robot package

Subpackages

• robot.communication package
  • Submodules
  • robot.communication.communication module
    • Communication
      • Communication.send_message()
      • Communication.send_message_with_distance()
  • robot.communication.directed_comm module
    • DirectedCommunication
      • DirectedCommunication.handle_subscription()
      • DirectedCommunication.send_message()
      • DirectedCommunication.send_message_with_distance()
  • robot.communication.simple_comm module
    • SimpleCommunication
      • SimpleCommunication.handle_subscription()
      • SimpleCommunication.send_message()
      • SimpleCommunication.send_message_with_distance()
  • Module contents
    • DirectedCommunication
      • DirectedCommunication.handle_subscription()
      • DirectedCommunication.send_message()
      • DirectedCommunication.send_message_with_distance()
    • SimpleCommunication
      • SimpleCommunication.handle_subscription()
      • SimpleCommunication.send_message()
      • SimpleCommunication.send_message_with_distance()
• robot.exception package
  • Module contents
    • MotionControllerException
    • MqttClientException
    • ProximityException
    • RGBColorException
    • SensorException
• robot.helpers package
  • Submodules
  • robot.helpers.coordinate module
    • Coordinate
      • Coordinate.get_heading()
      • Coordinate.get_heading_rad()
      • Coordinate.get_x()
      • Coordinate.get_y()
      • Coordinate.handle_subscription()
      • Coordinate.print()
      • Coordinate.publish_coordinate()
      • Coordinate.set_coordinate()
      • Coordinate.set_coordinate_heading()
      • Coordinate.set_heading()
      • Coordinate.set_heading_rad()
      • Coordinate.set_x()
      • Coordinate.set_y()
  • robot.helpers.motion_controller module
    • MotionController
      • MotionController.ADDITIONAL_DELAY
      • MotionController.CM_2_MM
      • MotionController.SEC_2_MS
      • MotionController.SPEED_FACTOR
      • MotionController.move()
      • MotionController.rotate()
      • MotionController.rotate_degree()
      • MotionController.rotate_radians()
  • robot.helpers.robot_mqtt module
    • RobotMQTT
      • RobotMQTT.handle_subscription()
      • RobotMQTT.robot_create()
  • Module contents
    • Coordinate
      • Coordinate.get_heading()
      • Coordinate.get_heading_rad()
      • Coordinate.get_x()
      • Coordinate.get_y()
      • Coordinate.handle_subscription()
      • Coordinate.print()
      • Coordinate.publish_coordinate()
      • Coordinate.set_coordinate()
      • Coordinate.set_coordinate_heading()
      • Coordinate.set_heading()
      • Coordinate.set_heading_rad()
      • Coordinate.set_x()
      • Coordinate.set_y()
    • MotionController
      • MotionController.ADDITIONAL_DELAY
      • MotionController.CM_2_MM
      • MotionController.SEC_2_MS
      • MotionController.SPEED_FACTOR
      • MotionController.move()
      • MotionController.rotate()
      • MotionController.rotate_degree()
      • MotionController.rotate_radians()
    • RobotMQTT
      • RobotMQTT.handle_subscription()
      • RobotMQTT.robot_create()
• robot.indicators package
  • Submodules
  • robot.indicators.abstract_indicator module
    • AbstractIndicator
      • AbstractIndicator.handle_subscription()
  • robot.indicators.neopixel module
    • NeoPixel
      • NeoPixel.change_color()
      • NeoPixel.handle_subscription()
  • Module contents
    • NeoPixel
      • NeoPixel.change_color()
      • NeoPixel.handle_subscription()
• robot.interfaces package
  • Module contents
    • IMqttHandler
      • IMqttHandler.handle_subscription()
    • IRobotState
      • IRobotState.communication_interrupt()
      • IRobotState.loop()
      • IRobotState.reset()
      • IRobotState.sensor_interrupt()
      • IRobotState.start()
      • IRobotState.state
      • IRobotState.stop()
    • RobotState
      • RobotState.BEGIN
      • RobotState.RUN
      • RobotState.WAIT
• robot.mqtt package
  • Submodules
  • robot.mqtt.mqtt_msg module
    • MqttMsg
  • robot.mqtt.robot_mqtt_client module
    • RobotMqttClient
      • RobotMqttClient.in_queue_pop()
      • RobotMqttClient.out_queue_pop()
      • RobotMqttClient.publish()
      • RobotMqttClient.subscribe()
  • Module contents
    • MqttMsg
    • RobotMqttClient
      • RobotMqttClient.in_queue_pop()
      • RobotMqttClient.out_queue_pop()
      • RobotMqttClient.publish()
      • RobotMqttClient.subscribe()
• robot.sensors package
  • Submodules
  • robot.sensors.abstract_sensor module
    • AbstractSensor
      • AbstractSensor.handle_subscription()
  • robot.sensors.color module
    • ColorSensor
      • ColorSensor.MQTT_TIMEOUT
      • ColorSensor.get_color()
      • ColorSensor.handle_subscription()
      • ColorSensor.send_color()
  • robot.sensors.distance module
    • DistanceSensor
      • DistanceSensor.MQTT_TIMEOUT
      • DistanceSensor.get_distance()
      • DistanceSensor.handle_subscription()
      • DistanceSensor.send_distance()
  • robot.sensors.proximity module
    • ProximitySensor
      • ProximitySensor.MQTT_TIMEOUT
      • ProximitySensor.get_proximity()
      • ProximitySensor.handle_subscription()
      • ProximitySensor.send_proximity()
      • ProximitySensor.set_angles()
  • Module contents
    • ColorSensor
      • ColorSensor.MQTT_TIMEOUT
      • ColorSensor.get_color()
      • ColorSensor.handle_subscription()
      • ColorSensor.send_color()
    • DistanceSensor
      • DistanceSensor.MQTT_TIMEOUT
      • DistanceSensor.get_distance()
      • DistanceSensor.handle_subscription()
      • DistanceSensor.send_distance()
    • ProximitySensor
      • ProximitySensor.MQTT_TIMEOUT
      • ProximitySensor.get_proximity()
      • ProximitySensor.handle_subscription()
      • ProximitySensor.send_proximity()
      • ProximitySensor.set_angles()
• robot.types package
  • Submodules
  • robot.types.proximity_reading_type module
    • ProximityReadingType
      • ProximityReadingType.colors()
      • ProximityReadingType.distances()
  • robot.types.rgb_color_type module
    • RGBColorType
      • RGBColorType.compare_to()
      • RGBColorType.get_b()
      • RGBColorType.get_color()
      • RGBColorType.get_g()
      • RGBColorType.get_r()
      • RGBColorType.set_color()
      • RGBColorType.set_color_from_hex_code()
      • RGBColorType.set_color_from_str()
      • RGBColorType.to_string_color()
  • Module contents
    • ProximityReadingType
      • ProximityReadingType.colors()
      • ProximityReadingType.distances()
    • RGBColorType
      • RGBColorType.compare_to()
      • RGBColorType.get_b()
      • RGBColorType.get_color()
      • RGBColorType.get_g()
      • RGBColorType.get_r()
      • RGBColorType.set_color()
      • RGBColorType.set_color_from_hex_code()
      • RGBColorType.set_color_from_str()
      • RGBColorType.to_string_color()

Submodules

robot.motion module

Motion controller algorithms (re-export).

robot.mqtt_client module

Compatibility re-export for RobotMqttClient.

The implementation lives in robot.mqtt.robot_mqtt_client.

robot.robot_base module

Abstract Robot base class mirroring swarm.robot.Robot (Java).

Method names are provided in snake_case.

class robot.robot_base.Robot(id, x, y, heading, reality)

Bases: IRobotState

color_sensor: ColorSensor

communication_interrupt(msg)

Return type:

None

coordinates: Coordinate

delay(milliseconds)

Return type:

None

directed_comm: DirectedCommunication

dist_sensor: DistanceSensor

get_id()

Return type:

int

handle_subscribe_queue()

Return type:

None

id: int

loop()

Return type:

None

motion: MotionController

neo_pixel: NeoPixel

proximity_sensor: ProximitySensor

reality: str

reset()

Return type:

None

robot_mqtt: RobotMQTT

robot_mqtt_client: RobotMqttClient

run()

Return type:

None

sensor_interrupt(sensor, value)

Return type:

None

setup()

Return type:

None

simple_comm: SimpleCommunication

start()

Return type:

None

state: RobotState = 'WAIT'

stop()

Return type:

None

robot.virtual_robot module

class robot.virtual_robot.VirtualRobot(id, x, y, heading)

Bases: Robot

communication_interrupt(msg)

Return type:

None

loop()

Return type:

None

sensor_interrupt(sensor, value)

Return type:

None

Module contents

Top-level package for robot library (Python port of robot-library-java).

class robot.MQTTSettings

Bases: object

channel: str | None = None

password: str | None = None

port: int = 1883

classmethod print()

Return type:

None

server: str | None = None

user_name: str | None = None

class robot.MotionController(coordinate=None)

Bases: object

ADDITIONAL_DELAY = 500

CM_2_MM = 10

SEC_2_MS = 1000

SPEED_FACTOR = 0.1

move(left_speed, right_speed, duration=None)

Return type:

None

rotate(speed, duration=None)

Return type:

None

rotate_degree(speed, degree)

Return type:

None

rotate_radians(speed, radians)

Return type:

None

class robot.Robot(id, x, y, heading, reality)

Bases: IRobotState

color_sensor: ColorSensor

communication_interrupt(msg)

Return type:

None

coordinates: Coordinate

delay(milliseconds)

Return type:

None

directed_comm: DirectedCommunication

dist_sensor: DistanceSensor

get_id()

Return type:

int

handle_subscribe_queue()

Return type:

None

id: int

loop()

Return type:

None

motion: MotionController

neo_pixel: NeoPixel

proximity_sensor: ProximitySensor

reality: str

reset()

Return type:

None

robot_mqtt: RobotMQTT

robot_mqtt_client: RobotMqttClient

run()

Return type:

None

sensor_interrupt(sensor, value)

Return type:

None

setup()

Return type:

None

simple_comm: SimpleCommunication

start()

Return type:

None

state: RobotState = 'WAIT'

stop()

Return type:

None

class robot.RobotSettings

Bases: object

ROBOT_LOG_LEVEL: int = 0

ROBOT_RADIUS: int = 6

ROBOT_SPEED_MAX: int = 255

ROBOT_SPEED_MIN: int = 50

ROBOT_WHEEL_RADIUS: float = 3.5

ROBOT_WIDTH: int = 12

class robot.VirtualRobot(id, x, y, heading)

Bases: Robot

communication_interrupt(msg)

Return type:

None

loop()

Return type:

None

sensor_interrupt(sensor, value)

Return type:

None