compAIR/compLIB
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Konstantin Lampalzer 2022-01-09 18:41:17 +01:00
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50
_sources/lib/Odom.rst.txt Normal file
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@ -0,0 +1,50 @@
.. _lib_odom:
Odometry
******
Class Documentation
====================
.. autoclass:: compLib.Odom.Odometry
:members:
.. autoclass:: compLib.Odom.Odom
:members:
Examples
=========
Getting actual distance driven
------------------------------
.. code-block:: python
import time
import math
from compLib.Motor import Motor
from compLib.Encoder import Encoder
from compLib.Odom import Odom, Odometry
# distance in meters
# speed in % of max speed
def drive_example(distance, speed):
Odom.update()
odom = Odom.get_odom()
while abs(odom.get_x()) < distance:
Odom.update()
odom = Odom.get_odom()
Motor.power(4, speed)
Motor.power(1, -speed)
print(f" Forward: {odom.get_x()} m")
print(f" Right: {odom.get_y()} m")
print(f" Turned: {math.degrees(odom.get_orientation())} degrees")
Motor.active_break(1)
Motor.active_break(4)
time.sleep(0.1)
Encoder.clear_all()
Odom.clear()

11
_sources/lib/Robot.rst.txt Normal file
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.. _lib_robot:
Robot
******
Class Documentation
====================
.. autoclass:: compLib.Robot.Robot
:members:
:private-members:

84
genindex.html
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@ -90,7 +90,9 @@
<li class="toctree-l1"><a class="reference internal" href="lib/Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Odom.html">Odometry</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/QC.html">Quality Control</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Robot.html">Robot</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Vision.html">Vision</a></li>
</ul>
@ -166,12 +168,16 @@
| <a href="#D"><strong>D</strong></a>
| <a href="#E"><strong>E</strong></a>
| <a href="#G"><strong>G</strong></a>
| <a href="#H"><strong>H</strong></a>
| <a href="#I"><strong>I</strong></a>
| <a href="#L"><strong>L</strong></a>
| <a href="#M"><strong>M</strong></a>
| <a href="#O"><strong>O</strong></a>
| <a href="#P"><strong>P</strong></a>
| <a href="#R"><strong>R</strong></a>
| <a href="#S"><strong>S</strong></a>
| <a href="#T"><strong>T</strong></a>
| <a href="#U"><strong>U</strong></a>
| <a href="#W"><strong>W</strong></a>
</div>
@ -187,10 +193,14 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/Motor.html#compLib.Motor.Motor.active_break">active_break() (compLib.Motor.Motor static method)</a>
</li>
<li><a href="lib/Motor.html#compLib.Motor.Motor.all_off">all_off() (compLib.Motor.Motor static method)</a>
</li>
</ul></td>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/Motor.html#compLib.Motor.Motor.all_off">all_off() (compLib.Motor.Motor static method)</a>
<li><a href="lib/Robot.html#compLib.Robot.Robot.ARBOR_LENGTH_M">ARBOR_LENGTH_M (compLib.Robot.Robot attribute)</a>
</li>
<li><a href="lib/Robot.html#compLib.Robot.Robot.ARBOR_LENGTH_MM">ARBOR_LENGTH_MM (compLib.Robot.Robot attribute)</a>
</li>
</ul></td>
</tr></table>
@ -202,6 +212,8 @@
<ul>
<li><a href="lib/Encoder.html#compLib.Encoder.Encoder.clear">(compLib.Encoder.Encoder static method)</a>
</li>
<li><a href="lib/Odom.html#compLib.Odom.Odom.clear">(compLib.Odom.Odom static method)</a>
</li>
</ul></li>
</ul></td>
@ -246,21 +258,37 @@
</li>
<li><a href="lib/Api.html#compLib.Api.DoubleElim.get_items">get_items() (compLib.Api.DoubleElim static method)</a>
</li>
</ul></td>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/Logging.html#compLib.LogstashLogging.Logging.get_logger">get_logger() (compLib.LogstashLogging.Logging static method)</a>
</li>
<li><a href="lib/Api.html#compLib.Api.Seeding.get_material">get_material() (compLib.Api.Seeding static method)</a>
</li>
</ul></td>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/Api.html#compLib.Api.DoubleElim.get_meteoroids">get_meteoroids() (compLib.Api.DoubleElim static method)</a>
</li>
<li><a href="lib/Motor.html#compLib.Motor.Motor.get_motor_curve">get_motor_curve() (compLib.Motor.Motor static method)</a>
</li>
<li><a href="lib/Odom.html#compLib.Odom.Odom.get_odom">get_odom() (compLib.Odom.Odom static method)</a>
</li>
<li><a href="lib/Api.html#compLib.Api.DoubleElim.get_opponent">get_opponent() (compLib.Api.DoubleElim static method)</a>
</li>
<li><a href="lib/Odom.html#compLib.Odom.Odometry.get_orientation">get_orientation() (compLib.Odom.Odometry method)</a>
</li>
<li><a href="lib/Api.html#compLib.Api.DoubleElim.get_position">get_position() (compLib.Api.DoubleElim static method)</a>
</li>
<li><a href="lib/Api.html#compLib.Api.DoubleElim.get_scores">get_scores() (compLib.Api.DoubleElim static method)</a>
</li>
<li><a href="lib/Odom.html#compLib.Odom.Odometry.get_x">get_x() (compLib.Odom.Odometry method)</a>
</li>
<li><a href="lib/Odom.html#compLib.Odom.Odometry.get_y">get_y() (compLib.Odom.Odometry method)</a>
</li>
</ul></td>
</tr></table>
<h2 id="H">H</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/Encoder.html#compLib.Encoder.Encoder.handle_wrap">handle_wrap() (compLib.Encoder.Encoder static method)</a>
</li>
</ul></td>
</tr></table>
@ -276,10 +304,12 @@
<h2 id="L">L</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/Api.html#compLib.Api.Seeding.list_cargo">list_cargo() (compLib.Api.Seeding static method)</a>
<li><a href="lib/Robot.html#compLib.Robot.Robot.LEFT_PORT">LEFT_PORT (compLib.Robot.Robot attribute)</a>
</li>
</ul></td>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/Api.html#compLib.Api.Seeding.list_cargo">list_cargo() (compLib.Api.Seeding static method)</a>
</li>
<li><a href="lib/Logging.html#compLib.LogstashLogging.Logging">Logging (class in compLib.LogstashLogging)</a>
</li>
</ul></td>
@ -293,6 +323,18 @@
</ul></td>
</tr></table>
<h2 id="O">O</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/Odom.html#compLib.Odom.Odom">Odom (class in compLib.Odom)</a>
</li>
</ul></td>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/Odom.html#compLib.Odom.Odometry">Odometry (class in compLib.Odom)</a>
</li>
</ul></td>
</tr></table>
<h2 id="P">P</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
@ -320,9 +362,17 @@
<li><a href="lib/IRSensor.html#compLib.IRSensor.IRSensor.read">(compLib.IRSensor.IRSensor static method)</a>
</li>
</ul></li>
<li><a href="lib/Encoder.html#compLib.Encoder.Encoder.read_all">read_all() (compLib.Encoder.Encoder static method)</a>
</li>
</ul></td>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/Encoder.html#compLib.Encoder.Encoder.read_all_raw">read_all_raw() (compLib.Encoder.Encoder static method)</a>
</li>
<li><a href="lib/Encoder.html#compLib.Encoder.Encoder.read_raw">read_raw() (compLib.Encoder.Encoder static method)</a>
</li>
<li><a href="lib/Robot.html#compLib.Robot.Robot.RIGHT_PORT">RIGHT_PORT (compLib.Robot.Robot attribute)</a>
</li>
<li><a href="lib/Robot.html#compLib.Robot.Robot">Robot (class in compLib.Robot)</a>
</li>
</ul></td>
</tr></table>
@ -349,8 +399,32 @@
</ul></td>
</tr></table>
<h2 id="T">T</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/Robot.html#compLib.Robot.Robot.TICKS_PER_METER">TICKS_PER_METER (compLib.Robot.Robot attribute)</a>
</li>
</ul></td>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/Robot.html#compLib.Robot.Robot.TICKS_PER_TURN">TICKS_PER_TURN (compLib.Robot.Robot attribute)</a>
</li>
</ul></td>
</tr></table>
<h2 id="U">U</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/Odom.html#compLib.Odom.Odom.update">update() (compLib.Odom.Odom static method)</a>
</li>
</ul></td>
</tr></table>
<h2 id="W">W</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/Robot.html#compLib.Robot.Robot.WHEEL_CIRCUMFERENCE_MM">WHEEL_CIRCUMFERENCE_MM (compLib.Robot.Robot attribute)</a>
</li>
</ul></td>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/Display.html#compLib.Display.Display.write">write() (compLib.Display.Display static method)</a>
</li>
@ -370,7 +444,7 @@
<div role="contentinfo">
<p>
&copy; Copyright 2021, robo4you
&copy; Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)
</p>
</div>

16
index.html
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@ -91,7 +91,9 @@
<li class="toctree-l1"><a class="reference internal" href="lib/Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Odom.html">Odometry</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/QC.html">Quality Control</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Robot.html">Robot</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Vision.html">Vision</a></li>
</ul>
@ -226,6 +228,14 @@
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="lib/Odom.html">Odometry</a><ul>
<li class="toctree-l2"><a class="reference internal" href="lib/Odom.html#class-documentation">Class Documentation</a></li>
<li class="toctree-l2"><a class="reference internal" href="lib/Odom.html#examples">Examples</a><ul>
<li class="toctree-l3"><a class="reference internal" href="lib/Odom.html#getting-actual-distance-driven">Getting actual distance driven</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="lib/QC.html">Quality Control</a><ul>
<li class="toctree-l2"><a class="reference internal" href="lib/QC.html#infrared-test">Infrared Test</a></li>
<li class="toctree-l2"><a class="reference internal" href="lib/QC.html#motor-test">Motor Test</a></li>
@ -233,6 +243,10 @@
<li class="toctree-l2"><a class="reference internal" href="lib/QC.html#vision-test">Vision Test</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="lib/Robot.html">Robot</a><ul>
<li class="toctree-l2"><a class="reference internal" href="lib/Robot.html#class-documentation">Class Documentation</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="lib/Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Vision.html">Vision</a><ul>
<li class="toctree-l2"><a class="reference internal" href="lib/Vision.html#opencv-stream">Opencv Stream</a></li>
@ -267,7 +281,7 @@
<div role="contentinfo">
<p>
&copy; Copyright 2021, robo4you
&copy; Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)
</p>
</div>

4
lib/Api.html
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@ -102,7 +102,9 @@
<li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Odom.html">Odometry</a></li>
<li class="toctree-l1"><a class="reference internal" href="QC.html">Quality Control</a></li>
<li class="toctree-l1"><a class="reference internal" href="Robot.html">Robot</a></li>
<li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
</ul>
@ -458,7 +460,7 @@
<div role="contentinfo">
<p>
&copy; Copyright 2021, robo4you
&copy; Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)
</p>
</div>

4
lib/Aruco.html
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@ -98,7 +98,9 @@
<li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Odom.html">Odometry</a></li>
<li class="toctree-l1"><a class="reference internal" href="QC.html">Quality Control</a></li>
<li class="toctree-l1"><a class="reference internal" href="Robot.html">Robot</a></li>
<li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
</ul>
@ -267,7 +269,7 @@ This way it is quite simple to act on the position of the tag.</p>
<div role="contentinfo">
<p>
&copy; Copyright 2021, robo4you
&copy; Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)
</p>
</div>

4
lib/Display.html
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@ -99,7 +99,9 @@
<li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Odom.html">Odometry</a></li>
<li class="toctree-l1"><a class="reference internal" href="QC.html">Quality Control</a></li>
<li class="toctree-l1"><a class="reference internal" href="Robot.html">Robot</a></li>
<li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
</ul>
@ -237,7 +239,7 @@ The display is split into 4 Rows and 16 Columns. Each function call changes one
<div role="contentinfo">
<p>
&copy; Copyright 2021, robo4you
&copy; Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)
</p>
</div>

48
lib/Encoder.html
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@ -95,7 +95,9 @@
<li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Odom.html">Odometry</a></li>
<li class="toctree-l1"><a class="reference internal" href="QC.html">Quality Control</a></li>
<li class="toctree-l1"><a class="reference internal" href="Robot.html">Robot</a></li>
<li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
</ul>
@ -191,6 +193,26 @@
<dd><p>Reset all encoder positions to 0</p>
</dd></dl>
<dl class="py method">
<dt id="compLib.Encoder.Encoder.handle_wrap">
<em class="property">static </em><code class="sig-name descname">handle_wrap</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">raw_value</span></em>, <em class="sig-param"><span class="n">port</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Encoder.Encoder.handle_wrap" title="Permalink to this definition"></a></dt>
<dd><p>Handle overflow and underflow of int for encoders.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>raw_value</strong> – Raw value which was read on port</p></li>
<li><p><strong>port</strong> – Port, which the motor is connected to. Between 1 and 4</p></li>
</ul>
</dd>
<dt class="field-even">Raises</dt>
<dd class="field-even"><p>IndexError</p>
</dd>
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Current encoder position</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt id="compLib.Encoder.Encoder.read">
<em class="property">static </em><code class="sig-name descname">read</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">port</span><span class="p">:</span> <span class="n">int</span></em><span class="sig-paren">)</span> &#x2192; int<a class="headerlink" href="#compLib.Encoder.Encoder.read" title="Permalink to this definition"></a></dt>
@ -208,6 +230,30 @@
</dl>
</dd></dl>
<dl class="py method">
<dt id="compLib.Encoder.Encoder.read_all">
<em class="property">static </em><code class="sig-name descname">read_all</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Encoder.Encoder.read_all" title="Permalink to this definition"></a></dt>
<dd><p>Read all encoders at once.
This is faster than read as it only uses one SPI call for all encoders!</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Tuple of all current encoder positions</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt id="compLib.Encoder.Encoder.read_all_raw">
<em class="property">static </em><code class="sig-name descname">read_all_raw</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Encoder.Encoder.read_all_raw" title="Permalink to this definition"></a></dt>
<dd><p>Read all encoders at once.
This is faster than read_raw as it only uses one SPI call for all encoders!</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Tuple of all current raw encoder positions</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt id="compLib.Encoder.Encoder.read_raw">
<em class="property">static </em><code class="sig-name descname">read_raw</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">port</span><span class="p">:</span> <span class="n">int</span></em><span class="sig-paren">)</span> &#x2192; int<a class="headerlink" href="#compLib.Encoder.Encoder.read_raw" title="Permalink to this definition"></a></dt>
@ -251,7 +297,7 @@
<div role="contentinfo">
<p>
&copy; Copyright 2021, robo4you
&copy; Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)
</p>
</div>

4
lib/IRSensor.html
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@ -98,7 +98,9 @@
<li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Odom.html">Odometry</a></li>
<li class="toctree-l1"><a class="reference internal" href="QC.html">Quality Control</a></li>
<li class="toctree-l1"><a class="reference internal" href="Robot.html">Robot</a></li>
<li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
</ul>
@ -243,7 +245,7 @@
<div role="contentinfo">
<p>
&copy; Copyright 2021, robo4you
&copy; Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)
</p>
</div>

4
lib/Linefollower.html
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@ -95,7 +95,9 @@
</li>
<li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Odom.html">Odometry</a></li>
<li class="toctree-l1"><a class="reference internal" href="QC.html">Quality Control</a></li>
<li class="toctree-l1"><a class="reference internal" href="Robot.html">Robot</a></li>
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@ -262,7 +264,7 @@
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4
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@ -99,7 +99,9 @@
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Odom.html">Odometry</a></li>
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</ul>
@ -233,7 +235,7 @@ Competition organizers</p>
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<p>
&copy; Copyright 2021, robo4you
&copy; Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)
</p>
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8
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@ -35,7 +35,7 @@
<link rel="index" title="Index" href="../genindex.html" />
<link rel="search" title="Search" href="../search.html" />
<link rel="next" title="Quality Control" href="QC.html" />
<link rel="next" title="Odometry" href="Odom.html" />
<link rel="prev" title="Logging" href="Logging.html" />
</head>
@ -99,7 +99,9 @@
</li>
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<li class="toctree-l1"><a class="reference internal" href="QC.html">Quality Control</a></li>
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</ul>
@ -300,7 +302,7 @@ so that it’s roughly proportional to the speed</p>
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@ -313,7 +315,7 @@ so that it’s roughly proportional to the speed</p>
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<div class="section" id="odometry">
<span id="lib-odom"></span><h1>Odometry<a class="headerlink" href="#odometry" title="Permalink to this headline"></a></h1>
<div class="section" id="class-documentation">
<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline"></a></h2>
<dl class="py class">
<dt id="compLib.Odom.Odometry">
<em class="property">class </em><code class="sig-prename descclassname">compLib.Odom.</code><code class="sig-name descname">Odometry</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">x</span></em>, <em class="sig-param"><span class="n">y</span></em>, <em class="sig-param"><span class="n">orientation</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Odom.Odometry" title="Permalink to this definition"></a></dt>
<dd><p>DTO used for holding all odometry information.</p>
<p>Coordinate system:</p>
<blockquote>
<div><p>X: + Forward; - Backwards</p>
<p>Y: + Right; - Left</p>
<p>Orientation: + Right; - Left</p>
</div></blockquote>
<dl class="py method">
<dt id="compLib.Odom.Odometry.get_orientation">
<code class="sig-name descname">get_orientation</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; float<a class="headerlink" href="#compLib.Odom.Odometry.get_orientation" title="Permalink to this definition"></a></dt>
<dd><p>Returns degrees turned in radians</p>
</dd></dl>
<dl class="py method">
<dt id="compLib.Odom.Odometry.get_x">
<code class="sig-name descname">get_x</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; float<a class="headerlink" href="#compLib.Odom.Odometry.get_x" title="Permalink to this definition"></a></dt>
<dd><p>Returns distance driven on x-axis in meters</p>
</dd></dl>
<dl class="py method">
<dt id="compLib.Odom.Odometry.get_y">
<code class="sig-name descname">get_y</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; float<a class="headerlink" href="#compLib.Odom.Odometry.get_y" title="Permalink to this definition"></a></dt>
<dd><p>Returns distance driven on y-axis in meters</p>
</dd></dl>
</dd></dl>
<dl class="py class">
<dt id="compLib.Odom.Odom">
<em class="property">class </em><code class="sig-prename descclassname">compLib.Odom.</code><code class="sig-name descname">Odom</code><a class="headerlink" href="#compLib.Odom.Odom" title="Permalink to this definition"></a></dt>
<dd><p>Class used to track the movement of the robot in X, Y, Theta (Orientation)</p>
<dl class="py method">
<dt id="compLib.Odom.Odom.clear">
<em class="property">static </em><code class="sig-name descname">clear</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; None<a class="headerlink" href="#compLib.Odom.Odom.clear" title="Permalink to this definition"></a></dt>
<dd><p>Clears the current odometry information and start from X, Y, Orientation set to 0</p>
</dd></dl>
<dl class="py method">
<dt id="compLib.Odom.Odom.get_odom">
<em class="property">static </em><code class="sig-name descname">get_odom</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; <a class="reference internal" href="#compLib.Odom.Odometry" title="compLib.Odom.Odometry">compLib.Odom.Odometry</a><a class="headerlink" href="#compLib.Odom.Odom.get_odom" title="Permalink to this definition"></a></dt>
<dd><dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Current orientation of the robot</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt id="compLib.Odom.Odom.update">
<em class="property">static </em><code class="sig-name descname">update</code><span class="sig-paren">(</span><span class="sig-paren">)</span> &#x2192; None<a class="headerlink" href="#compLib.Odom.Odom.update" title="Permalink to this definition"></a></dt>
<dd><p>Updates the current odometry information of the robot, Should be called in a loop with at least 100HZ.
Do not clear encoder positions between updates! Must be cleared, when clearing encoders!</p>
</dd></dl>
</dd></dl>
</div>
<div class="section" id="examples">
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
<div class="section" id="getting-actual-distance-driven">
<h3>Getting actual distance driven<a class="headerlink" href="#getting-actual-distance-driven" title="Permalink to this headline"></a></h3>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
<span class="kn">import</span> <span class="nn">math</span>
<span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="n">Motor</span>
<span class="kn">from</span> <span class="nn">compLib.Encoder</span> <span class="kn">import</span> <span class="n">Encoder</span>
<span class="kn">from</span> <span class="nn">compLib.Odom</span> <span class="kn">import</span> <span class="n">Odom</span><span class="p">,</span> <span class="n">Odometry</span>
<span class="c1"># distance in meters</span>
<span class="c1"># speed in % of max speed</span>
<span class="k">def</span> <span class="nf">drive_example</span><span class="p">(</span><span class="n">distance</span><span class="p">,</span> <span class="n">speed</span><span class="p">):</span>
<span class="n">Odom</span><span class="o">.</span><span class="n">update</span><span class="p">()</span>
<span class="n">odom</span> <span class="o">=</span> <span class="n">Odom</span><span class="o">.</span><span class="n">get_odom</span><span class="p">()</span>
<span class="k">while</span> <span class="nb">abs</span><span class="p">(</span><span class="n">odom</span><span class="o">.</span><span class="n">get_x</span><span class="p">())</span> <span class="o">&lt;</span> <span class="n">distance</span><span class="p">:</span>
<span class="n">Odom</span><span class="o">.</span><span class="n">update</span><span class="p">()</span>
<span class="n">odom</span> <span class="o">=</span> <span class="n">Odom</span><span class="o">.</span><span class="n">get_odom</span><span class="p">()</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">4</span><span class="p">,</span> <span class="n">speed</span><span class="p">)</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="n">speed</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot; Forward: </span><span class="si">{</span><span class="n">odom</span><span class="o">.</span><span class="n">get_x</span><span class="p">()</span><span class="si">}</span><span class="s2"> m&quot;</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot; Right: </span><span class="si">{</span><span class="n">odom</span><span class="o">.</span><span class="n">get_y</span><span class="p">()</span><span class="si">}</span><span class="s2"> m&quot;</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot; Turned: </span><span class="si">{</span><span class="n">math</span><span class="o">.</span><span class="n">degrees</span><span class="p">(</span><span class="n">odom</span><span class="o">.</span><span class="n">get_orientation</span><span class="p">())</span><span class="si">}</span><span class="s2"> degrees&quot;</span><span class="p">)</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">active_break</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">active_break</span><span class="p">(</span><span class="mi">4</span><span class="p">)</span>
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.1</span><span class="p">)</span>
<span class="n">Encoder</span><span class="o">.</span><span class="n">clear_all</span><span class="p">()</span>
<span class="n">Odom</span><span class="o">.</span><span class="n">clear</span><span class="p">()</span>
</pre></div>
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<div class="section" id="robot">
<span id="lib-robot"></span><h1>Robot<a class="headerlink" href="#robot" title="Permalink to this headline"></a></h1>
<div class="section" id="class-documentation">
<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline"></a></h2>
<dl class="py class">
<dt id="compLib.Robot.Robot">
<em class="property">class </em><code class="sig-prename descclassname">compLib.Robot.</code><code class="sig-name descname">Robot</code><a class="headerlink" href="#compLib.Robot.Robot" title="Permalink to this definition"></a></dt>
<dd><dl class="py attribute">
<dt id="compLib.Robot.Robot.ARBOR_LENGTH_M">
<code class="sig-name descname">ARBOR_LENGTH_M</code><em class="property"> = 0.139</em><a class="headerlink" href="#compLib.Robot.Robot.ARBOR_LENGTH_M" title="Permalink to this definition"></a></dt>
<dd><p>Distance between the two wheels in meters</p>
</dd></dl>
<dl class="py attribute">
<dt id="compLib.Robot.Robot.ARBOR_LENGTH_MM">
<code class="sig-name descname">ARBOR_LENGTH_MM</code><em class="property"> = 139.0</em><a class="headerlink" href="#compLib.Robot.Robot.ARBOR_LENGTH_MM" title="Permalink to this definition"></a></dt>
<dd><p>Distance between the two wheels in millimeters</p>
</dd></dl>
<dl class="py attribute">
<dt id="compLib.Robot.Robot.LEFT_PORT">
<code class="sig-name descname">LEFT_PORT</code><em class="property"> = 4</em><a class="headerlink" href="#compLib.Robot.Robot.LEFT_PORT" title="Permalink to this definition"></a></dt>
<dd><p>Motor port for the left motor</p>
</dd></dl>
<dl class="py attribute">
<dt id="compLib.Robot.Robot.RIGHT_PORT">
<code class="sig-name descname">RIGHT_PORT</code><em class="property"> = 1</em><a class="headerlink" href="#compLib.Robot.Robot.RIGHT_PORT" title="Permalink to this definition"></a></dt>
<dd><p>Motor port for the right motor</p>
</dd></dl>
<dl class="py attribute">
<dt id="compLib.Robot.Robot.TICKS_PER_METER">
<code class="sig-name descname">TICKS_PER_METER</code><em class="property"> = 12418.568799001412</em><a class="headerlink" href="#compLib.Robot.Robot.TICKS_PER_METER" title="Permalink to this definition"></a></dt>
<dd><p>Ticks after driving one meter</p>
</dd></dl>
<dl class="py attribute">
<dt id="compLib.Robot.Robot.TICKS_PER_TURN">
<code class="sig-name descname">TICKS_PER_TURN</code><em class="property"> = 2770.0</em><a class="headerlink" href="#compLib.Robot.Robot.TICKS_PER_TURN" title="Permalink to this definition"></a></dt>
<dd><p>Ticks per 360 degree turn of a wheel</p>
</dd></dl>
<dl class="py attribute">
<dt id="compLib.Robot.Robot.WHEEL_CIRCUMFERENCE_MM">
<code class="sig-name descname">WHEEL_CIRCUMFERENCE_MM</code><em class="property"> = 223.05307840487532</em><a class="headerlink" href="#compLib.Robot.Robot.WHEEL_CIRCUMFERENCE_MM" title="Permalink to this definition"></a></dt>
<dd><p>Circumference of a wheel in millimeters</p>
</dd></dl>
</dd></dl>
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@ -36,7 +36,7 @@
<link rel="index" title="Index" href="../genindex.html" />
<link rel="search" title="Search" href="../search.html" />
<link rel="next" title="Vision" href="Vision.html" />
<link rel="prev" title="Quality Control" href="QC.html" />
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@ -92,7 +92,9 @@
<li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Odom.html">Odometry</a></li>
<li class="toctree-l1"><a class="reference internal" href="QC.html">Quality Control</a></li>
<li class="toctree-l1"><a class="reference internal" href="Robot.html">Robot</a></li>
<li class="toctree-l1 current"><a class="current reference internal" href="#">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
</ul>
@ -201,7 +203,7 @@
<a href="Vision.html" class="btn btn-neutral float-right" title="Vision" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right"></span></a>
<a href="QC.html" class="btn btn-neutral float-left" title="Quality Control" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Previous</a>
<a href="Robot.html" class="btn btn-neutral float-left" title="Robot" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Previous</a>
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@ -211,7 +213,7 @@
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<p>
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</p>
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4
lib/Vision.html
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@ -91,7 +91,9 @@
<li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Odom.html">Odometry</a></li>
<li class="toctree-l1"><a class="reference internal" href="QC.html">Quality Control</a></li>
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<li class="toctree-l2"><a class="reference internal" href="#opencv-stream">Opencv Stream</a></li>
@ -296,7 +298,7 @@ point your raspberry pi camera to a chessboard and it should be detected.</p>
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<p>
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&copy; Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)
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@ -92,7 +92,9 @@
<li class="toctree-l1"><a class="reference internal" href="../lib/Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="../lib/Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="../lib/Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="../lib/Odom.html">Odometry</a></li>
<li class="toctree-l1"><a class="reference internal" href="../lib/QC.html">Quality Control</a></li>
<li class="toctree-l1"><a class="reference internal" href="../lib/Robot.html">Robot</a></li>
<li class="toctree-l1"><a class="reference internal" href="../lib/Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="../lib/Vision.html">Vision</a></li>
</ul>
@ -209,7 +211,7 @@
<div role="contentinfo">
<p>
&copy; Copyright 2021, robo4you
&copy; Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)
</p>
</div>

4
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@ -92,7 +92,9 @@
<li class="toctree-l1"><a class="reference internal" href="lib/Linefollower.html">Linefollower Examples</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Logging.html">Logging</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Odom.html">Odometry</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/QC.html">Quality Control</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Robot.html">Robot</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="lib/Vision.html">Vision</a></li>
</ul>
@ -182,7 +184,7 @@
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<p>
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