From 16a3609f9fd0df4036afc885e17548fd1d78d120 Mon Sep 17 00:00:00 2001 From: Konstantin Lampalzer Date: Sun, 9 Jan 2022 18:41:17 +0100 Subject: [PATCH] Update documentation --- _sources/lib/Odom.rst.txt | 50 ++++++ _sources/lib/Robot.rst.txt | 11 ++ genindex.html | 84 +++++++++- index.html | 16 +- lib/Api.html | 4 +- lib/Aruco.html | 4 +- lib/Display.html | 4 +- lib/Encoder.html | 48 +++++- lib/IRSensor.html | 4 +- lib/Linefollower.html | 4 +- lib/Logging.html | 4 +- lib/Motor.html | 8 +- lib/Odom.html | 329 +++++++++++++++++++++++++++++++++++++ lib/QC.html | 12 +- lib/Robot.html | 278 +++++++++++++++++++++++++++++++ lib/Servo.html | 8 +- lib/Vision.html | 4 +- objects.inv | Bin 918 -> 1135 bytes other/usage.html | 4 +- search.html | 4 +- searchindex.js | 2 +- 21 files changed, 854 insertions(+), 28 deletions(-) create mode 100644 _sources/lib/Odom.rst.txt create mode 100644 _sources/lib/Robot.rst.txt create mode 100644 lib/Odom.html create mode 100644 lib/Robot.html diff --git a/_sources/lib/Odom.rst.txt b/_sources/lib/Odom.rst.txt new file mode 100644 index 0000000..b448509 --- /dev/null +++ b/_sources/lib/Odom.rst.txt @@ -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() \ No newline at end of file diff --git a/_sources/lib/Robot.rst.txt b/_sources/lib/Robot.rst.txt new file mode 100644 index 0000000..c7aa712 --- /dev/null +++ b/_sources/lib/Robot.rst.txt @@ -0,0 +1,11 @@ +.. _lib_robot: + +Robot +****** + +Class Documentation +==================== + +.. autoclass:: compLib.Robot.Robot + :members: + :private-members: \ No newline at end of file diff --git a/genindex.html b/genindex.html index 390b8a9..ac8bcaa 100644 --- a/genindex.html +++ b/genindex.html @@ -90,7 +90,9 @@
  • Linefollower Examples
  • Logging
  • Motor
    • +
  • Odometry
  • Quality Control
    • +
  • Robot
  • Servo
  • Vision
    • @@ -166,12 +168,16 @@ | D | E | G + | H | I | L | M + | O | P | R | S + | T + | U | W @@ -187,10 +193,14 @@
    @@ -202,6 +212,8 @@ @@ -246,21 +258,37 @@
  • get_items() (compLib.Api.DoubleElim static method)
    • - - + + + +

    H

    + +
    @@ -276,10 +304,12 @@

    L

    @@ -293,6 +323,18 @@
    +

    O

    + + + +
    +

    P

    +
  • read_all() (compLib.Encoder.Encoder static method) +
    		•
    @@ -349,8 +399,32 @@ +

    T

    + + + +
    + +

    U

    + + +
    +

    W

    +
    @@ -226,6 +228,14 @@ +
  • Odometry +
  • Quality Control
    • +
  • Robot +
  • Servo
  • Vision @@ -458,7 +460,7 @@

    - © Copyright 2021, robo4you + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)

    diff --git a/lib/Aruco.html b/lib/Aruco.html index d0375a5..a0197c0 100644 --- a/lib/Aruco.html +++ b/lib/Aruco.html @@ -98,7 +98,9 @@
  • Linefollower Examples
  • Logging
  • Motor
    • +
  • Odometry
  • Quality Control
    • +
  • Robot
  • Servo
  • Vision
    • @@ -267,7 +269,7 @@ This way it is quite simple to act on the position of the tag.

    - © Copyright 2021, robo4you + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)

    diff --git a/lib/Display.html b/lib/Display.html index e9490bb..91b1f8b 100644 --- a/lib/Display.html +++ b/lib/Display.html @@ -99,7 +99,9 @@
  • Linefollower Examples
  • Logging
  • Motor
    • +
  • Odometry
  • Quality Control
    • +
  • Robot
  • Servo
  • Vision
    • @@ -237,7 +239,7 @@ The display is split into 4 Rows and 16 Columns. Each function call changes one

    - © Copyright 2021, robo4you + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)

    diff --git a/lib/Encoder.html b/lib/Encoder.html index 758ade4..07baa68 100644 --- a/lib/Encoder.html +++ b/lib/Encoder.html @@ -95,7 +95,9 @@
  • Linefollower Examples
  • Logging
  • Motor
    • +
  • Odometry
  • Quality Control
    • +
  • Robot
  • Servo
  • Vision
    • @@ -191,6 +193,26 @@

    Reset all encoder positions to 0

    +
    +
    +static handle_wrap(raw_value, port)
    +

    Handle overflow and underflow of int for encoders.

    +
    +
    Parameters
    +
      +

    • raw_value – Raw value which was read on port

      • +

    • port – Port, which the motor is connected to. Between 1 and 4

      • +
    +
    +
    Raises
    +

    IndexError

    +
    +
    Returns
    +

    Current encoder position

    +
    +
    +
    +
    static read(port: int) → int
    @@ -208,6 +230,30 @@
    +
    +
    +static read_all()
    +

    Read all encoders at once. +This is faster than read as it only uses one SPI call for all encoders!

    +
    +
    Returns
    +

    Tuple of all current encoder positions

    +
    +
    +
    + +
    +
    +static read_all_raw()
    +

    Read all encoders at once. +This is faster than read_raw as it only uses one SPI call for all encoders!

    +
    +
    Returns
    +

    Tuple of all current raw encoder positions

    +
    +
    +
    +
    static read_raw(port: int) → int
    @@ -251,7 +297,7 @@

    - © Copyright 2021, robo4you + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)

    diff --git a/lib/IRSensor.html b/lib/IRSensor.html index a04d877..b0a1a5a 100644 --- a/lib/IRSensor.html +++ b/lib/IRSensor.html @@ -98,7 +98,9 @@
  • Linefollower Examples
  • Logging
  • Motor
    • +
  • Odometry
  • Quality Control
    • +
  • Robot
  • Servo
  • Vision
    • @@ -243,7 +245,7 @@

    - © Copyright 2021, robo4you + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)

    diff --git a/lib/Linefollower.html b/lib/Linefollower.html index 096bd9f..f4d9e47 100644 --- a/lib/Linefollower.html +++ b/lib/Linefollower.html @@ -95,7 +95,9 @@
  • Logging
  • Motor
    • +
  • Odometry
  • Quality Control
    • +
  • Robot
  • Servo
  • Vision
    • @@ -262,7 +264,7 @@

    - © Copyright 2021, robo4you + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)

    diff --git a/lib/Logging.html b/lib/Logging.html index 14221c5..57414a5 100644 --- a/lib/Logging.html +++ b/lib/Logging.html @@ -99,7 +99,9 @@
  • Motor
    • +
  • Odometry
  • Quality Control
    • +
  • Robot
  • Servo
  • Vision
    • @@ -233,7 +235,7 @@ Competition organizers

    - © Copyright 2021, robo4you + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)

    diff --git a/lib/Motor.html b/lib/Motor.html index 267e387..cb6e3c5 100644 --- a/lib/Motor.html +++ b/lib/Motor.html @@ -35,7 +35,7 @@ - + @@ -99,7 +99,9 @@ +
  • Odometry
  • Quality Control
    • +
  • Robot
  • Servo
  • Vision
    • @@ -300,7 +302,7 @@ so that it’s roughly proportional to the speed

    @@ -211,7 +213,7 @@

    - © Copyright 2021, robo4you + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)

    diff --git a/lib/Vision.html b/lib/Vision.html index ec09a7e..1f9d175 100644 --- a/lib/Vision.html +++ b/lib/Vision.html @@ -91,7 +91,9 @@
  • Linefollower Examples
  • Logging
  • Motor
    • +
  • Odometry
  • Quality Control
    • +
  • Robot
  • Servo
  • Vision
    • Opencv Stream
      • @@ -296,7 +298,7 @@ point your raspberry pi camera to a chessboard and it should be detected.

      - © Copyright 2021, robo4you + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)

      diff --git a/objects.inv b/objects.inv index 6256a71275e82dfede387001e1a445a1d320707d..b1d3a88401d105bb01da9bbc378208e33e1d7fb4 100644 GIT binary patch delta 1032 zcmV+j1o!)v2k!`wc7K>nlbawI$M1d$XWDDh>9w~uwcSj!yIGTMj|?hnn4(y~&HC-j zi!X>~qvoP0|KB5!Kk$&4X2lLi>#qe~f2Ugt0&wUrb8~QATmHJOnKYnxkAS4u4Qkjs>Rq;s89R49)1k z-umFA-|K)-g7b8)UNb1_aqE~M$OfOBjGvjDNYn8kk7`4rPu0Y& z?`{v8>Z!b5K8P%%p|5Ah;(8T~%5-|Ddn#ma_0{c)sd|rC!&t~A7ew;6_&fOK6kd9e zzPv0!^|GrABAAb{?>5Kd8>Wa(q3rp=aN@qCr z*Jgobk-(81#%+ z4-13*xql0S9oTHc&GY?_APgQh!MuSzAofbl)pdobdXLac$;DH|G`=imNBE7oRIdRz z2)SKkBYS79m_X_&^uk~^Trp+@Dde#T^V7sYDavu4pf{h3L-@Mg2f2)dK zCrfCoM3!PBn}dWII5Vqd;}~R>SEu|oXP*LmS${AZR>pLoQZH+rDtcBr?rQBU-LD@! zD{pi4b~@+R51ySYxj-+8l4Byrm!ZTrFEzQtIeMXl=ndGR?K%^orw-m=RuIHJE3FxX zu(BP$e(>5&(p7gmr>~1%vl_d?c7^tvrCdv&Hm>k#V`NVyBv@4PN6!VL#A|1?3v|=m zn18}+=aH-ICYP^^UT0NTY8lu!WhDl%_E>A--dR&Vtdyd58%Qh<^@!eCPf?B1auh(8 zqk44jh@j|3Y55Ca#yfxY@P3-E_*Oe&H$Ysw^@0ryrvvtwiw@MOd*i@hcH0XpL=C@P98JGPO}PA?ru{3Rvsc9%*e%3O1_NyMVXe z?NQd&peUnieGFbZANMeODOOyqt4*EJWMpA3s#R0b%_FLBCiTrD3ghTxsCGlDkjdZzq>Yczo)E=3TP}==#0-(tq*WZvo`{ C!2TKl delta 813 zcmV+|1JeBO2$lzsc7K=4ZsQ;nhWCC7q|P>}y6tY%c2TJ#wT))B2-_zPDmEU#N&WW2 z#TUSCV|z9+hW|Uh?ZkL`rmr7)@_Y>q(XD<_Fp( z*(|azK;eQDX4n$ciRUX}s-TpcX$=7voaWm@@Ve#|RBCg8ntw~GD6cjLkQo=SVgj#T zhl}>>0FcwFSgW^#%ZMoW^0E174vd~bwA<){h?Eqt4K9fSLD$%_rx}&2CjCfd%}Con z<2CM^uW|c~0TGif7vmS957Kh{smgc`qJPGt?whZ1UyOPkjtOJiLkJ-G|It{G%kl`% z?+2(P7egUlyMIA&9i1Qing9~i3jT!`QW1I5&%$`Ud&V>9o0szT#4%llsTEeok~VRq zO|d-GFRt`#?Qc94*Yq8+Cz;Y&3a5H6J|=xG;TgmHc-(^8Ol3+qYs4A0gsAytX4RL1 zv({e%U&<|*+&13>h%F!gX^RHN>3r-`Nj89aiveTJj;@x$z*1rN#_mX%SKGyq*A9XK@pH^ca zNVj@T^ndya$dRkGqTeUh?fAQLYEPC|Hj5p^%gaGYZGc*c+| zTIJhAEPH!!nzx29s#?91l@gpKgXLpjJO{`YlhIYN)bkp0Wh2Ib^DB;upImpkX~jruu~1* z!spRj0p@2i!*#mOXeG~Q@><>Q`iA~!Linefollower Examples
    • Logging
    • Motor
      • +
    • Odometry
    • Quality Control
      • +
    • Robot
    • Servo
    • Vision
    @@ -209,7 +211,7 @@

    - © Copyright 2021, robo4you + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)

    diff --git a/search.html b/search.html index 3236058..c9ff7ee 100644 --- a/search.html +++ b/search.html @@ -92,7 +92,9 @@
  • Linefollower Examples
  • Logging
  • Motor
    • +
  • Odometry
  • Quality Control
    • +
  • Robot
  • Servo
  • Vision
    • @@ -182,7 +184,7 @@

    - © Copyright 2021, robo4you + © Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)

    diff --git a/searchindex.js b/searchindex.js index 625b3a7..81a25e5 100644 --- a/searchindex.js +++ b/searchindex.js @@ -1 +1 @@ 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