meccanum wheels the robot goes sideways to the left.

go_right

With Meccanum wheels the robot goes sideways to the right.

turn

This turns the robot right or left. Is mostly used by the remote control. :param turn: positive or negative value. Higher values mean steeper turn.

go_straight

Lets the robot go straight on. Usually called when a turn shall end.

spin_before_obstacle

This spins until the distance to an obstacle is greater than the given parameter distance. :param distance: The distance

toggle_spin

Toggle turn for the given duration. With each call the opposite direction(clockwise / anti-clockwise) is used. :param d: The duration for the turn in milliseconds.

random_spin

Randomly turn for the given duration. :param d: The duration for the turn in milliseconds.

stop

Stop the robot slowly by deceleration.

emergency_stop

Stop the robot immediately.

ir_detected

If implemented this method is called when the IR-sensor has detected a change. Fill in your code accordingly.

get_dist

Get the distance from the ultrasonic sensor.

set_angle

If implemented, turn the servo motor with the ultrasonic sensor to the given angle. :param a: The angle that is to be set.

get_smallest_distance

This returns the angle of the ultrasonic sensor where it measured the smallest distance

get_longest_distance

This returns the angle of the ultrasonic sensor where it measured the longest distance