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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">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.Seeding.get_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> &#x2192; 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">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.Seeding.get_delivery" title="Permalink to this definition"></a></dt>
<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> &#x2192; 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">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.Seeding.get_garbage" title="Permalink to this definition"></a></dt>
<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> &#x2192; 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">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.Seeding.get_material" title="Permalink to this definition"></a></dt>
<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> &#x2192; 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">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.Seeding.list_cargo" title="Permalink to this definition"></a></dt>
<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> &#x2192; 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">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#compLib.Api.Position" title="compLib.Api.Position"><span class="pre">compLib.Api.Position</span></a><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.DoubleElim.get_goal" title="Permalink to this definition"></a></dt>
<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> &#x2192; 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">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.DoubleElim.get_items" title="Permalink to this definition"></a></dt>
<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> &#x2192; 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">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.DoubleElim.get_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> &#x2192; 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">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#compLib.Api.Position" title="compLib.Api.Position"><span class="pre">compLib.Api.Position</span></a><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.DoubleElim.get_opponent" title="Permalink to this definition"></a></dt>
<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> &#x2192; 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">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#compLib.Api.Position" title="compLib.Api.Position"><span class="pre">compLib.Api.Position</span></a><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.DoubleElim.get_position" title="Permalink to this definition"></a></dt>
<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> &#x2192; 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">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Api.DoubleElim.get_scores" title="Permalink to this definition"></a></dt>
<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> &#x2192; 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">&quot;The </span><span class="si">{</span><span class="n">package</span><span class="p">[</span><span class="s1">&#39;color&#39;</span><span class="p">]</span><span class="si">}</span><span class="s2"> has been picked up!&quot;</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>
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@ -36,7 +69,18 @@
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@ -54,40 +98,80 @@
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<section id="aruco">
<span id="lib-vision"></span><h1>Aruco<a class="headerlink" href="#aruco" title="Permalink to this headline"></a></h1>
<section id="examples">
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
<section id="recognizing-aruco-tags">
<h3>Recognizing ArUco tags<a class="headerlink" href="#recognizing-aruco-tags" title="Permalink to this headline"></a></h3>
<div class="section" id="aruco">
<span id="lib-vision"></span><h1>Aruco<a class="headerlink" href="#aruco" title="Permalink to this headline"></a></h1>
<div class="section" id="examples">
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
<div class="section" id="recognizing-aruco-tags">
<h3>Recognizing ArUco tags<a class="headerlink" href="#recognizing-aruco-tags" title="Permalink to this headline"></a></h3>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
<span class="kn">import</span> <span class="nn">cv2</span>
<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.
This way it is quite simple to act on the position of the tag.</p>
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@ -36,7 +69,18 @@
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@ -55,52 +99,92 @@
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<section id="display">
<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">
<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>
</div>
<div class="section" id="examples">
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
<div class="section" id="write-a-line-to-the-display">
<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">&quot;Hello World!&quot;</span><span class="p">)</span>
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<section id="encoder">
<span id="lib-encoder"></span><h1>Encoder<a class="headerlink" href="#encoder" 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="encoder">
<span id="lib-encoder"></span><h1>Encoder<a class="headerlink" href="#encoder" title="Permalink to this headline"></a></h1>
<div class="section" id="class-documentation">
<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">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#compLib.Encoder.Encoder.read" title="Permalink to this definition"></a></dt>
<dt id="compLib.Encoder.Encoder.read">
<em class="property">static </em><code class="sig-name descname">read</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">port</span><span class="p">:</span> <span class="n">int</span></em><span class="sig-paren">)</span> &#x2192; int<a class="headerlink" href="#compLib.Encoder.Encoder.read" title="Permalink to this definition"></a></dt>
<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">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#compLib.Encoder.Encoder.read_raw" title="Permalink to this definition"></a></dt>
<dt id="compLib.Encoder.Encoder.read_raw">
<em class="property">static </em><code class="sig-name descname">read_raw</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">port</span><span class="p">:</span> <span class="n">int</span></em><span class="sig-paren">)</span> &#x2192; int<a class="headerlink" href="#compLib.Encoder.Encoder.read_raw" title="Permalink to this definition"></a></dt>
<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 @@
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<section id="infrared-sensor">
<span id="lib-irsensor"></span><h1>Infrared Sensor<a class="headerlink" href="#infrared-sensor" title="Permalink to this headline"></a></h1>
<div class="section" id="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">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#compLib.IRSensor.IRSensor.read" title="Permalink to this definition"></a></dt>
<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> &#x2192; 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>
<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">&quot;left: </span><span class="si">{}</span><span class="s2"> middle: </span><span class="si">{}</span><span class="s2"> right: </span><span class="si">{}</span><span class="s2">&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">IRSensor</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">1</span><span class="p">),</span> <span class="n">IRSensor</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">3</span><span class="p">),</span> <span class="n">IRSensor</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">5</span><span class="p">)))</span>
</pre></div>
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@ -51,38 +95,78 @@
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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>
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@ -36,7 +69,18 @@
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@ -55,45 +99,85 @@
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<section id="logging">
<span id="lib-logging"></span><h1>Logging<a class="headerlink" href="#logging" 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="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">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">logging.Logger</span></span></span><a class="headerlink" href="#compLib.LogstashLogging.Logging.get_logger" title="Permalink to this definition"></a></dt>
<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> &#x2192; 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">
<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>
<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>
</dd></dl>
</section>
<section id="examples">
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
<section id="turn-up-the-logging">
<h3>Turn up the logging<a class="headerlink" href="#turn-up-the-logging" title="Permalink to this headline"></a></h3>
</div>
<div class="section" id="examples">
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
<div class="section" id="turn-up-the-logging">
<h3>Turn up the logging<a class="headerlink" href="#turn-up-the-logging" title="Permalink to this headline"></a></h3>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.LogstashLogging</span> <span class="kn">import</span> <span class="n">Logging</span>
<span class="n">Logging</span><span class="o">.</span><span class="n">set_debug</span><span class="p">()</span>
</pre></div>
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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">&quot;</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">&quot;</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;&quot;</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>
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<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">&quot;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">&quot;</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">&quot;</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</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>
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<!DOCTYPE html>
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<meta charset="utf-8" /><meta name="generator" content="Docutils 0.17.1: http://docutils.sourceforge.net/" />
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@ -36,7 +69,18 @@
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<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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@ -47,6 +91,7 @@
<li class="toctree-l1"><a class="reference internal" href="Linefollower.html">Linefollower Examples</a></li>
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<li class="toctree-l1 current"><a class="current reference internal" href="#">Vision</a><ul>
<li class="toctree-l2"><a class="reference internal" href="#opencv-stream">Opencv Stream</a></li>
@ -59,32 +104,71 @@
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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 -&gt; do your own processing -&gt; publish frame -&gt; view on http server</p>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Vision.__Streaming.get_frame">
<span class="sig-name descname"><span class="pre">get_frame</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Vision.__Streaming.get_frame" title="Permalink to this definition"></a></dt>
<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>
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