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200
lib/Api.html
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@ -1,14 +1,17 @@
<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8" />
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Api &mdash; CompLib 0.0.2 documentation</title><link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<title>Api &mdash; CompLib 0.0.2 documentation</title>
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<!--[if lt IE 9]>
<script src="../_static/js/html5shiv.min.js"></script>
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@ -83,20 +86,181 @@
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
<div itemprop="articleBody">
<div class="section" id="api">
<section id="api">
<span id="lib-api"></span><h1>Api<a class="headerlink" href="#api" title="Permalink to this headline"></a></h1>
<div class="section" id="seeding">
<section id="seeding">
<h2>Seeding<a class="headerlink" href="#seeding" title="Permalink to this headline"></a></h2>
</div>
<div class="section" id="double-elimination">
<dl class="py class">
<dt class="sig sig-object py" id="compLib.Api.Seeding">
<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.Api.</span></span><span class="sig-name descname"><span class="pre">Seeding</span></span><a class="headerlink" href="#compLib.Api.Seeding" title="Permalink to this definition"></a></dt>
<dd><p>Class used for communicating with seeding api.</p>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Api.Seeding.getCargo">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">getCargo</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">color</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.Seeding.getCargo" title="Permalink to this definition"></a></dt>
<dd><p>Makes the /api/listCargo call to the api.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>color</strong> – Color parameter which specifies which cargo should be taken. (A string which is either “green”, “red”, “yellow” or “blue”</p>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>Json Object and status code as returned by the api.</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>Tuple[Dict, int]</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Api.Seeding.get_delivery">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_delivery</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.Seeding.get_delivery" title="Permalink to this definition"></a></dt>
<dd><p>Makes the /api/getDelivery call to the api.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Json Object and status code as returned by the api.</p>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p>Tuple[Dict, int]</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Api.Seeding.get_garbage">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_garbage</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.Seeding.get_garbage" title="Permalink to this definition"></a></dt>
<dd><p>Makes the /api/getGarbage call to the api.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Json Object and status code as returned by the api.</p>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p>Tuple[Dict, int]</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Api.Seeding.get_material">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_material</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.Seeding.get_material" title="Permalink to this definition"></a></dt>
<dd><p>Makes the /api/getMaterial call to the api.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Json Object and status code as returned by the api.</p>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p>Tuple[Dict, int]</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Api.Seeding.list_cargo">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">list_cargo</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.Seeding.list_cargo" title="Permalink to this definition"></a></dt>
<dd><p>Makes the /api/listCargo call to the api.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Json Object and status code as returned by the api.</p>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p>Tuple[Dict, int]</p>
</dd>
</dl>
</dd></dl>
</dd></dl>
</section>
<section id="double-elimination">
<h2>Double Elimination<a class="headerlink" href="#double-elimination" title="Permalink to this headline"></a></h2>
</div>
<div class="section" id="position">
<dl class="py class">
<dt class="sig sig-object py" id="compLib.Api.DoubleElim">
<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.Api.</span></span><span class="sig-name descname"><span class="pre">DoubleElim</span></span><a class="headerlink" href="#compLib.Api.DoubleElim" title="Permalink to this definition"></a></dt>
<dd><p>Class used for communicating with double elimination api</p>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Api.DoubleElim.get_goal">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_goal</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#compLib.Api.Position" title="compLib.Api.Position"><span class="pre">compLib.Api.Position</span></a><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.DoubleElim.get_goal" title="Permalink to this definition"></a></dt>
<dd><p>Get position of the goal.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>A Position object with x and y coordinates of the goal, rotation is always -1</p>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p>Tuple[<a class="reference internal" href="#compLib.Api.Position" title="compLib.Api.Position">Position</a>, int]</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Api.DoubleElim.get_items">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_items</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.DoubleElim.get_items" title="Permalink to this definition"></a></dt>
<dd><p>Get a list with all current items.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>A list will all items currently on the game field. Items are dictionaries that look like: {“id”: 0, “x”: 0, “y”: 0}</p>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p>Tuple[List[Dict], int]</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Api.DoubleElim.get_opponent">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_opponent</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#compLib.Api.Position" title="compLib.Api.Position"><span class="pre">compLib.Api.Position</span></a><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.DoubleElim.get_opponent" title="Permalink to this definition"></a></dt>
<dd><p>Get position of the opponents robot.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>A Position object with opponents robot position</p>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p>Tuple[<a class="reference internal" href="#compLib.Api.Position" title="compLib.Api.Position">Position</a>, int]</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Api.DoubleElim.get_position">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_position</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#compLib.Api.Position" title="compLib.Api.Position"><span class="pre">compLib.Api.Position</span></a><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.DoubleElim.get_position" title="Permalink to this definition"></a></dt>
<dd><p>Get position of the robot.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>A Position object with robot position</p>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p>Tuple[<a class="reference internal" href="#compLib.Api.Position" title="compLib.Api.Position">Position</a>, int]</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Api.DoubleElim.get_scores">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_scores</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.DoubleElim.get_scores" title="Permalink to this definition"></a></dt>
<dd><p>Get the current scores.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>A dictionary with all scores included like: {“self”:2,”opponent”:0}</p>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p>Tuple[Dict, int]</p>
</dd>
</dl>
</dd></dl>
</dd></dl>
</section>
<section id="position">
<h2>Position<a class="headerlink" href="#position" title="Permalink to this headline"></a></h2>
</div>
<div class="section" id="examples">
<dl class="py class">
<dt class="sig sig-object py" id="compLib.Api.Position">
<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.Api.</span></span><span class="sig-name descname"><span class="pre">Position</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">y</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">degrees</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Api.Position" title="Permalink to this definition"></a></dt>
<dd><p>Datastructure for holding a position.</p>
</dd></dl>
</section>
<section id="examples">
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
<div class="section" id="calling-seeding-api">
<section id="calling-seeding-api">
<h3>Calling Seeding API<a class="headerlink" href="#calling-seeding-api" title="Permalink to this headline"></a></h3>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.Api</span> <span class="kn">import</span> <span class="n">Seeding</span>
@ -127,8 +291,8 @@
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;We failed :(&quot;</span><span class="p">)</span>
</pre></div>
</div>
</div>
<div class="section" id="calling-double-elimination-api">
</section>
<section id="calling-double-elimination-api">
<h3>Calling Double Elimination API<a class="headerlink" href="#calling-double-elimination-api" title="Permalink to this headline"></a></h3>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.Api</span> <span class="kn">import</span> <span class="n">DoubleElim</span>
@ -139,9 +303,9 @@
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Goal is at: x=</span><span class="si">{</span><span class="n">goal</span><span class="o">.</span><span class="n">x</span><span class="si">}</span><span class="s2">, y=</span><span class="si">{</span><span class="n">goal</span><span class="o">.</span><span class="n">y</span><span class="si">}</span><span class="s2">, the server responded with status code: </span><span class="si">{</span><span class="n">status</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
</pre></div>
</div>
</div>
</div>
</div>
</section>
</section>
</section>
</div>

23
lib/Aruco.html
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@ -1,14 +1,17 @@
<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8" />
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Aruco &mdash; CompLib 0.0.2 documentation</title><link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<title>Aruco &mdash; CompLib 0.0.2 documentation</title>
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<!--[if lt IE 9]>
<script src="../_static/js/html5shiv.min.js"></script>
<![endif]-->
<script id="documentation_options" data-url_root="../" src="../_static/documentation_options.js"></script>
<script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
<script src="../_static/jquery.js"></script>
<script src="../_static/underscore.js"></script>
<script src="../_static/doctools.js"></script>
@ -79,11 +82,11 @@
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
<div itemprop="articleBody">
<div class="section" id="aruco">
<section id="aruco">
<span id="lib-vision"></span><h1>Aruco<a class="headerlink" href="#aruco" title="Permalink to this headline"></a></h1>
<div class="section" id="examples">
<section id="examples">
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
<div class="section" id="recognizing-aruco-tags">
<section id="recognizing-aruco-tags">
<h3>Recognizing ArUco tags<a class="headerlink" href="#recognizing-aruco-tags" 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">cv2</span>
@ -155,9 +158,9 @@
You can specify an ID of the tag you want to use and if it’s found, the coordinates of the center are returned.
With the normalized function this is very easy: The x-coordinate is -1 on the left, 1 on the right and 0 in the center of the screen, same for y.
This way it is quite simple to act on the position of the tag.</p>
</div>
</div>
</div>
</section>
</section>
</section>
</div>

57
lib/Display.html
View file

@ -1,14 +1,17 @@
<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8" />
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Display &mdash; CompLib 0.0.2 documentation</title><link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<title>Display &mdash; CompLib 0.0.2 documentation</title>
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<!--[if lt IE 9]>
<script src="../_static/js/html5shiv.min.js"></script>
<![endif]-->
<script id="documentation_options" data-url_root="../" src="../_static/documentation_options.js"></script>
<script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
<script src="../_static/jquery.js"></script>
<script src="../_static/underscore.js"></script>
<script src="../_static/doctools.js"></script>
@ -80,14 +83,44 @@
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
<div itemprop="articleBody">
<div class="section" id="display">
<section id="display">
<span id="lib-display"></span><h1>Display<a class="headerlink" href="#display" title="Permalink to this headline"></a></h1>
<div class="section" id="class-documentation">
<section id="class-documentation">
<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline"></a></h2>
</div>
<div class="section" id="examples">
<dl class="py class">
<dt class="sig sig-object py" id="compLib.Display.Display">
<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.Display.</span></span><span class="sig-name descname"><span class="pre">Display</span></span><a class="headerlink" href="#compLib.Display.Display" title="Permalink to this definition"></a></dt>
<dd><p>Access the display on the robot.
The display is split into 4 Rows and 16 Columns. Each function call changes one line at a time.</p>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Display.Display.clear">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">clear</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Display.Display.clear" title="Permalink to this definition"></a></dt>
<dd><p>Clear the display</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Display.Display.write">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">write</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">line</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">text</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Display.Display.write" title="Permalink to this definition"></a></dt>
<dd><p>Write a string of text to the integrated display.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>line</strong> – Line to write. Between 1 and 4</p></li>
<li><p><strong>text</strong> – Text to write. Up to 16 characters</p></li>
</ul>
</dd>
<dt class="field-even">Raises</dt>
<dd class="field-even"><p>IndexError</p>
</dd>
</dl>
</dd></dl>
</dd></dl>
</section>
<section id="examples">
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
<div class="section" id="write-a-line-to-the-display">
<section id="write-a-line-to-the-display">
<h3>Write a line to the display<a class="headerlink" href="#write-a-line-to-the-display" 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">from</span> <span class="nn">compLib.Display</span> <span class="kn">import</span> <span class="n">Display</span>
@ -95,9 +128,9 @@
<span class="n">Display</span><span class="o">.</span><span class="n">write</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="s2">&quot;Hello World!&quot;</span><span class="p">)</span>
</pre></div>
</div>
</div>
</div>
</div>
</section>
</section>
</section>
</div>

79
lib/Encoder.html
View file

@ -1,14 +1,17 @@
<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8" />
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Encoder &mdash; CompLib 0.0.2 documentation</title><link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<title>Encoder &mdash; CompLib 0.0.2 documentation</title>
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<!--[if lt IE 9]>
<script src="../_static/js/html5shiv.min.js"></script>
<![endif]-->
<script id="documentation_options" data-url_root="../" src="../_static/documentation_options.js"></script>
<script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
<script src="../_static/jquery.js"></script>
<script src="../_static/underscore.js"></script>
<script src="../_static/doctools.js"></script>
@ -76,12 +79,72 @@
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
<div itemprop="articleBody">
<div class="section" id="encoder">
<section id="encoder">
<span id="lib-encoder"></span><h1>Encoder<a class="headerlink" href="#encoder" title="Permalink to this headline"></a></h1>
<div class="section" id="class-documentation">
<section id="class-documentation">
<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline"></a></h2>
</div>
</div>
<dl class="py class">
<dt class="sig sig-object py" id="compLib.Encoder.Encoder">
<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.Encoder.</span></span><span class="sig-name descname"><span class="pre">Encoder</span></span><a class="headerlink" href="#compLib.Encoder.Encoder" title="Permalink to this definition"></a></dt>
<dd><p>Class used to read the encoders</p>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Encoder.Encoder.clear">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">clear</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Encoder.Encoder.clear" title="Permalink to this definition"></a></dt>
<dd><p>Reset encoder position to 0</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>port</strong> – Port, which the motor is connected to. Between 1 and 4</p>
</dd>
<dt class="field-even">Raises</dt>
<dd class="field-even"><p>IndexError</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Encoder.Encoder.clear_all">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">clear_all</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Encoder.Encoder.clear_all" title="Permalink to this definition"></a></dt>
<dd><p>Reset all encoder positions to 0</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Encoder.Encoder.read">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">read</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#compLib.Encoder.Encoder.read" title="Permalink to this definition"></a></dt>
<dd><p>Read encoder from a specified port</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>port</strong> – Port, which the motor is connected to. Between 1 and 4</p>
</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 class="sig sig-object py" id="compLib.Encoder.Encoder.read_raw">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">read_raw</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#compLib.Encoder.Encoder.read_raw" title="Permalink to this definition"></a></dt>
<dd><p>Read raw encoder from a specified port. Will not be reset to 0 at start.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>port</strong> – Port, which the motor is connected to. Between 1 and 4</p>
</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>
</dd></dl>
</section>
</section>
</div>

63
lib/IRSensor.html
View file

@ -1,14 +1,17 @@
<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8" />
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Infrared Sensor &mdash; CompLib 0.0.2 documentation</title><link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<title>Infrared Sensor &mdash; CompLib 0.0.2 documentation</title>
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<!--[if lt IE 9]>
<script src="../_static/js/html5shiv.min.js"></script>
<![endif]-->
<script id="documentation_options" data-url_root="../" src="../_static/documentation_options.js"></script>
<script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
<script src="../_static/jquery.js"></script>
<script src="../_static/underscore.js"></script>
<script src="../_static/doctools.js"></script>
@ -79,11 +82,51 @@
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
<div itemprop="articleBody">
<div class="section" id="infrared-sensor">
<section id="infrared-sensor">
<span id="lib-irsensor"></span><h1>Infrared Sensor<a class="headerlink" href="#infrared-sensor" title="Permalink to this headline"></a></h1>
<div class="section" id="examples">
<dl class="py class">
<dt class="sig sig-object py" id="compLib.IRSensor.IRSensor">
<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.IRSensor.</span></span><span class="sig-name descname"><span class="pre">IRSensor</span></span><a class="headerlink" href="#compLib.IRSensor.IRSensor" title="Permalink to this definition"></a></dt>
<dd><p>Access the different IR Sensors of the robot</p>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.IRSensor.IRSensor.read">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">read</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">sensor</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#compLib.IRSensor.IRSensor.read" title="Permalink to this definition"></a></dt>
<dd><p>Read one infrared sensor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>sensor</strong> – Which sensor to read. Between 1 and 5</p>
</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>Sensor value. 10 bit accuracy</p>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p>int</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.IRSensor.IRSensor.set">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">set</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">sensor</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">on</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">bool</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.IRSensor.IRSensor.set" title="Permalink to this definition"></a></dt>
<dd><p>Turn on / off a IR emitter</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>sensor</strong> – Which sensor to read. Between 1 and 5</p>
</dd>
<dt class="field-even">Raises</dt>
<dd class="field-even"><p>IndexError</p>
</dd>
</dl>
</dd></dl>
</dd></dl>
<section id="examples">
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
<div class="section" id="testing-analog-sensors">
<section id="testing-analog-sensors">
<h3>Testing analog sensors<a class="headerlink" href="#testing-analog-sensors" title="Permalink to this headline"></a></h3>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib</span> <span class="kn">import</span> <span class="n">IRSensor</span>
@ -91,9 +134,9 @@
<span class="nb">print</span> <span class="p">(</span><span class="s2">&quot;left: </span><span class="si">{}</span><span class="s2"> middle: </span><span class="si">{}</span><span class="s2"> right: </span><span class="si">{}</span><span class="s2">&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">IRSensor</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">1</span><span class="p">),</span> <span class="n">IRSensor</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">3</span><span class="p">),</span> <span class="n">IRSensor</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">5</span><span class="p">)))</span>
</pre></div>
</div>
</div>
</div>
</div>
</section>
</section>
</section>
</div>

19
lib/Linefollower.html
View file

@ -1,14 +1,17 @@
<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8" />
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Linefollower Examples &mdash; CompLib 0.0.2 documentation</title><link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<title>Linefollower Examples &mdash; CompLib 0.0.2 documentation</title>
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<!--[if lt IE 9]>
<script src="../_static/js/html5shiv.min.js"></script>
<![endif]-->
<script id="documentation_options" data-url_root="../" src="../_static/documentation_options.js"></script>
<script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
<script src="../_static/jquery.js"></script>
<script src="../_static/underscore.js"></script>
<script src="../_static/doctools.js"></script>
@ -76,9 +79,9 @@
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
<div itemprop="articleBody">
<div class="section" id="linefollower-examples">
<section id="linefollower-examples">
<span id="lib-linefollower"></span><h1>Linefollower Examples<a class="headerlink" href="#linefollower-examples" title="Permalink to this headline"></a></h1>
<div class="section" id="simple-linefollower">
<section id="simple-linefollower">
<h2>Simple Linefollower<a class="headerlink" href="#simple-linefollower" title="Permalink to this headline"></a></h2>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></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.Display</span> <span class="kn">import</span> <span class="n">Display</span>
@ -153,8 +156,8 @@
<span class="n">main</span><span class="p">()</span>
</pre></div>
</div>
</div>
</div>
</section>
</section>
</div>

54
lib/Logging.html
View file

@ -1,14 +1,17 @@
<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8" />
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Logging &mdash; CompLib 0.0.2 documentation</title><link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<title>Logging &mdash; CompLib 0.0.2 documentation</title>
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<!--[if lt IE 9]>
<script src="../_static/js/html5shiv.min.js"></script>
<![endif]-->
<script id="documentation_options" data-url_root="../" src="../_static/documentation_options.js"></script>
<script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
<script src="../_static/jquery.js"></script>
<script src="../_static/underscore.js"></script>
<script src="../_static/doctools.js"></script>
@ -80,23 +83,50 @@
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
<div itemprop="articleBody">
<div class="section" id="logging">
<section id="logging">
<span id="lib-logging"></span><h1>Logging<a class="headerlink" href="#logging" title="Permalink to this headline"></a></h1>
<div class="section" id="class-documentation">
<section id="class-documentation">
<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline"></a></h2>
</div>
<div class="section" id="examples">
<dl class="py class">
<dt class="sig sig-object py" id="compLib.LogstashLogging.Logging">
<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.LogstashLogging.</span></span><span class="sig-name descname"><span class="pre">Logging</span></span><a class="headerlink" href="#compLib.LogstashLogging.Logging" title="Permalink to this definition"></a></dt>
<dd><p>Can be used to manually use the logger or turn up the logging level used for debugging this library.</p>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.LogstashLogging.Logging.get_logger">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_logger</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">logging.Logger</span></span></span><a class="headerlink" href="#compLib.LogstashLogging.Logging.get_logger" title="Permalink to this definition"></a></dt>
<dd><p>Get the logger object used to communicate with logstash</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Python logger</p>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p>logging.Logger</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.LogstashLogging.Logging.set_debug">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">set_debug</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.LogstashLogging.Logging.set_debug" title="Permalink to this definition"></a></dt>
<dd><p>Turns up the logging level of the library to debug. Should be used, when debugging with the
Competition organizers</p>
</dd></dl>
</dd></dl>
</section>
<section id="examples">
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
<div class="section" id="turn-up-the-logging">
<section id="turn-up-the-logging">
<h3>Turn up the logging<a class="headerlink" href="#turn-up-the-logging" title="Permalink to this headline"></a></h3>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.LogstashLogging</span> <span class="kn">import</span> <span class="n">Logging</span>
<span class="n">Logging</span><span class="o">.</span><span class="n">set_debug</span><span class="p">()</span>
</pre></div>
</div>
</div>
</div>
</div>
</section>
</section>
</section>
</div>

133
lib/Motor.html
View file

@ -1,14 +1,17 @@
<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8" />
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Motor &mdash; CompLib 0.0.2 documentation</title><link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<title>Motor &mdash; CompLib 0.0.2 documentation</title>
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<!--[if lt IE 9]>
<script src="../_static/js/html5shiv.min.js"></script>
<![endif]-->
<script id="documentation_options" data-url_root="../" src="../_static/documentation_options.js"></script>
<script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
<script src="../_static/jquery.js"></script>
<script src="../_static/underscore.js"></script>
<script src="../_static/doctools.js"></script>
@ -80,14 +83,120 @@
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
<div itemprop="articleBody">
<div class="section" id="motor">
<section id="motor">
<span id="lib-motor"></span><h1>Motor<a class="headerlink" href="#motor" title="Permalink to this headline"></a></h1>
<div class="section" id="class-documentation">
<section id="class-documentation">
<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline"></a></h2>
</div>
<div class="section" id="examples">
<dl class="py class">
<dt class="sig sig-object py" id="compLib.Motor.Motor">
<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.Motor.</span></span><span class="sig-name descname"><span class="pre">Motor</span></span><a class="headerlink" href="#compLib.Motor.Motor" title="Permalink to this definition"></a></dt>
<dd><p>Class used to control the motors</p>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Motor.Motor.active_break">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">active_break</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.active_break" title="Permalink to this definition"></a></dt>
<dd><p>Actively break with a specific motor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>port</strong> – Port, which the motor is connected to. 1-4</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Motor.Motor.all_off">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">all_off</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.all_off" title="Permalink to this definition"></a></dt>
<dd><p>Turns of all motors</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Motor.Motor.get_motor_curve">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_motor_curve</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.get_motor_curve" title="Permalink to this definition"></a></dt>
<dd><p>Get the currently active motor curve. Check set_motor_curve() for more info.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>current motor curve</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Motor.Motor.power">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">power</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">percent</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.power" title="Permalink to this definition"></a></dt>
<dd><p>Set specified motor to percentage power, percentage is linearized
so that it’s roughly proportional to the speed</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>port</strong> – Port, which the motor is connected to. 1-4</p></li>
<li><p><strong>percent</strong> – Percentage of max speed. between -100 and 100</p></li>
</ul>
</dd>
<dt class="field-even">Raises</dt>
<dd class="field-even"><p>IndexError</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Motor.Motor.power_raw">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">power_raw</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">percent</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">float</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">log_metric</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.power_raw" title="Permalink to this definition"></a></dt>
<dd><p>Set specified motor to percentage power</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>port</strong> – Port, which the motor is connected to. 1-4</p></li>
<li><p><strong>percent</strong> – Percentage of max speed. between -100 and 100</p></li>
</ul>
</dd>
<dt class="field-even">Raises</dt>
<dd class="field-even"><p>IndexError</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Motor.Motor.pwm">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">pwm</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pwm</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">mode</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">compLib.Motor.MotorMode</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.pwm" title="Permalink to this definition"></a></dt>
<dd><p>Set specified motor to a specific pwm value and motor mode</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>port</strong> – Port, which the motor is connected to. 1-4 allowed</p></li>
<li><p><strong>pwm</strong> – Raw PWM value which the motor should be set to. From 0 to 2^16 - 1</p></li>
<li><p><strong>mode</strong> – Motor mode. See enum MotorMode for more info</p></li>
</ul>
</dd>
<dt class="field-even">Raises</dt>
<dd class="field-even"><p>IndexError</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Motor.Motor.set_motor_curve">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">set_motor_curve</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">curve</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.set_motor_curve" title="Permalink to this definition"></a></dt>
<dd><p>Set the global motor curve, must be a float array with exactly 21 elements.
[0] = x ticks/s (0% power)
[1] = x ticks/s (5% power)
[2] = x ticks/s (10% power)
…
[20] = x ticks/s (100% power)</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>curve</strong> – float array with 21 elements</p>
</dd>
<dt class="field-even">Raises</dt>
<dd class="field-even"><p>ValueError</p>
</dd>
</dl>
</dd></dl>
</dd></dl>
</section>
<section id="examples">
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
<div class="section" id="driving-straight-maybe">
<section id="driving-straight-maybe">
<h3>Driving straight (maybe)<a class="headerlink" href="#driving-straight-maybe" title="Permalink to this headline"></a></h3>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="n">Motor</span>
@ -95,9 +204,9 @@
<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="mi">50</span><span class="p">)</span>
</pre></div>
</div>
</div>
</div>
</div>
</section>
</section>
</section>
</div>

41
lib/Servo.html
View file

@ -1,14 +1,17 @@
<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8" />
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Servo &mdash; CompLib 0.0.2 documentation</title><link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<title>Servo &mdash; CompLib 0.0.2 documentation</title>
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<!--[if lt IE 9]>
<script src="../_static/js/html5shiv.min.js"></script>
<![endif]-->
<script id="documentation_options" data-url_root="../" src="../_static/documentation_options.js"></script>
<script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
<script src="../_static/jquery.js"></script>
<script src="../_static/underscore.js"></script>
<script src="../_static/doctools.js"></script>
@ -73,9 +76,35 @@
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
<div itemprop="articleBody">
<div class="section" id="servo">
<section id="servo">
<span id="lib-servo"></span><h1>Servo<a class="headerlink" href="#servo" title="Permalink to this headline"></a></h1>
</div>
<dl class="py class">
<dt class="sig sig-object py" id="compLib.Servo.Servo">
<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.Servo.</span></span><span class="sig-name descname"><span class="pre">Servo</span></span><a class="headerlink" href="#compLib.Servo.Servo" title="Permalink to this definition"></a></dt>
<dd><p>Control the servo ports on the robot</p>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Servo.Servo.set_position">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">set_position</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">angle</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">float</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">offset</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">float</span></span> <span class="o"><span class="pre">=</span></span> <span class="default_value"><span class="pre">90.0</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Servo.Servo.set_position" title="Permalink to this definition"></a></dt>
<dd><p>Set position of servo connected to port</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>port</strong> – port between 1 and 8</p></li>
<li><p><strong>angle</strong> – Angle of servo</p></li>
</ul>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Servo.Servo.setup_position">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">setup_position</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Servo.Servo.setup_position" title="Permalink to this definition"></a></dt>
<dd><p>Set position of servos to the position used during the setup process</p>
</dd></dl>
</dd></dl>
</section>
</div>

66
lib/Vision.html
View file

@ -1,14 +1,17 @@
<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8" />
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Vision &mdash; CompLib 0.0.2 documentation</title><link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<title>Vision &mdash; CompLib 0.0.2 documentation</title>
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
<link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
<!--[if lt IE 9]>
<script src="../_static/js/html5shiv.min.js"></script>
<![endif]-->
<script id="documentation_options" data-url_root="../" src="../_static/documentation_options.js"></script>
<script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
<script src="../_static/jquery.js"></script>
<script src="../_static/underscore.js"></script>
<script src="../_static/doctools.js"></script>
@ -80,7 +83,7 @@
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
<div itemprop="articleBody">
<div class="section" id="vision">
<section id="vision">
<span id="lib-vision"></span><h1>Vision<a class="headerlink" href="#vision" title="Permalink to this headline"></a></h1>
<p>This module provides an interface for grabbing an rtmp stream and using the images to do some processing in opencv.</p>
<p>How do I use this module?</p>
@ -90,14 +93,49 @@
<li><p>Publish the processed frames on an http server</p></li>
<li><p>You can view the http stream of your processed images in a web browser</p></li>
</ol>
<div class="section" id="opencv-stream">
<section id="opencv-stream">
<h2>Opencv Stream<a class="headerlink" href="#opencv-stream" title="Permalink to this headline"></a></h2>
<p>Because of the rtmp stream needing to buffer some frames and waiting for P-Frames, importing this module might take up
to 5 Seconds.</p>
</div>
<div class="section" id="examples">
<dl class="py class">
<dt class="sig sig-object py" id="compLib.Vision.__Streaming">
<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.Vision.</span></span><span class="sig-name descname"><span class="pre">__Streaming</span></span><a class="headerlink" href="#compLib.Vision.__Streaming" title="Permalink to this definition"></a></dt>
<dd><p>Class that handles rtmp streaming for opencv.</p>
<p>DO NOT CREATE AN INSTANCE OF THIS CLASS YOURSELF!</p>
<p>This is automatically done when importing this module. Use Vision.Streaming which is
an instance of this class!</p>
<p>grab frames -&gt; do your own processing -&gt; publish frame -&gt; view on http server</p>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Vision.__Streaming.get_frame">
<span class="sig-name descname"><span class="pre">get_frame</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Vision.__Streaming.get_frame" title="Permalink to this definition"></a></dt>
<dd><p>Grab the newest frame from the rtmp stream.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>An opencv frame</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Vision.__Streaming.publish_frame">
<span class="sig-name descname"><span class="pre">publish_frame</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">image</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Vision.__Streaming.publish_frame" title="Permalink to this definition"></a></dt>
<dd><p>Publish an opencv frame to the http webserver.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>image</strong> – Opencv frame that will be published</p>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>None</p>
</dd>
</dl>
</dd></dl>
</dd></dl>
</section>
<section id="examples">
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
<div class="section" id="using-the-vision-module">
<section id="using-the-vision-module">
<h3>Using the Vision Module<a class="headerlink" href="#using-the-vision-module" 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">cv2</span>
<span class="kn">from</span> <span class="nn">compLib</span> <span class="kn">import</span> <span class="n">Vision</span>
@ -117,8 +155,8 @@ your raspberry pi camera. Note: the stream will lag a little bit BUT the process
realtime.</p>
<p>The output on the website should show whatever your raspberry pi cam records:</p>
<a class="reference internal image-reference" href="../_images/opencv_http_stream.png"><img alt="Processed frames from opencv" src="../_images/opencv_http_stream.png" style="width: 680px;" /></a>
</div>
<div class="section" id="chessboard-detection">
</section>
<section id="chessboard-detection">
<h3>Chessboard Detection<a class="headerlink" href="#chessboard-detection" title="Permalink to this headline"></a></h3>
<p>In this example we process the captured stream of images and want to detect chessboards. Run this example and
point your raspberry pi camera to a chessboard and it should be detected.</p>
@ -151,9 +189,9 @@ point your raspberry pi camera to a chessboard and it should be detected.</p>
<a class="reference internal image-reference" href="../_images/chessboard_detected.jpg"><img alt="Processed frames from opencv" src="../_images/chessboard_detected.jpg" style="width: 680px;" /></a>
<p>Here is a screenshot of the stream website while viewing the chessboard in this documentation.</p>
<a class="reference internal image-reference" href="../_images/opencv_processed.png"><img alt="Processed frames from opencv" src="../_images/opencv_processed.png" style="width: 680px;" /></a>
</div>
</div>
</div>
</section>
</section>
</section>
</div>