Nxt-python-doc - Revision history

Charliep: /* nxt.compass */

2010-02-25T12:00:32Z

nxt.compass

@@ Line 98: / Line 98: @@
 === nxt.compass ===
-* Status: incomplete as of 2010-02-14
+* This code is a start on a compass class, it is not finished.
 === Scripts ===

Charliep: /* nxt.sensor */

2010-02-25T11:45:10Z

nxt.sensor

← Older revision		Revision as of 11:45, 25 February 2010
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	=== nxt.sensor ===		=== nxt.sensor ===
			See the Sensors page for code snippets illustrating sensor use.

	* Status: incomplete as of 2010-02-14		* Status: incomplete as of 2010-02-14

Charliep at 14:18, 23 February 2010

2010-02-23T14:18:15Z

← Older revision		Revision as of 14:18, 23 February 2010
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	=== Server Mode and nxt.server ===		=== Server Mode and nxt.server ===
	~~=== Tips ===~~
	~~Wrap your code in a try/finally block so that you can stop the motors on control-c.~~
	~~try:~~
	~~[your code here]~~
	~~finally:~~
	~~[stop all your motors]~~

Charliep at 11:30, 23 February 2010

2010-02-23T11:30:46Z

← Older revision		Revision as of 11:30, 23 February 2010
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	Back to [https://wiki.cs.earlham.edu/index.php/Robotics-2010 Robotics Main Page]		Back to [https://wiki.cs.earlham.edu/index.php/Robotics-2010 Robotics Main Page]
	----		----
	~~= NXT-Python Documentation =~~
	Largely a work in-progress, please add/edit as you learn the details. Note that this page is documenting the NXT-Python v1.1 release (http://code.google.com/p/nxt-python/), not the NXT_Python v0.7 release which appears to have gone dormant (note hyphen vs underscore).		Largely a work in-progress, please add/edit as you learn the details. Note that this page is documenting the NXT-Python v1.1 release (http://code.google.com/p/nxt-python/), not the NXT_Python v0.7 release which appears to have gone dormant (note hyphen vs underscore).

Charliep at 11:24, 23 February 2010

2010-02-23T11:24:10Z

← Older revision		Revision as of 11:24, 23 February 2010
Line 1:		Line 1:
			Back to [https://wiki.cs.earlham.edu/index.php/Robotics-2010 Robotics Main Page]
			----
	= NXT-Python Documentation =		= NXT-Python Documentation =
	Largely a work in-progress, please add/edit as you learn the details. Note that this page is documenting the NXT-Python v1.1 release (http://code.google.com/p/nxt-python/), not the NXT_Python v0.7 release which appears to have gone dormant (note hyphen vs underscore).		Largely a work in-progress, please add/edit as you learn the details. Note that this page is documenting the NXT-Python v1.1 release (http://code.google.com/p/nxt-python/), not the NXT_Python v0.7 release which appears to have gone dormant (note hyphen vs underscore).

Charliep: New page: = NXT-Python Documentation = Largely a work in-progress, please add/edit as you learn the details. Note that this page is documenting the NXT-Python v1.1 release (http://code.google.com/p...

2010-02-23T10:32:33Z

New page: = NXT-Python Documentation = Largely a work in-progress, please add/edit as you learn the details. Note that this page is documenting the NXT-Python v1.1 release (http://code.google.com/p...

New page

= NXT-Python Documentation =
Largely a work in-progress, please add/edit as you learn the details. Note that this page is documenting the NXT-Python v1.1 release (http://code.google.com/p/nxt-python/), not the NXT_Python v0.7 release which appears to have gone dormant (note hyphen vs underscore).

=== nxt.locator ===
The function of this module is to locate NXT brick(s). Returns an <code>nxt.bluesock.BlueSock</code> object for robots connected by Bluetooth and a <code>nxt.usbsock.USBSock</code> object for robot connected by USB, and throws <code>nxt.locator.BrickNotFoundError</code> if none can be found.

* Status: incomplete as of 2010-02-14

* Objects
** <code>nxt.bluesock.BlueSock</code> - The object returned by <code>find_one_brick()</code> when a brick is found on a Bluetooth connection [defined in nxt.bluesock]
** <code>nxt.usbsock.USBSock</code> - The object returned by <code>find_one_brick()</code>when a brick is found on a USB connection [defined in nxt.usbsock]
** <code>nxt.brick.Brick</code> - The object returned by the <code>connect()</code> method [defined in nxt.brick]

* Methods
** <code>connect()</code> - Try to connect to the brick.
** <code>close()</code> - Close connection to brick.
** <code>host</code> - Returns the address of the brick (if connected via Bluetooth connection)
** generator object <code>find_bricks()</code>
*** <code>next()</code> - Find the next brick in the sequence, returns the same thing as <code>find_one_brick()</code>.
** <code>find_one_brick()</code>
** <code>find_bricks(host=None, name=None)</code> - Find all the bricks in the area, returns a generator object <code>find_bricks</code>.

* Example
import nxt.locator
sock = nxt.locator.find_one_brick()
brick = sock.connect()
if hasattr(brick, 'host'):
print brick.host
else:
print "brick.host is not defined for USB connections"
sock.close()

=== nxt.motor ===

* Port Constants
** <code>PORT_A</code>
** <code>PORT_B</code>
** <code>PORT_C</code>
** <code>PORT_ALL</code>

* Mode Constants
** <code>MODE_IDLE</code>
** <code>MODE_MOTOR_ON</code>
** <code>MODE_BRAKE</code>
** <code>MODE_REGULATED</code>

* Regulation Constants
** <code>REGULATION_IDLE</code>
** <code>REGULATION_MOTOR_SPEED</code>
** <code>REGULATION_MOTOR_SYNC</code>

* Run State Constants
** <code>RUN_STATE_IDLE</code>
** <code>RUN_STATE_RAMP_UP</code>
** <code>RUN_STATE_RUNNING</code>
** <code>RUN_STATE_RAMP_DOWN</code>

* Objects
** <code>nxt.motor.Motor</code> - The object returned by <code>Motor(brick, port)</code>
** Class Methods
***_debug_out(self, message)
*** set_output_state(self)
*** get_output_state(self)
*** reset_position(self, relative)
*** run(self, power=100, regulated=1)
*** stop(self, braking=1)
*** update(self, power, tacho_limit, braking=False, max_retries=-1)

* Methods

* Example

import nxt.locator
import nxt.motor
from time import sleep
sock = nxt.locator.find_one_brick()
brick = sock.connect()
motor_a = nxt.motor.Motor(brick, nxt.motor.PORT_A)
print "Initial Position:", motor_a.get_output_state()[7]
motor_a.update( 127, 360, True ) # Turn 360 degrees at full power and brake
motor_a.update( -127, 360 ) # Turn -360 degrees at full power and coast
sleep( 3 ) # update is non-blocking when braking is false, must wait for finish
print "Final Position:", motor_a.get_output_state()[7]
sock.close()

=== nxt.sensor ===

* Status: incomplete as of 2010-02-14

* Objects

* Methods

* Example

=== nxt.compass ===

* Status: incomplete as of 2010-02-14

* Objects
**CompassSensor

* Methods
**CompassSensor(bot,port)
**get_sample() returns a value between zero and 180 depending on the heading of the sensor. There is a one-to-two ratio between degrees from due North and get_sample() values. At the moment this generally returns an error.
**Methods to add
***begin_calibration() tells the sensor to go into calibration mode.
***end_calibration() tells the sensor to leave calibration mode

* Example
compass = UltrasonicSensor(bot, PORT_1) #declare the sensor plugged into port 1 "compass"
heading = compass.get_sample()*2 # get the current heading in degrees from due north

* Notes
** The sensor gives errors and fails to register almost all of the time. The reasoning for this is under investigation.
** [http://www.hitechnic.com/cgi-bin/commerce.cgi?preadd=action&key=NMC1034 Compass Sensor hardware info]
** URL to compass.py in source control (hint)

=== Scripts ===
Located in <code>$DISTRIBUTION/scripts</code>.
* nxt_filer
* nxt_push
* nxt_test

=== Server Mode and nxt.server ===
=== Tips ===
Wrap your code in a try/finally block so that you can stop the motors on control-c.
try:
[your code here]
finally:
[stop all your motors]