class `Robot`¶

Example

# Import Robot class
from robot import Robot

# Create a robot(PiSloth)
robot = Robot(pin_list=[0, 1, 2, 3], name="pisloth")

robot.move_list["forward"] = [
    [0, 40, 0, 15],
    [-30, 40, -30, 15],
    [-30, 0, -30, 0],

    [0, -15, 0, -40],
    [30, -15, 30, -40],
    [30, 0, 30, 0],
    ]

robot.do_action("forward", step=3, speed=90)

API

class robot_hat.Robot(pin_list, db='/root/.config/robot-hat/robot-hat.conf', name=None, init_angles=None, init_order=None, **kwargs)¶

Bases: _Basic_class

Robot class

This class is for makeing a servo robot with Robot HAT

There are servo initialization, all servo move in specific speed. servo offset and stuff. make it easy to make a robot. All Pi-series robot from SunFounder use this class. Check them out for more details.

PiSloth: https://github.com/sunfounder/pisloth

PiArm: https://github.com/sunfounder/piarm

PiCrawler: https://github.com/sunfounder/picrawler

move_list = {}¶: Preset actions

max_dps = 428¶: Servo max Degree Per Second

__init__(pin_list, db='/root/.config/robot-hat/robot-hat.conf', name=None, init_angles=None, init_order=None, **kwargs)¶

Initialize the robot class

Parameters

pin_list (list) – list of pin number[0-11]
db (str) – config file path
name (str) – robot name
init_angles (list) – list of initial angles
init_order (list) – list of initialization order(Servos will init one by one in case of sudden huge current, pulling down the power supply voltage. default order is the pin list. in some cases, you need different order, use this parameter to set it.)

new_list(default_value)¶

Create a list of servo angles with default value

Parameters: default_value (int or float) – default value of servo angles
Returns: list of servo angles
Return type: list

servo_write_raw(angle_list)¶

Set servo angles to specific raw angles

Parameters: angle_list (list) – list of servo angles

servo_write_all(angles)¶

Set servo angles to specific angles with original angle and offset

Parameters: angles (list) – list of servo angles

servo_move(targets, speed=50, bpm=None)¶

Move servo to specific angles with speed or bpm

Parameters

targets (list) – list of servo angles
speed (int or float) – speed of servo move
bpm (int or float) – beats per minute

do_action(motion_name, step=1, speed=50)¶

Do prefix action with motion_name and step and speed

Parameters

motion_name (str) – motion
step (int) – step of motion
speed (int or float) – speed of motion

set_offset(offset_list)¶

Set offset of servo angles

Parameters: offset_list (list) – list of servo angles

calibration()¶: Move all servos to home position

reset()¶: Reset servo to original position

class Robot¶

class `Robot`¶