hardware

Bms ¶

Bms(**kwargs)

Bases: Module, ABC

The BMS module communicates with a simple battery management system over a serial connection.

The BMS module provides measured voltages as an event.

Events¶

Name	Description
VOLTAGE_MEASURED	new voltage measurements are available for processing (argument: list of voltages)

BmsHardware ¶

BmsHardware(
    robot_brain: RobotBrain,
    *,
    expander: Optional[ExpanderHardware] = None,
    name: str = "bms",
    rx_pin: int = 26,
    tx_pin: int = 27,
    baud: int = 9600,
    num: int = 1
)

Bases: Bms, ModuleHardware

This module implements the hardware interface for the BMS module.

Events¶

Name	Description
VOLTAGE_MEASURED	new voltage measurements are available for processing (argument: list of voltages)

BmsSimulation ¶

BmsSimulation(
    is_charging: Optional[Callable[[], bool]] = None,
    fixed_voltage: Optional[float] = None,
)

Bases: Bms, ModuleSimulation

This module simulates a BMS module.

Events¶

Name	Description
VOLTAGE_MEASURED	new voltage measurements are available for processing (argument: list of voltages)

Bumper ¶

Bumper(estop: Optional[EStop], **kwargs)

Bases: Module, ABC

A module that detects when a bumper is triggered.

Events¶

Name	Description
BUMPER_TRIGGERED	a bumper was triggered (argument: the bumper name)

BumperHardware ¶

BumperHardware(
    robot_brain: RobotBrain,
    *,
    name: str = "bumper",
    pins: dict[str, int],
    estop: Optional[EStop] = None
)

Bases: Bumper, ModuleHardware

Hardware implementation of the bumper module.

The module expects a dictionary of pin names and pin numbers. If an e-stop is provided, the module will not trigger bumpers if the e-stop is active.

Events¶

Name	Description
BUMPER_TRIGGERED	a bumper was triggered (argument: the bumper name)

BumperSimulation ¶

BumperSimulation(estop: Optional[EStop], **kwargs)

Bases: Bumper, ModuleSimulation

Simulation of the bumper module.

Events¶

Name	Description
BUMPER_TRIGGERED	a bumper was triggered (argument: the bumper name)

Communication ¶

Communication()

Bases: ABC

This abstract module defines an interface for communicating with a microcontroller.

Besides sending and receiving messages a communication module provides a property whether communication is possible. It can also provide a piece of debug UI.

EStop ¶

EStop(**kwargs)

Bases: Module, ABC

A module that detects when the e-stop is triggered.

The module has a boolean field active that is true when the e-stop is triggered.

There is also a boolean field is_soft_estop_active that is true when the soft e-stop is active. It can be set to true or false by calling set_soft_estop(active: bool).

Events¶

Name	Description
ESTOP_TRIGGERED	the e-stop was triggered

EStopHardware ¶

EStopHardware(
    robot_brain: RobotBrain,
    *,
    name: str = "estop",
    pins: dict[str, int]
)

Bases: EStop, ModuleHardware

Hardware implementation of the e-stop module.

The module expects a dictionary of pin names and pin numbers.

Events¶

Name	Description
ESTOP_TRIGGERED	the e-stop was triggered

EStopSimulation ¶

EStopSimulation(**kwargs)

Bases: EStop, ModuleSimulation

Simulation of the e-stop module.

Events¶

Name	Description
ESTOP_TRIGGERED	the e-stop was triggered

ExpanderHardware ¶

ExpanderHardware(
    robot_brain: RobotBrain,
    *,
    name: str = "p0",
    serial: SerialHardware,
    boot: int = 25,
    enable: int = 14
)

Bases: ModuleHardware

The expander module represents a second ESP microcontroller connected to the core ESP via serial.

RobotBrain ¶

RobotBrain(communication: Communication)

This module manages the communication with a Zauberzeug Robot Brain.

It expects a communication object, which is used for the actual read and write operations. Besides providing some basic methods like configuring or restarting the microcontroller, it augments and verifies checksums for each message.

Events¶

Name	Description
LINE_RECEIVED	a line has been received from the microcontroller (argument: line as string)

SerialCommunication ¶

SerialCommunication(baud_rate: int = 115200)

Bases: Communication

This module implements a communication via a serial device with a given baud rate.

It contains a list of search paths for finding the serial device.

SerialHardware ¶

SerialHardware(
    robot_brain: RobotBrain,
    *,
    name: str = "serial",
    rx_pin: int = 26,
    tx_pin: int = 27,
    baud: int = 115200,
    num: int = 1
)

Bases: ModuleHardware

The serial module represents a serial connection with another device.

WebCommunication ¶

WebCommunication()

Bases: Communication

Remote connection to the Robot Brain's ESP.

This makes it possible to keep developing on your fast computer while communicating with the hardware components connected to a physical Robot Brain.

Wheels ¶

Wheels(**kwargs)

Bases: Module, ABC

This module represents wheels for a two-wheel differential drive.

Wheels can be moved using the drive methods and provide measured velocities as an event.

Events¶

Name	Description
VELOCITY_MEASURED	new velocity measurements are available for processing (argument: list of velocities)

WheelsHardware ¶

WheelsHardware(
    robot_brain: RobotBrain,
    *,
    can: CanHardware,
    name: str = "wheels",
    left_can_address: int = 0,
    right_can_address: int = 256,
    m_per_tick: float = 0.01,
    width: float = 0.5,
    is_left_reversed: bool = False,
    is_right_reversed: bool = False
)

Bases: Wheels, ModuleHardware

This module implements wheels hardware.

Drive and stop commands are forwarded to a given Robot Brain. Velocities are read and emitted regularly.

Events¶

Name	Description
VELOCITY_MEASURED	new velocity measurements are available for processing (argument: list of velocities)

WheelsSimulation ¶

WheelsSimulation()

Bases: Wheels, ModuleSimulation

This module simulates two wheels.

Drive and stop commands impact internal velocities (linear and angular). A simulated pose is regularly updated with these velocities, while the velocities are emitted as an event.

Events¶

Name	Description
VELOCITY_MEASURED	new velocity measurements are available for processing (argument: list of velocities)