E-puck with Pi-puck

Table Of Contents

• Motors

• Sleep

• LED

• Proximity Sensors

• Ground Sensors

• Camera

• Communication

• Time Of Flight

• Gyroscope

• Accelerometer

• Microphones

Code

class PiPuckEpuck(ip_addr)

set_clock_speed(clock_speed)

Set new clock speed in Hz

go_on(clock_speed=None)

Important

Mandatory method. This method must be called before execution of next step of the robot.

Tip

Put it as a condition in a while loop. Then, if you would like to finish the infinite while loop, break inside.

set_speed(speed_left, speed_right=None)

Sets the speed of the robot’s motors

Parameters:

• speed_left – int

• speed_right – int, optional (default: is the same speed as speed_left)

Note

The speed of each wheel is already bounded between -7.536 and 7.536

get_speed()

Gets speed of the motors

Returns:

[left_wheel, right_wheel]

Return type:

[int, int]

bounded_speed(speed)

Limits the motor speed of the robot in case the user puts an excessive value

Parameters:

speed – speed of a wheel of the e-puck

enable_led(led_position, red=None, green=None, blue=None)

Note

• Extension with the pi-puck adds LEDs 8, 9 and 10 with

• There is only one RGB intensity for the pi-puck. It is either 0 (OFF) or 1 (or any other value higher than 0) (ON)

disable_led(led_position)

Note

• Extension with the pi-puck adds LEDs 8, 9 and 10

enable_body_led()

Warning

Not possible with the pi-puck

enable_front_led()

Warning

Not possible with the pi-puck

get_prox()

Gets the robot’s proximity sensor raw values

Note

IR proximity: between 0 (no objects detected) and 4095 (object near the sensor)

Hint

Array position

0. prox right front

1. prox right front diagonal

2. prox right side

3. prox right back

4. prox left back

5. prox left side

6. prox left front diagonal

7. prox left front

Returns:

the proximity sensor values

Return type:

int array - (length 8)

get_ground()

Gets the values from the ground sensors

Note

Between 0 (no surface at all or not reflective surface e.g. black) and 1023 (very reflective surface e.g. white)

Hint

Array positions

0. LEFT

1. MIDDLE

2. RIGHT

Returns:

ground values

Return type:

[int] - [LEFT, MIDDLE, RIGHT]

get_gyro_axes()

Gets gyroscope values (axis x, y and z)

Returns:

[x, y, z]

Return type:

[int, int, int]

get_accelerometer_axes()

Gets the accelerometer axis raw values.

Returns:

[x,y,z]

Return type:

array of int

init_tof()

It is required to have the VL53L0X package to be able to use the TOF sensor.

install it from your terminal:

pip3 install git+https://github.com/gctronic/VL53L0X_rasp_python

get_tof()

Gets the Time Of Flight value

Warning

The TOF sensor can have different orientations on the robot which will affect measurement.

Returns:

values in millimetres

Return type:

int

disable_tof()

Stops the TOF sensor

init_camera(folder_save_img=None, size=(None, None), camera_rate=0.2)

Enables the robot’s camera

Parameters:

• save_image_folder – input directory folder to save the images taken by the robot

• camera_rate – camera_rate

disable_camera()

Disables the robot’s camera

get_camera()

Gets raw images from robot

Note

More information in Examples/camera

Return arrays:

[[red],[green],[blue]]

get_camera_read()

get camera.read() of openCV

take_picture(filename=None)

Take a picture and save it in the image folder define in init_camera

get_microphones()

Gets microphones’ intensity

Note

Mic volume: between 0 and 4095

Returns:

[front, right, back, left]

Return type:

array of int

calibrate_prox()

Adjust the sensors to make them as error free as possible

Note

When all LEDs are ON, it indicates that the sensors are calibrating.

disable_all_led()

Turns OFF all LED lights

disable_body_led()

Turns OFF green body light

disable_front_led()

Turns OFF red front light

disable_sensors()

Disables the robot’s sensors

enable_all_led()

Turns ON all LED lights

get_acceleration()

Gets the magnitude of the acceleration vector, whose direction angles are provided by the get_pitch() and get_roll() functions

Note

acceleration magnitude, between 0.0 and about 2600.0 (~3.46 g)

Returns:

value of the accelerometer

Return type:

int

get_available_epucks()

Get list of connected epucks to the host.

Warning

Monitor must be online!

Returns:

array of connected epucks

get_battery_level()

Gets battery level

get_calibrate_prox()

Gets the calibrated proximity sensor values

Note

IR proximity: between 0 (no objects detected) and 4095 (object near the sensor)

Hint

Array proximites positions

0. prox right front

1. prox right front diagonal

2. prox right side

3. prox right back

4. prox left back

5. prox left side

6. prox left front diagonal

7. prox left front

Returns:

proximity values

Return type:

[int] - (length 8)

get_detection(img=None, conf_thresh=0.9)

Analyze the picture passed as img

Parameters:

• img – the 120x160x3 array containing a picture returned by the function get_picture

• conf_thresh – an artifical threshold to limit the detections only to a certain confidence level

Returns:

array of Detected objects

Warning

Only works with real robots

get_pitch()

Gets pitch angle reading.

Note

Inclination between 0.0 and 90.0 degrees (when tilted in any direction)

Returns:

pitch axis degree

Return type:

float

get_roll()

Gets roll degree reading.

Note

Orientation between 0.0 and 360.0 degrees

Returns:

roll axis degree

Return type:

float

has_receive_msg()

Returns:

True if the robot has pending messages in his queue otherwise False.

init_client_communication(host_ip='http://127.0.0.1:8000')

Warning

The host should be created first before calling this method. (ref. Examples/Communication)

init_ground()

Initiates the ground sensors of the robot

init_sensors()

Starts the robot’s sensors

initiate_model(weights=None)

Initiate the network used to recognized blocks Need to be called once at the beginning :param weights: a .pt file containing new possible weights (default: the one trained by Vincent Carrel) .. warning:

Only works with real robots

live_camera(duration=None)

Lets you stream from the GUI

The live_camera method need to be called at each step.

Parameters:

duration – int - duration of the stream. (default: until program ends)

live_detection(duration=None)

Lets you stream the annotated image from the GUI The live_detection method needs to be called at each step. :param duration: int - duration of the stream. (default: until program ends) .. warning:

Only works with real robots

receive_msg()

Get next message from the robot queue otherwise returns None.

save_detection(filename=None)

Save the annotated image either with a default name or the one given in filename :param filename: str under which the picture should be saved .. warning:

Only works with real robots

send_msg(msg)

Puts a message in queue to other robots

Parameters:

msg – any

set_id(new_id)

Set new ID for the e-puck

sleep(duration)

Pause the execution during duration seconds

Warning

This implementation is to be preferred to the standard Python time.sleep() which can lead to problems in the sequence of event handling.

Parameters:

duration – duration in seconds