Update documentation
This commit is contained in:
Konstantin Lampalzer
parent
0dc9e8e161
commit
e855429a8f
27 changed files with 2505 additions and 672 deletions
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@ -21,18 +21,16 @@ Simple Linefollower
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IRSensor.set(4, True)
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IRSensor.set(5, True)
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DRIVE_SPEED = 85
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TURN_SPEED = 50
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COLOR_BREAK = 750
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KP = 50.0
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DRIVE_SPEED = 75
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COLOR_BREAK = 900
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KP = 10.0
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KD = 0.0
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def drive(leftSpeed, rightSpeed):
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leftSpeed *= -1
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rightSpeed *= 0.906
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rightSpeed *= -0.906
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Motor.power(1, min(max(-100, leftSpeed), 100))
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Motor.power(2, min(max(-100, rightSpeed), 100))
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Motor.power(1, min(max(-100, rightSpeed), 100))
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Motor.power(4, min(max(-100, leftSpeed), 100))
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def follow(sleepTime = 0.1):
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lastError = 0
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@ -58,7 +56,7 @@ Simple Linefollower
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error = 3
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elif error == -1.5:
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error = -3
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lastError = error
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adjustment = KP * error + KD * (error - lastError)
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71
_sources/lib/QC.rst.txt
Normal file
71
_sources/lib/QC.rst.txt
Normal file
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@ -0,0 +1,71 @@
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.. _lib_qc:
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Quality Control
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###############
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Infrared Test
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-------------------------
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.. code-block:: python
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from compLib.IRSensor import IRSensor
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import time
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IRSensor.set(1, True)
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IRSensor.set(2, True)
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IRSensor.set(3, True)
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IRSensor.set(4, True)
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IRSensor.set(5, True)
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while True:
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t = time.time()
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for i in range(1, 6):
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print(f"{i}: {IRSensor.read(i)}")
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print("")
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time.sleep(0.2)
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Motor Test
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-------------------------
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.. code-block:: python
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from compLib.Motor import Motor
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from compLib.Encoder import Encoder
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import time
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Motor.power(1, -50)
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Motor.power(4, 50)
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while True:
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print(f"L:{Encoder.read(4)} R:{Encoder.read(1)}")
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time.sleep(0.1)
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Servo Test
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-------------------------
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.. code-block:: python
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from compLib.Servo import Servo
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import time
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for i in range(1, 8 + 1):
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Servo.set_position(i, 45)
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print(f"{i}")
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time.sleep(1)
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Servo.setup_position()
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time.sleep(10)
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Vision Test
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-------------------------
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.. code-block:: python
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import cv2
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from compLib import Vision
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from compLib.Servo import Servo
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while True:
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frame = Vision.Streaming.get_frame()
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Vision.Streaming.publish_frame(frame)
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Servo.set_position(3, -45)
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@ -130,7 +130,7 @@ ul.search li a {
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font-weight: bold;
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}
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ul.search li p.context {
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ul.search li div.context {
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color: #888;
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margin: 2px 0 0 30px;
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text-align: left;
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@ -277,25 +277,25 @@ p.rubric {
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font-weight: bold;
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}
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img.align-left, figure.align-left, .figure.align-left, object.align-left {
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img.align-left, .figure.align-left, object.align-left {
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clear: left;
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float: left;
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margin-right: 1em;
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}
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img.align-right, figure.align-right, .figure.align-right, object.align-right {
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img.align-right, .figure.align-right, object.align-right {
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clear: right;
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float: right;
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margin-left: 1em;
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}
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img.align-center, figure.align-center, .figure.align-center, object.align-center {
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img.align-center, .figure.align-center, object.align-center {
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display: block;
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margin-left: auto;
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margin-right: auto;
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}
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img.align-default, figure.align-default, .figure.align-default {
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img.align-default, .figure.align-default {
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display: block;
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margin-left: auto;
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margin-right: auto;
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@ -319,8 +319,7 @@ img.align-default, figure.align-default, .figure.align-default {
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/* -- sidebars -------------------------------------------------------------- */
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div.sidebar,
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aside.sidebar {
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div.sidebar {
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margin: 0 0 0.5em 1em;
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border: 1px solid #ddb;
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padding: 7px;
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@ -378,14 +377,12 @@ div.body p.centered {
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/* -- content of sidebars/topics/admonitions -------------------------------- */
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div.sidebar > :last-child,
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aside.sidebar > :last-child,
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div.topic > :last-child,
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div.admonition > :last-child {
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margin-bottom: 0;
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}
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div.sidebar::after,
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aside.sidebar::after,
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div.topic::after,
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div.admonition::after,
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blockquote::after {
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@ -458,22 +455,20 @@ td > :last-child {
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/* -- figures --------------------------------------------------------------- */
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div.figure, figure {
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div.figure {
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margin: 0.5em;
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padding: 0.5em;
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}
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div.figure p.caption, figcaption {
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div.figure p.caption {
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padding: 0.3em;
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}
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div.figure p.caption span.caption-number,
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figcaption span.caption-number {
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div.figure p.caption span.caption-number {
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font-style: italic;
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}
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div.figure p.caption span.caption-text,
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figcaption span.caption-text {
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div.figure p.caption span.caption-text {
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}
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/* -- field list styles ----------------------------------------------------- */
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@ -508,63 +503,6 @@ table.hlist td {
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vertical-align: top;
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}
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/* -- object description styles --------------------------------------------- */
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.sig {
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font-family: 'Consolas', 'Menlo', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', monospace;
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}
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.sig-name, code.descname {
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background-color: transparent;
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font-weight: bold;
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}
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.sig-name {
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font-size: 1.1em;
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}
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code.descname {
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font-size: 1.2em;
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}
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.sig-prename, code.descclassname {
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background-color: transparent;
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}
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.optional {
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font-size: 1.3em;
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}
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.sig-paren {
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font-size: larger;
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}
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.sig-param.n {
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font-style: italic;
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}
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/* C++ specific styling */
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.sig-inline.c-texpr,
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.sig-inline.cpp-texpr {
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font-family: unset;
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}
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.sig.c .k, .sig.c .kt,
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.sig.cpp .k, .sig.cpp .kt {
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color: #0033B3;
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}
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.sig.c .m,
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.sig.cpp .m {
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color: #1750EB;
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}
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.sig.c .s, .sig.c .sc,
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.sig.cpp .s, .sig.cpp .sc {
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color: #067D17;
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}
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/* -- other body styles ----------------------------------------------------- */
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@ -691,6 +629,14 @@ dl.glossary dt {
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font-size: 1.1em;
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}
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.optional {
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font-size: 1.3em;
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}
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.sig-paren {
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font-size: larger;
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}
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.versionmodified {
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font-style: italic;
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}
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@ -819,12 +765,8 @@ div.code-block-caption code {
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table.highlighttable td.linenos,
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span.linenos,
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div.highlight span.gp { /* gp: Generic.Prompt */
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user-select: none;
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-webkit-user-select: text; /* Safari fallback only */
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-webkit-user-select: none; /* Chrome/Safari */
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-moz-user-select: none; /* Firefox */
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-ms-user-select: none; /* IE10+ */
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div.doctest > div.highlight span.gp { /* gp: Generic.Prompt */
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user-select: none;
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}
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div.code-block-caption span.caption-number {
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@ -839,6 +781,16 @@ div.literal-block-wrapper {
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margin: 1em 0;
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}
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code.descname {
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background-color: transparent;
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font-weight: bold;
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font-size: 1.2em;
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}
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code.descclassname {
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background-color: transparent;
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}
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code.xref, a code {
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background-color: transparent;
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font-weight: bold;
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File diff suppressed because one or more lines are too long
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@ -29,14 +29,9 @@ if (!window.console || !console.firebug) {
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/**
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* small helper function to urldecode strings
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*
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* See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL
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*/
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jQuery.urldecode = function(x) {
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if (!x) {
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return x
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}
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return decodeURIComponent(x.replace(/\+/g, ' '));
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return decodeURIComponent(x).replace(/\+/g, ' ');
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};
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/**
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@ -301,14 +296,12 @@ var Documentation = {
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window.location.href = prevHref;
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return false;
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}
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break;
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case 39: // right
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var nextHref = $('link[rel="next"]').prop('href');
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if (nextHref) {
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window.location.href = nextHref;
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return false;
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}
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break;
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}
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}
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});
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File diff suppressed because one or more lines are too long
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@ -13,8 +13,7 @@
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var stopwords = ["a","and","are","as","at","be","but","by","for","if","in","into","is","it","near","no","not","of","on","or","such","that","the","their","then","there","these","they","this","to","was","will","with"];
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/* Non-minified version is copied as a separate JS file, is available */
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/* Non-minified version JS is _stemmer.js if file is provided */
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/**
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* Porter Stemmer
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*/
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@ -200,6 +199,7 @@ var Stemmer = function() {
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var splitChars = (function() {
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var result = {};
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var singles = [96, 180, 187, 191, 215, 247, 749, 885, 903, 907, 909, 930, 1014, 1648,
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@ -1,7 +1,7 @@
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pre { line-height: 125%; }
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td.linenos .normal { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
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span.linenos { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
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td.linenos .special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
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td.linenos pre { color: #000000; background-color: #f0f0f0; padding-left: 5px; padding-right: 5px; }
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span.linenos { color: #000000; background-color: #f0f0f0; padding-left: 5px; padding-right: 5px; }
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td.linenos pre.special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
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span.linenos.special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
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.highlight .hll { background-color: #ffffcc }
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.highlight { background: #f8f8f8; }
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@ -248,7 +248,7 @@ var Search = {
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// results left, load the summary and display it
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if (results.length) {
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var item = results.pop();
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var listItem = $('<li></li>');
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var listItem = $('<li style="display:none"></li>');
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var requestUrl = "";
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var linkUrl = "";
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if (DOCUMENTATION_OPTIONS.BUILDER === 'dirhtml') {
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@ -273,31 +273,28 @@ var Search = {
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if (item[3]) {
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listItem.append($('<span> (' + item[3] + ')</span>'));
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Search.output.append(listItem);
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setTimeout(function() {
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listItem.slideDown(5, function() {
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displayNextItem();
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}, 5);
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});
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} else if (DOCUMENTATION_OPTIONS.HAS_SOURCE) {
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$.ajax({url: requestUrl,
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dataType: "text",
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complete: function(jqxhr, textstatus) {
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var data = jqxhr.responseText;
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if (data !== '' && data !== undefined) {
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var summary = Search.makeSearchSummary(data, searchterms, hlterms);
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if (summary) {
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listItem.append(summary);
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}
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listItem.append(Search.makeSearchSummary(data, searchterms, hlterms));
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}
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Search.output.append(listItem);
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setTimeout(function() {
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listItem.slideDown(5, function() {
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displayNextItem();
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}, 5);
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});
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}});
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||||
} else {
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// no source available, just display title
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Search.output.append(listItem);
|
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setTimeout(function() {
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listItem.slideDown(5, function() {
|
||||
displayNextItem();
|
||||
}, 5);
|
||||
});
|
||||
}
|
||||
}
|
||||
// search finished, update title and status message
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||||
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|
@ -382,13 +379,6 @@ var Search = {
|
|||
return results;
|
||||
},
|
||||
|
||||
/**
|
||||
* See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Regular_Expressions
|
||||
*/
|
||||
escapeRegExp : function(string) {
|
||||
return string.replace(/[.*+\-?^${}()|[\]\\]/g, '\\$&'); // $& means the whole matched string
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||||
},
|
||||
|
||||
/**
|
||||
* search for full-text terms in the index
|
||||
*/
|
||||
|
|
@ -412,14 +402,13 @@ var Search = {
|
|||
];
|
||||
// add support for partial matches
|
||||
if (word.length > 2) {
|
||||
var word_regex = this.escapeRegExp(word);
|
||||
for (var w in terms) {
|
||||
if (w.match(word_regex) && !terms[word]) {
|
||||
if (w.match(word) && !terms[word]) {
|
||||
_o.push({files: terms[w], score: Scorer.partialTerm})
|
||||
}
|
||||
}
|
||||
for (var w in titleterms) {
|
||||
if (w.match(word_regex) && !titleterms[word]) {
|
||||
if (w.match(word) && !titleterms[word]) {
|
||||
_o.push({files: titleterms[w], score: Scorer.partialTitle})
|
||||
}
|
||||
}
|
||||
|
|
@ -501,9 +490,6 @@ var Search = {
|
|||
*/
|
||||
makeSearchSummary : function(htmlText, keywords, hlwords) {
|
||||
var text = Search.htmlToText(htmlText);
|
||||
if (text == "") {
|
||||
return null;
|
||||
}
|
||||
var textLower = text.toLowerCase();
|
||||
var start = 0;
|
||||
$.each(keywords, function() {
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||||
|
|
@ -515,7 +501,7 @@ var Search = {
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|||
var excerpt = ((start > 0) ? '...' : '') +
|
||||
$.trim(text.substr(start, 240)) +
|
||||
((start + 240 - text.length) ? '...' : '');
|
||||
var rv = $('<p class="context"></p>').text(excerpt);
|
||||
var rv = $('<div class="context"></div>').text(excerpt);
|
||||
$.each(hlwords, function() {
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||||
rv = rv.highlightText(this, 'highlighted');
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||||
});
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||||
|
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File diff suppressed because one or more lines are too long
143
genindex.html
143
genindex.html
|
|
@ -1,31 +1,65 @@
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|||
|
||||
|
||||
<!DOCTYPE html>
|
||||
<html class="writer-html5" lang="en" >
|
||||
<head>
|
||||
<meta charset="utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<meta charset="utf-8">
|
||||
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0">
|
||||
|
||||
<title>Index — CompLib 0.2.3 documentation</title>
|
||||
<link rel="stylesheet" href="_static/pygments.css" type="text/css" />
|
||||
<link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
|
||||
|
||||
|
||||
|
||||
<link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
|
||||
<link rel="stylesheet" href="_static/pygments.css" type="text/css" />
|
||||
|
||||
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<h1>Competition Robot Library<a class="headerlink" href="#competition-robot-library" title="Permalink to this headline"></a></h1>
|
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<section id="api">
|
||||
<span id="lib-api"></span><h1>Api<a class="headerlink" href="#api" title="Permalink to this headline"></a></h1>
|
||||
<section id="seeding">
|
||||
<h2>Seeding<a class="headerlink" href="#seeding" title="Permalink to this headline"></a></h2>
|
||||
|
||||
<div class="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">
|
||||
<h2>Seeding<a class="headerlink" href="#seeding" title="Permalink to this headline">¶</a></h2>
|
||||
<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>
|
||||
<dt id="compLib.Api.Seeding">
|
||||
<em class="property">class </em><code class="sig-prename descclassname">compLib.Api.</code><code class="sig-name descname">Seeding</code><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.get_cargo">
|
||||
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_cargo</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">→</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_cargo" title="Permalink to this definition"></a></dt>
|
||||
<dt id="compLib.Api.Seeding.get_cargo">
|
||||
<em class="property">static </em><code class="sig-name descname">get_cargo</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">color</span><span class="p">:</span> <span class="n">str</span></em><span class="sig-paren">)</span> → Tuple<span class="p">[</span>Dict<span class="p">, </span>int<span class="p">]</span><a class="headerlink" href="#compLib.Api.Seeding.get_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">Parameters</dt>
|
||||
|
|
@ -112,8 +196,8 @@
|
|||
</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">→</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>
|
||||
<dt id="compLib.Api.Seeding.get_delivery">
|
||||
<em class="property">static </em><code class="sig-name descname">get_delivery</code><span class="sig-paren">(</span><span class="sig-paren">)</span> → Tuple<span class="p">[</span>Dict<span class="p">, </span>int<span class="p">]</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>
|
||||
|
|
@ -126,8 +210,8 @@
|
|||
</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">→</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>
|
||||
<dt id="compLib.Api.Seeding.get_garbage">
|
||||
<em class="property">static </em><code class="sig-name descname">get_garbage</code><span class="sig-paren">(</span><span class="sig-paren">)</span> → Tuple<span class="p">[</span>Dict<span class="p">, </span>int<span class="p">]</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>
|
||||
|
|
@ -140,8 +224,8 @@
|
|||
</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">→</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>
|
||||
<dt id="compLib.Api.Seeding.get_material">
|
||||
<em class="property">static </em><code class="sig-name descname">get_material</code><span class="sig-paren">(</span><span class="sig-paren">)</span> → Tuple<span class="p">[</span>Dict<span class="p">, </span>int<span class="p">]</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>
|
||||
|
|
@ -154,8 +238,8 @@
|
|||
</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">→</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>
|
||||
<dt id="compLib.Api.Seeding.list_cargo">
|
||||
<em class="property">static </em><code class="sig-name descname">list_cargo</code><span class="sig-paren">(</span><span class="sig-paren">)</span> → Tuple<span class="p">[</span>Dict<span class="p">, </span>int<span class="p">]</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>
|
||||
|
|
@ -169,16 +253,16 @@
|
|||
|
||||
</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="double-elimination">
|
||||
<h2>Double Elimination<a class="headerlink" href="#double-elimination" title="Permalink to this headline">¶</a></h2>
|
||||
<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>
|
||||
<dt id="compLib.Api.DoubleElim">
|
||||
<em class="property">class </em><code class="sig-prename descclassname">compLib.Api.</code><code class="sig-name descname">DoubleElim</code><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">→</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>
|
||||
<dt id="compLib.Api.DoubleElim.get_goal">
|
||||
<em class="property">static </em><code class="sig-name descname">get_goal</code><span class="sig-paren">(</span><span class="sig-paren">)</span> → Tuple<span class="p">[</span><a class="reference internal" href="#compLib.Api.Position" title="compLib.Api.Position">compLib.Api.Position</a><span class="p">, </span>int<span class="p">]</span><a class="headerlink" href="#compLib.Api.DoubleElim.get_goal" title="Permalink to this definition">¶</a></dt>
|
||||
<dd><p>Makes the /api/getGoal call to the api.</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Returns</dt>
|
||||
|
|
@ -191,8 +275,8 @@
|
|||
</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">→</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>
|
||||
<dt id="compLib.Api.DoubleElim.get_items">
|
||||
<em class="property">static </em><code class="sig-name descname">get_items</code><span class="sig-paren">(</span><span class="sig-paren">)</span> → Tuple<span class="p">[</span>List<span class="p">[</span>Dict<span class="p">]</span><span class="p">, </span>int<span class="p">]</span><a class="headerlink" href="#compLib.Api.DoubleElim.get_items" title="Permalink to this definition">¶</a></dt>
|
||||
<dd><p>Makes the /api/getItems call to the api.</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Returns</dt>
|
||||
|
|
@ -205,8 +289,8 @@
|
|||
</dd></dl>
|
||||
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.Api.DoubleElim.get_meteoroids">
|
||||
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">get_meteoroids</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</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_meteoroids" title="Permalink to this definition"></a></dt>
|
||||
<dt id="compLib.Api.DoubleElim.get_meteoroids">
|
||||
<em class="property">static </em><code class="sig-name descname">get_meteoroids</code><span class="sig-paren">(</span><span class="sig-paren">)</span> → Tuple<span class="p">[</span>List<span class="p">[</span>Dict<span class="p">]</span><span class="p">, </span>int<span class="p">]</span><a class="headerlink" href="#compLib.Api.DoubleElim.get_meteoroids" title="Permalink to this definition">¶</a></dt>
|
||||
<dd><p>Makes the /api/getMeteoroids call to the api.</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Returns</dt>
|
||||
|
|
@ -219,8 +303,8 @@
|
|||
</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">→</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>
|
||||
<dt id="compLib.Api.DoubleElim.get_opponent">
|
||||
<em class="property">static </em><code class="sig-name descname">get_opponent</code><span class="sig-paren">(</span><span class="sig-paren">)</span> → Tuple<span class="p">[</span><a class="reference internal" href="#compLib.Api.Position" title="compLib.Api.Position">compLib.Api.Position</a><span class="p">, </span>int<span class="p">]</span><a class="headerlink" href="#compLib.Api.DoubleElim.get_opponent" title="Permalink to this definition">¶</a></dt>
|
||||
<dd><p>Makes the /api/getOp call to the api.</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Returns</dt>
|
||||
|
|
@ -233,8 +317,8 @@
|
|||
</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">→</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>
|
||||
<dt id="compLib.Api.DoubleElim.get_position">
|
||||
<em class="property">static </em><code class="sig-name descname">get_position</code><span class="sig-paren">(</span><span class="sig-paren">)</span> → Tuple<span class="p">[</span><a class="reference internal" href="#compLib.Api.Position" title="compLib.Api.Position">compLib.Api.Position</a><span class="p">, </span>int<span class="p">]</span><a class="headerlink" href="#compLib.Api.DoubleElim.get_position" title="Permalink to this definition">¶</a></dt>
|
||||
<dd><p>Makes the /api/getPos call to the api.</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Returns</dt>
|
||||
|
|
@ -247,8 +331,8 @@
|
|||
</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">→</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>
|
||||
<dt id="compLib.Api.DoubleElim.get_scores">
|
||||
<em class="property">static </em><code class="sig-name descname">get_scores</code><span class="sig-paren">(</span><span class="sig-paren">)</span> → Tuple<span class="p">[</span>Dict<span class="p">, </span>int<span class="p">]</span><a class="headerlink" href="#compLib.Api.DoubleElim.get_scores" title="Permalink to this definition">¶</a></dt>
|
||||
<dd><p>Makes the /api/getScores call to the api.</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Returns</dt>
|
||||
|
|
@ -262,20 +346,20 @@
|
|||
|
||||
</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="position">
|
||||
<h2>Position<a class="headerlink" href="#position" title="Permalink to this headline">¶</a></h2>
|
||||
<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>
|
||||
<dt id="compLib.Api.Position">
|
||||
<em class="property">class </em><code class="sig-prename descclassname">compLib.Api.</code><code class="sig-name descname">Position</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">degrees</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>
|
||||
<section id="calling-seeding-api">
|
||||
<h3>Calling Seeding API<a class="headerlink" href="#calling-seeding-api" title="Permalink to this headline"></a></h3>
|
||||
</div>
|
||||
<div class="section" id="examples">
|
||||
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></h2>
|
||||
<div class="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>
|
||||
|
||||
<span class="n">zones</span><span class="p">,</span> <span class="n">code</span> <span class="o">=</span> <span class="n">Seeding</span><span class="o">.</span><span class="n">get_delivery</span><span class="p">()</span>
|
||||
|
|
@ -304,9 +388,9 @@
|
|||
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">"The </span><span class="si">{</span><span class="n">package</span><span class="p">[</span><span class="s1">'color'</span><span class="p">]</span><span class="si">}</span><span class="s2"> has been picked up!"</span><span class="p">)</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</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>
|
||||
<div class="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>
|
||||
|
||||
<span class="n">position</span><span class="p">,</span> <span class="n">status</span> <span class="o">=</span> <span class="n">DoubleElim</span><span class="o">.</span><span class="n">get_position</span><span class="p">()</span>
|
||||
|
|
@ -349,39 +433,64 @@
|
|||
</pre></div>
|
||||
</div>
|
||||
<p>In this second example we wait until the game is started by the judges and then make all possible requests once. You should use the wait_for_start function in your double elimination program. If your robot starts too soon your run will not count!</p>
|
||||
</section>
|
||||
</section>
|
||||
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|
||||
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|
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|
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175
lib/Aruco.html
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<section id="aruco">
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<span id="lib-vision"></span><h1>Aruco<a class="headerlink" href="#aruco" title="Permalink to this headline"></a></h1>
|
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<section id="examples">
|
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<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
|
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<section id="recognizing-aruco-tags">
|
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<h3>Recognizing ArUco tags<a class="headerlink" href="#recognizing-aruco-tags" title="Permalink to this headline"></a></h3>
|
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<div class="section" id="aruco">
|
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<span id="lib-vision"></span><h1>Aruco<a class="headerlink" href="#aruco" title="Permalink to this headline">¶</a></h1>
|
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<div class="section" id="examples">
|
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<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></h2>
|
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<div class="section" id="recognizing-aruco-tags">
|
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<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>
|
||||
<span class="kn">from</span> <span class="nn">cv2</span> <span class="kn">import</span> <span class="n">aruco</span>
|
||||
|
|
@ -158,39 +242,64 @@
|
|||
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.
|
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This way it is quite simple to act on the position of the tag.</p>
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<section id="display">
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<span id="lib-display"></span><h1>Display<a class="headerlink" href="#display" title="Permalink to this headline"></a></h1>
|
||||
<section id="class-documentation">
|
||||
<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline"></a></h2>
|
||||
|
||||
<div class="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">
|
||||
<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline">¶</a></h2>
|
||||
<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>
|
||||
<dt id="compLib.Display.Display">
|
||||
<em class="property">class </em><code class="sig-prename descclassname">compLib.Display.</code><code class="sig-name descname">Display</code><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>
|
||||
<dt id="compLib.Display.Display.clear">
|
||||
<em class="property">static </em><code class="sig-name descname">clear</code><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>
|
||||
<dt id="compLib.Display.Display.write">
|
||||
<em class="property">static </em><code class="sig-name descname">write</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">line</span><span class="p">:</span> <span class="n">int</span></em>, <em class="sig-param"><span class="n">text</span><span class="p">:</span> <span class="n">str</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>
|
||||
|
|
@ -117,50 +201,75 @@ The display is split into 4 Rows and 16 Columns. Each function call changes one
|
|||
|
||||
</dd></dl>
|
||||
|
||||
</section>
|
||||
<section id="examples">
|
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<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
|
||||
<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>
|
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</div>
|
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<div class="section" id="examples">
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<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></h2>
|
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|
||||
<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>
|
||||
|
||||
<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">"Hello World!"</span><span class="p">)</span>
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<section id="encoder">
|
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<span id="lib-encoder"></span><h1>Encoder<a class="headerlink" href="#encoder" title="Permalink to this headline"></a></h1>
|
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<section id="class-documentation">
|
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<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline"></a></h2>
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<div class="section" id="encoder">
|
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<span id="lib-encoder"></span><h1>Encoder<a class="headerlink" href="#encoder" title="Permalink to this headline">¶</a></h1>
|
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<div class="section" id="class-documentation">
|
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<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline">¶</a></h2>
|
||||
<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>
|
||||
<dt id="compLib.Encoder.Encoder">
|
||||
<em class="property">class </em><code class="sig-prename descclassname">compLib.Encoder.</code><code class="sig-name descname">Encoder</code><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>
|
||||
<dt id="compLib.Encoder.Encoder.clear">
|
||||
<em class="property">static </em><code class="sig-name descname">clear</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><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>
|
||||
|
|
@ -102,14 +186,14 @@
|
|||
</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>
|
||||
<dt id="compLib.Encoder.Encoder.clear_all">
|
||||
<em class="property">static </em><code class="sig-name descname">clear_all</code><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">→</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>
|
||||
<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> → int<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>
|
||||
|
|
@ -125,8 +209,8 @@
|
|||
</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">→</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>
|
||||
<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> → int<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>
|
||||
|
|
@ -143,38 +227,63 @@
|
|||
|
||||
</dd></dl>
|
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|
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<section id="infrared-sensor">
|
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<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="infrared-sensor">
|
||||
<span id="lib-irsensor"></span><h1>Infrared Sensor<a class="headerlink" href="#infrared-sensor" title="Permalink to this headline">¶</a></h1>
|
||||
<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>
|
||||
<dt id="compLib.IRSensor.IRSensor">
|
||||
<em class="property">class </em><code class="sig-prename descclassname">compLib.IRSensor.</code><code class="sig-name descname">IRSensor</code><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">→</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>
|
||||
<dt id="compLib.IRSensor.IRSensor.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">sensor</span><span class="p">:</span> <span class="n">int</span></em><span class="sig-paren">)</span> → int<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>
|
||||
|
|
@ -109,8 +193,8 @@
|
|||
</dd></dl>
|
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|
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<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>
|
||||
<dt id="compLib.IRSensor.IRSensor.set">
|
||||
<em class="property">static </em><code class="sig-name descname">set</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">sensor</span><span class="p">:</span> <span class="n">int</span></em>, <em class="sig-param"><span class="n">on</span><span class="p">:</span> <span class="n">bool</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>
|
||||
|
|
@ -124,49 +208,74 @@
|
|||
|
||||
</dd></dl>
|
||||
|
||||
<section id="examples">
|
||||
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
|
||||
<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="section" id="examples">
|
||||
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></h2>
|
||||
<div class="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>
|
||||
|
||||
<span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
|
||||
<span class="nb">print</span> <span class="p">(</span><span class="s2">"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">"</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>
|
||||
</section>
|
||||
</section>
|
||||
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|
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|
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@ -51,38 +95,78 @@
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</li>
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<li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
|
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<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
|
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<li class="toctree-l1"><a class="reference internal" href="QC.html">Quality Control</a></li>
|
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<li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
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<div itemprop="articleBody">
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<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>
|
||||
<section id="simple-linefollower">
|
||||
<h2>Simple Linefollower<a class="headerlink" href="#simple-linefollower" title="Permalink to this headline"></a></h2>
|
||||
|
||||
<div class="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">
|
||||
<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>
|
||||
<span class="kn">from</span> <span class="nn">compLib.IRSensor</span> <span class="kn">import</span> <span class="n">IRSensor</span>
|
||||
|
|
@ -96,18 +180,16 @@
|
|||
<span class="n">IRSensor</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="mi">4</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
|
||||
<span class="n">IRSensor</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="mi">5</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
|
||||
|
||||
<span class="n">DRIVE_SPEED</span> <span class="o">=</span> <span class="mi">85</span>
|
||||
<span class="n">TURN_SPEED</span> <span class="o">=</span> <span class="mi">50</span>
|
||||
<span class="n">COLOR_BREAK</span> <span class="o">=</span> <span class="mi">750</span>
|
||||
<span class="n">KP</span> <span class="o">=</span> <span class="mf">50.0</span>
|
||||
<span class="n">DRIVE_SPEED</span> <span class="o">=</span> <span class="mi">75</span>
|
||||
<span class="n">COLOR_BREAK</span> <span class="o">=</span> <span class="mi">900</span>
|
||||
<span class="n">KP</span> <span class="o">=</span> <span class="mf">10.0</span>
|
||||
<span class="n">KD</span> <span class="o">=</span> <span class="mf">0.0</span>
|
||||
|
||||
<span class="k">def</span> <span class="nf">drive</span><span class="p">(</span><span class="n">leftSpeed</span><span class="p">,</span> <span class="n">rightSpeed</span><span class="p">):</span>
|
||||
<span class="n">leftSpeed</span> <span class="o">*=</span> <span class="o">-</span><span class="mi">1</span>
|
||||
<span class="n">rightSpeed</span> <span class="o">*=</span> <span class="mf">0.906</span>
|
||||
<span class="n">rightSpeed</span> <span class="o">*=</span> <span class="o">-</span><span class="mf">0.906</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="nb">min</span><span class="p">(</span><span class="nb">max</span><span class="p">(</span><span class="o">-</span><span class="mi">100</span><span class="p">,</span> <span class="n">leftSpeed</span><span class="p">),</span> <span class="mi">100</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">2</span><span class="p">,</span> <span class="nb">min</span><span class="p">(</span><span class="nb">max</span><span class="p">(</span><span class="o">-</span><span class="mi">100</span><span class="p">,</span> <span class="n">rightSpeed</span><span class="p">),</span> <span class="mi">100</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="nb">min</span><span class="p">(</span><span class="nb">max</span><span class="p">(</span><span class="o">-</span><span class="mi">100</span><span class="p">,</span> <span class="n">rightSpeed</span><span class="p">),</span> <span class="mi">100</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="nb">min</span><span class="p">(</span><span class="nb">max</span><span class="p">(</span><span class="o">-</span><span class="mi">100</span><span class="p">,</span> <span class="n">leftSpeed</span><span class="p">),</span> <span class="mi">100</span><span class="p">))</span>
|
||||
|
||||
<span class="k">def</span> <span class="nf">follow</span><span class="p">(</span><span class="n">sleepTime</span> <span class="o">=</span> <span class="mf">0.1</span><span class="p">):</span>
|
||||
<span class="n">lastError</span> <span class="o">=</span> <span class="mi">0</span>
|
||||
|
|
@ -156,38 +238,63 @@
|
|||
<span class="n">main</span><span class="p">()</span>
|
||||
</pre></div>
|
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</div>
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</section>
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</section>
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<section id="logging">
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<span id="lib-logging"></span><h1>Logging<a class="headerlink" href="#logging" title="Permalink to this headline"></a></h1>
|
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<section id="class-documentation">
|
||||
<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline"></a></h2>
|
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||||
<div class="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">
|
||||
<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline">¶</a></h2>
|
||||
<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>
|
||||
<dt id="compLib.LogstashLogging.Logging">
|
||||
<em class="property">class </em><code class="sig-prename descclassname">compLib.LogstashLogging.</code><code class="sig-name descname">Logging</code><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">→</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>
|
||||
<dt id="compLib.LogstashLogging.Logging.get_logger">
|
||||
<em class="property">static </em><code class="sig-name descname">get_logger</code><span class="sig-paren">(</span><span class="sig-paren">)</span> → logging.Logger<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>
|
||||
|
|
@ -106,57 +190,82 @@
|
|||
</dd></dl>
|
||||
|
||||
<dl class="py method">
|
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<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>
|
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<dt id="compLib.LogstashLogging.Logging.set_debug">
|
||||
<em class="property">static </em><code class="sig-name descname">set_debug</code><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>
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<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
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<section id="turn-up-the-logging">
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<h3>Turn up the logging<a class="headerlink" href="#turn-up-the-logging" title="Permalink to this headline"></a></h3>
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<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>
|
||||
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||||
<span class="n">Logging</span><span class="o">.</span><span class="n">set_debug</span><span class="p">()</span>
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<li>Motor</li>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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<section id="motor">
|
||||
<span id="lib-motor"></span><h1>Motor<a class="headerlink" href="#motor" title="Permalink to this headline"></a></h1>
|
||||
<section id="class-documentation">
|
||||
<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline"></a></h2>
|
||||
|
||||
<div class="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">
|
||||
<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline">¶</a></h2>
|
||||
<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>
|
||||
<dt id="compLib.Motor.Motor">
|
||||
<em class="property">class </em><code class="sig-prename descclassname">compLib.Motor.</code><code class="sig-name descname">Motor</code><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>
|
||||
<dt id="compLib.Motor.Motor.active_break">
|
||||
<em class="property">static </em><code class="sig-name descname">active_break</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><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>
|
||||
|
|
@ -103,14 +187,14 @@
|
|||
</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>
|
||||
<dt id="compLib.Motor.Motor.all_off">
|
||||
<em class="property">static </em><code class="sig-name descname">all_off</code><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>
|
||||
<dt id="compLib.Motor.Motor.get_motor_curve">
|
||||
<em class="property">static </em><code class="sig-name descname">get_motor_curve</code><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>
|
||||
|
|
@ -120,8 +204,8 @@
|
|||
</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>
|
||||
<dt id="compLib.Motor.Motor.power">
|
||||
<em class="property">static </em><code class="sig-name descname">power</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>, <em class="sig-param"><span class="n">percent</span><span class="p">:</span> <span class="n">float</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">
|
||||
|
|
@ -138,8 +222,8 @@ so that it’s roughly proportional to the speed</p>
|
|||
</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>
|
||||
<dt id="compLib.Motor.Motor.power_raw">
|
||||
<em class="property">static </em><code class="sig-name descname">power_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>, <em class="sig-param"><span class="n">percent</span><span class="p">:</span> <span class="n">float</span></em>, <em class="sig-param"><span class="n">log_metric</span><span class="o">=</span><span class="default_value">True</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>
|
||||
|
|
@ -155,8 +239,8 @@ so that it’s roughly proportional to the speed</p>
|
|||
</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>
|
||||
<dt id="compLib.Motor.Motor.pwm">
|
||||
<em class="property">static </em><code class="sig-name descname">pwm</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>, <em class="sig-param"><span class="n">pwm</span><span class="p">:</span> <span class="n">int</span></em>, <em class="sig-param"><span class="n">mode</span><span class="p">:</span> <span class="n">compLib.Motor.MotorMode</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>
|
||||
|
|
@ -173,8 +257,8 @@ so that it’s roughly proportional to the speed</p>
|
|||
</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>
|
||||
<dt id="compLib.Motor.Motor.set_motor_curve">
|
||||
<em class="property">static </em><code class="sig-name descname">set_motor_curve</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">curve</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)
|
||||
|
|
@ -193,50 +277,75 @@ so that it’s roughly proportional to the speed</p>
|
|||
|
||||
</dd></dl>
|
||||
|
||||
</section>
|
||||
<section id="examples">
|
||||
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
|
||||
<section id="driving-straight-maybe">
|
||||
<h3>Driving straight (maybe)<a class="headerlink" href="#driving-straight-maybe" title="Permalink to this headline"></a></h3>
|
||||
</div>
|
||||
<div class="section" id="examples">
|
||||
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></h2>
|
||||
<div class="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>
|
||||
|
||||
<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="mi">50</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">2</span><span class="p">,</span> <span class="mi">50</span><span class="p">)</span>
|
||||
</pre></div>
|
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<div class="section" id="quality-control">
|
||||
<span id="lib-qc"></span><h1>Quality Control<a class="headerlink" href="#quality-control" title="Permalink to this headline">¶</a></h1>
|
||||
<div class="section" id="infrared-test">
|
||||
<h2>Infrared Test<a class="headerlink" href="#infrared-test" 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.IRSensor</span> <span class="kn">import</span> <span class="n">IRSensor</span>
|
||||
<span class="kn">import</span> <span class="nn">time</span>
|
||||
|
||||
<span class="n">IRSensor</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
|
||||
<span class="n">IRSensor</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
|
||||
<span class="n">IRSensor</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
|
||||
<span class="n">IRSensor</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="mi">4</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
|
||||
<span class="n">IRSensor</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="mi">5</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
|
||||
|
||||
<span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
|
||||
<span class="n">t</span> <span class="o">=</span> <span class="n">time</span><span class="o">.</span><span class="n">time</span><span class="p">()</span>
|
||||
<span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">6</span><span class="p">):</span>
|
||||
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">"</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">: </span><span class="si">{</span><span class="n">IRSensor</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="n">i</span><span class="p">)</span><span class="si">}</span><span class="s2">"</span><span class="p">)</span>
|
||||
<span class="nb">print</span><span class="p">(</span><span class="s2">""</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">0.2</span><span class="p">)</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="section" id="motor-test">
|
||||
<h2>Motor Test<a class="headerlink" href="#motor-test" 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.Encoder</span> <span class="kn">import</span> <span class="n">Encoder</span>
|
||||
<span class="kn">import</span> <span class="nn">time</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="mi">50</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="mi">50</span><span class="p">)</span>
|
||||
|
||||
<span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
|
||||
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">"L:</span><span class="si">{</span><span class="n">Encoder</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">4</span><span class="p">)</span><span class="si">}</span><span class="s2"> R:</span><span class="si">{</span><span class="n">Encoder</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="si">}</span><span class="s2">"</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>
|
||||
</pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="section" id="servo-test">
|
||||
<h2>Servo Test<a class="headerlink" href="#servo-test" 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.Servo</span> <span class="kn">import</span> <span class="n">Servo</span>
|
||||
<span class="kn">import</span> <span class="nn">time</span>
|
||||
|
||||
<span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">8</span> <span class="o">+</span> <span class="mi">1</span><span class="p">):</span>
|
||||
<span class="n">Servo</span><span class="o">.</span><span class="n">set_position</span><span class="p">(</span><span class="n">i</span><span class="p">,</span> <span class="mi">45</span><span class="p">)</span>
|
||||
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">"</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">"</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="mi">1</span><span class="p">)</span>
|
||||
|
||||
<span class="n">Servo</span><span class="o">.</span><span class="n">setup_position</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="mi">10</span><span class="p">)</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="section" id="vision-test">
|
||||
<h2>Vision Test<a class="headerlink" href="#vision-test" title="Permalink to this headline">¶</a></h2>
|
||||
<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>
|
||||
<span class="kn">from</span> <span class="nn">compLib.Servo</span> <span class="kn">import</span> <span class="n">Servo</span>
|
||||
|
||||
<span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
|
||||
<span class="n">frame</span> <span class="o">=</span> <span class="n">Vision</span><span class="o">.</span><span class="n">Streaming</span><span class="o">.</span><span class="n">get_frame</span><span class="p">()</span>
|
||||
<span class="n">Vision</span><span class="o">.</span><span class="n">Streaming</span><span class="o">.</span><span class="n">publish_frame</span><span class="p">(</span><span class="n">frame</span><span class="p">)</span>
|
||||
<span class="n">Servo</span><span class="o">.</span><span class="n">set_position</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mi">45</span><span class="p">)</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</div>
|
||||
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|
||||
|
||||
|
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|
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<a href="Servo.html" class="btn btn-neutral float-right" title="Servo" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right"></span></a>
|
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|
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|
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<a href="Motor.html" class="btn btn-neutral float-left" title="Motor" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Previous</a>
|
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|
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177
lib/Servo.html
177
lib/Servo.html
|
|
@ -1,34 +1,67 @@
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|
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|
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<link rel="next" title="Vision" href="Vision.html" />
|
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|
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<link rel="prev" title="Quality Control" href="QC.html" />
|
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<a href="../index.html" class="icon icon-home" alt="Documentation Home"> CompLib
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<li class="toctree-l1"><a class="reference internal" href="../index.html">Competition Robot Library</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../other/usage.html">Usage</a></li>
|
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|
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@ -48,43 +92,83 @@
|
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<li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
|
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<li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
|
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<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="QC.html">Quality Control</a></li>
|
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<li class="toctree-l1 current"><a class="current reference internal" href="#">Servo</a></li>
|
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<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
|
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<a href="../_sources/lib/Servo.rst.txt" rel="nofollow"> View page source</a>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<section id="servo">
|
||||
<span id="lib-servo"></span><h1>Servo<a class="headerlink" href="#servo" title="Permalink to this headline"></a></h1>
|
||||
|
||||
<div class="section" id="servo">
|
||||
<span id="lib-servo"></span><h1>Servo<a class="headerlink" href="#servo" title="Permalink to this headline">¶</a></h1>
|
||||
<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>
|
||||
<dt id="compLib.Servo.Servo">
|
||||
<em class="property">class </em><code class="sig-prename descclassname">compLib.Servo.</code><code class="sig-name descname">Servo</code><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>
|
||||
<dt id="compLib.Servo.Servo.set_position">
|
||||
<em class="property">static </em><code class="sig-name descname">set_position</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>, <em class="sig-param"><span class="n">angle</span><span class="p">:</span> <span class="n">float</span></em>, <em class="sig-param"><span class="n">offset</span><span class="p">:</span> <span class="n">float</span> <span class="o">=</span> <span class="default_value">90.0</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>
|
||||
|
|
@ -97,44 +181,69 @@
|
|||
</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>
|
||||
<dt id="compLib.Servo.Servo.setup_position">
|
||||
<em class="property">static </em><code class="sig-name descname">setup_position</code><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>
|
||||
|
||||
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196
lib/Vision.html
196
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<div class="wy-grid-for-nav">
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<nav data-toggle="wy-nav-shift" class="wy-nav-side">
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<a href="../index.html" class="icon icon-home"> CompLib
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<a href="../index.html" class="icon icon-home" alt="Documentation Home"> CompLib
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@ -35,7 +68,18 @@
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<ul class="current">
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<li class="toctree-l1"><a class="reference internal" href="../index.html">Competition Robot Library</a></li>
|
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<li class="toctree-l1"><a class="reference internal" href="../other/usage.html">Usage</a></li>
|
||||
|
|
@ -47,6 +91,7 @@
|
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<li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
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<li class="toctree-l1"><a class="reference internal" href="Logging.html">Logging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
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<li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
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<li class="toctree-l1 current"><a class="current reference internal" href="#">Vision</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="#opencv-stream">Opencv Stream</a></li>
|
||||
|
|
@ -59,32 +104,71 @@
|
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|
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
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||||
<section id="vision">
|
||||
<span id="lib-vision"></span><h1>Vision<a class="headerlink" href="#vision" title="Permalink to this headline"></a></h1>
|
||||
|
||||
<div class="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>
|
||||
<ol class="arabic simple">
|
||||
|
|
@ -93,21 +177,21 @@
|
|||
<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>
|
||||
<section id="opencv-stream">
|
||||
<h2>Opencv Stream<a class="headerlink" href="#opencv-stream" title="Permalink to this headline"></a></h2>
|
||||
<div class="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>
|
||||
<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>
|
||||
<dt id="compLib.Vision.__Streaming">
|
||||
<em class="property">class </em><code class="sig-prename descclassname">compLib.Vision.</code><code class="sig-name descname">__Streaming</code><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 -> do your own processing -> publish frame -> 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>
|
||||
<dt id="compLib.Vision.__Streaming.get_frame">
|
||||
<code class="sig-name descname">get_frame</code><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>
|
||||
|
|
@ -117,8 +201,8 @@ an instance of this class!</p>
|
|||
</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>
|
||||
<dt id="compLib.Vision.__Streaming.publish_frame">
|
||||
<code class="sig-name descname">publish_frame</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">image</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>
|
||||
|
|
@ -132,11 +216,11 @@ an instance of this class!</p>
|
|||
|
||||
</dd></dl>
|
||||
|
||||
</section>
|
||||
<section id="examples">
|
||||
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
|
||||
<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>
|
||||
<div class="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">
|
||||
<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>
|
||||
|
||||
|
|
@ -155,9 +239,9 @@ 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>
|
||||
</section>
|
||||
<section id="chessboard-detection">
|
||||
<h3>Chessboard Detection<a class="headerlink" href="#chessboard-detection" title="Permalink to this headline"></a></h3>
|
||||
</div>
|
||||
<div class="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>
|
||||
<p>For testing you can point it at this image:</p>
|
||||
|
|
@ -189,38 +273,62 @@ 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>
|
||||
</section>
|
||||
</section>
|
||||
</section>
|
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</div>
|
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|
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<span id="other-usage"></span><h1>Usage<a class="headerlink" href="#usage" title="Permalink to this headline"></a></h1>
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<span id="other-usage"></span><h1>Usage<a class="headerlink" href="#usage" title="Permalink to this headline">¶</a></h1>
|
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<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.Motor</span> <span class="kn">import</span> <span class="o">*</span>
|
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Reference in a new issue