j5.backends.console.sr.v4 package¶

Submodules¶

Module contents¶

Backends for Student Robotics version 4 boards in the console environment.

class j5.backends.console.sr.v4.SRV4MotorBoardConsoleBackend(serial: str, console_class: Type[j5.backends.console.console.Console] = <class 'j5.backends.console.console.Console'>)[source]¶

Bases: j5.components.motor.MotorInterface, j5.backends.backend.Backend

The console implementation of the SR v4 motor board.

board¶: alias of j5.boards.sr.v4.motor_board.MotorBoard

classmethod discover() → Set[j5.boards.board.Board][source]¶

Discover boards that this backend can control.

Returns:	set of boards that this backend can control.

firmware_version¶

The firmware version reported by the board.

Returns:	firmware version reported by the board, if any.

get_motor_state(identifier: int) → Union[float, j5.components.motor.MotorSpecialState][source]¶

Get the current motor state.

Parameters:	identifier – identifier of the motor
Returns:	state of the motor.

serial¶

The serial number reported by the board.

Returns:	serial number reported by the board.

set_motor_state(identifier: int, power: Union[float, j5.components.motor.MotorSpecialState]) → None[source]¶

Set the state of a motor.

Parameters:	identifier – identifier of the motor power – state of the motor.
Raises:	ValueError – invalid motor identifier.

class j5.backends.console.sr.v4.SRV4PowerBoardConsoleBackend(serial: str, console_class: Type[j5.backends.console.console.Console] = <class 'j5.backends.console.console.Console'>)[source]¶

Bases: j5.components.power_output.PowerOutputInterface, j5.components.piezo.PiezoInterface, j5.components.button.ButtonInterface, j5.components.battery_sensor.BatterySensorInterface, j5.components.led.LEDInterface, j5.backends.backend.Backend

The console implementation of the SR V4 power board.

board¶: alias of j5.boards.sr.v4.power_board.PowerBoard

buzz(identifier: int, duration: datetime.timedelta, pitch: float) → None[source]¶

Queue a pitch to be played.

Parameters:	identifier – piezo identifier to play pitch on. duration – duration of the tone. pitch – Pitch of the tone in Hz.
Raises:	ValueError – invalid value for parameter.

classmethod discover() → Set[j5.boards.board.Board][source]¶

Discover boards that this backend can control.

Returns:	set of boards that this backend can control.

firmware_version¶

The firmware version reported by the board.

Returns:	firmware version reported by the board, if any.

get_battery_sensor_current(identifier: int) → float[source]¶

Get the current of a battery sensor.

Parameters:	identifier – Identifier of battery sensor.
Returns:	current measured by the sensor.
Raises:	ValueError – invalid battery sensor identifier.

get_battery_sensor_voltage(identifier: int) → float[source]¶

Get the voltage of a battery sensor.

Parameters:	identifier – Identifier of battery sensor.
Returns:	voltage measured by the sensor.
Raises:	ValueError – invalid battery sensor identifier.

get_button_state(identifier: int) → bool[source]¶

Get the state of a button.

Parameters:	identifier – Button identifier to fetch state of.
Returns:	state of the button.
Raises:	ValueError – invalid button identifier.

get_led_state(identifier: int) → bool[source]¶

Get the state of an LED.

Parameters:	identifier – identifier of the LED.
Returns:	current state of the LED.

get_power_output_current(identifier: int) → float[source]¶

Get the current being drawn on a power output, in amperes.

Parameters:	identifier – power output to fetch current of.
Returns:	measured current of the output.
Raises:	ValueError – Invalid power output identifier.

get_power_output_enabled(identifier: int) → bool[source]¶

Get whether a power output is enabled.

Parameters:	identifier – power output to fetch status of.
Returns:	status of the power output.
Raises:	ValueError – Invalid power output identifier.

serial¶

The serial number reported by the board.

Returns:	serial number reported by the board.

set_led_state(identifier: int, state: bool) → None[source]¶

Set the state of an LED.

Parameters:	identifier – identifier of the LED. state – desired state of the LED.
Raises:	ValueError – invalid LED identifer.

set_power_output_enabled(identifier: int, enabled: bool) → None[source]¶

Set whether a power output is enabled.

Parameters:	identifier – power output to enable / disable enabled – status of the power output.
Raises:	ValueError – Invalid power output identifier.

wait_until_button_pressed(identifier: int) → None[source]¶

Halt the program until this button is pushed.

Parameters:	identifier – Button identifier to wait for.

class j5.backends.console.sr.v4.SRV4RuggeduinoConsoleBackend(serial: str, console_class: Type[j5.backends.console.console.Console] = <class 'j5.backends.console.console.Console'>)[source]¶

Bases: j5.components.string_command.StringCommandComponentInterface, j5.backends.console.j5.arduino.ArduinoConsoleBackend

Console Backend for the SR v4 Ruggeduino.

board¶: alias of j5.boards.sr.v4.ruggeduino.Ruggeduino

classmethod discover() → Set[j5.boards.board.Board][source]¶

Discover boards that this backend can control.

Returns:	set of boards that this backend can control.

execute_string_command(command: str) → str[source]¶

Execute the string command and return the result.

This function can be synchronous and blocking.

Parameters:	command – command to send.
Returns:	result from the command.

get_gpio_pin_digital_state(identifier: int) → bool¶

Get the last written state of a given GPIO pin.

Parameters:	identifier – pin number
Returns:	Last known digital state of the pin.
Raises:	ValueError – pin is not in correct mode.

get_gpio_pin_mode(identifier: int) → j5.components.gpio_pin.GPIOPinMode¶

Get the hardware mode of a GPIO pin.

Parameters:	identifier – pin number.
Returns:	mode of the pin.

get_led_state(identifier: int) → bool¶

Get the state of an LED.

Parameters:	identifier – LED identifier.
Returns:	current state of the LED.
Raises:	ValueError – invalid LED identifier.

read_gpio_pin_analogue_value(identifier: int) → float¶

Read the scaled analogue value of a given GPIO pin.

Parameters:	identifier – pin number
Returns:	scaled analogue value of the pin.
Raises:	ValueError – pin is not in correct mode.

read_gpio_pin_digital_state(identifier: int) → bool¶

Read the digital state of a given GPIO pin.

Parameters:	identifier – pin number
Returns:	digital state of the pin.
Raises:	ValueError – pin is not in correct mode.

set_gpio_pin_mode(identifier: int, pin_mode: j5.components.gpio_pin.GPIOPinMode) → None¶

Set the hardware mode of a GPIO pin.

Parameters:	identifier – pin number to set. pin_mode – mode to set the pin to.

set_led_state(identifier: int, state: bool) → None¶

Set the state of an LED.

Parameters:	identifier – LED identifier. state – desired state of the LED.
Raises:	ValueError – invalid LED identifier.

write_gpio_pin_dac_value(identifier: int, scaled_value: float) → None¶

Write a scaled analogue value to the DAC on a given GPIO pin.

Parameters:	identifier – pin number scaled_value – scaled analogue value to write
Raises:	NotImplementedError – Arduino Uno does not have a DAC.

write_gpio_pin_digital_state(identifier: int, state: bool) → None¶

Write to the digital state of a GPIO pin.

Parameters:	identifier – pin number state – desired digital state.
Raises:	ValueError – pin is not in correct mode.

write_gpio_pin_pwm_value(identifier: int, duty_cycle: float) → None¶

Write a scaled analogue value to the PWM on a given GPIO pin.

Parameters:	identifier – pin number duty_cycle – duty cycle to write
Raises:	NotImplementedError – Not implemented in any supported firmware yet.

class j5.backends.console.sr.v4.SRV4ServoBoardConsoleBackend(serial: str, console_class: Type[j5.backends.console.console.Console] = <class 'j5.backends.console.console.Console'>)[source]¶

Bases: j5.components.servo.ServoInterface, j5.backends.backend.Backend

The console implementation of the SR v4 Servo board.

board¶: alias of j5.boards.sr.v4.servo_board.ServoBoard

classmethod discover() → Set[j5.boards.board.Board][source]¶

Discover boards that this backend can control.

Returns:	set of boards that this backend can control.

firmware_version¶

The firmware version reported by the board.

Returns:	firmware version reported by the board, if any.

get_servo_position(identifier: int) → Optional[float][source]¶

Get the servo position.

Parameters:	identifier – Port of servo to check.
Returns:	Position of servo.

serial¶

The serial number reported by the board.

Returns:	serial number reported by the board.

set_servo_position(identifier: int, position: Optional[float]) → None[source]¶

Set the servo position.

Parameters:	identifier – Port of servo to set position. position – Position to set the servo to.
Raises:	ValueError – Unknown servo identifier.