martypy.Marty
Python library to communicate with Marty the Robot V1 and V2 by Robotical
Getting started:
1) Import Marty from the martypy library
2) Create a Marty object that connects the way you want
3) Tell your Marty to dance
from martypy import Marty
my_marty = Marty("wifi","192.168.0.53")
my_marty.dance()
The tags 1️⃣ and 2️⃣ indicate when the method is available for Marty V1 1️⃣ and Marty V2 2️⃣
Marty Objects
class Marty(object)
__init__
| __init__(method: str, locator: str = "", extra_client_types: dict = dict(), blocking: Union[bool, None] = None, *args, **kwargs) -> None
Start a connection to Marty 1️⃣ 2️⃣
For example:
- Marty("wifi", "192.168.86.53") to connect to Marty via WiFi on IP Address 192.168.0.53
- Marty("usb", "COM2") on a Windows computer with Marty connected by USB cable to COM2
- Marty("usb", "/dev/tty.SLAB_USBtoUART") on a Mac computer with Marty connected by USB cable to /dev/tty.SLAB_USBtoUART
- Marty("exp", "/dev/ttyAMA0") on a Raspberry Pi computer with Marty connected by expansion cable to /dev/ttyAMA0
Blocking Mode
Each command that makes Marty move (e.g. walk(), dance(), move_joint(), but also hold_position()) comes with two modes - blocking and non-blocking.
Issuing a command in blocking mode will make your program pause until Marty physically stops moving. Only then the next line of your code will be executed.
In non-blocking mode, each movement command simply tells Marty what to do and returns immediately, meaning that your code will continue to execute while Marty is moving.
Every movement command takes an optional blocking argument that can be used to choose the mode for that call. If you plan to use the same mode all or most of the time, it is better to to use the Marty.set_blocking() method or use the blocking constructor argument. The latter defaults to True (blocking) if not provided.
Arguments:
- method - method of connecting to Marty - it may be: “usb”, “wifi”, “socket” (Marty V1) or “exp” (expansion port used to connect to a Raspberry Pi, etc)
- locator - location to connect to, depending on the method of connection this is the serial port name, network (IP) Address or network name (hostname) of Marty that the computer should use to communicate with Marty. If method is "usb" and there is only a single Marty connected, locator can be left out and the Marty will be found automatically. If multiple Martys are detected, one of them will be chosen arbitrarily and connected to.
- blocking - Default movement command mode for this Marty instance.
- True (default): blocking mode
- False: non-blocking mode
Raises:
- MartyConfigException if the parameters are invalid
- MartyConnectException if Marty couldn't be contacted
dance
| dance(side: str = 'right', move_time: int = 3000, blocking: Optional[bool] = None) -> bool
Boogie, Marty! 1️⃣ 2️⃣
Arguments:
- side - 'left' or 'right', which side to start on
- move_time - how long this movement should last, in milliseconds
- blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().
Returns:
True if Marty accepted the request
celebrate
| celebrate(move_time: int = 4000, blocking: Optional[bool] = None) -> bool
Coming soon! Same as wiggle() for now. 1️⃣ 2️⃣
Arguments:
- move_time - how long this movement should last, in milliseconds
- blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().
Returns:
True if Marty accepted the request
wiggle
| wiggle(move_time: int = 4000, blocking: Optional[bool] = None) -> bool
Wiggle 2️⃣
Arguments:
- move_time - how long this movement should last, in milliseconds
- blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().
Returns:
True if Marty accepted the request
circle_dance
| circle_dance(side: str = 'right', move_time: int = 2500, blocking: Optional[bool] = None) -> bool
Circle Dance 2️⃣
Arguments:
- side - 'left' or 'right', which side to start on
- move_time - how long this movement should last, in milliseconds
- blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().
Returns:
True if Marty accepted the request
walk
| walk(num_steps: int = 2, start_foot: str = 'auto', turn: int = 0, step_length: int = 25, move_time: int = 1500, blocking: Optional[bool] = None) -> bool
Make Marty walk 1️⃣ 2️⃣
Arguments:
- num_steps - how many steps to take
- start_foot - 'left', 'right' or 'auto', start walking with this foot Note: 2️⃣ Unless you specify 'auto', all steps are taken with the same foot so it only makes sense to use the start_foot argument with num_steps=1.
- turn - How much to turn (-100 to 100 in degrees), 0 is straight.
- step_length - How far to step (approximately in mm)
- move_time - how long this movement should last, in milliseconds
- blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().
Returns:
True if Marty accepted the request
get_ready
| get_ready(blocking: Optional[bool] = None) -> bool
Move Marty to the normal standing position and wiggle eyebrows 1️⃣ 2️⃣ Will also enable motors for Marty v1 1️⃣
Arguments:
- blocking - Blocking mode override; whether to wait for physical movement to finish before returning.
Returns:
True if Marty accepted the request
stand_straight
| stand_straight(move_time: int = 2000, blocking: Optional[bool] = None) -> bool
Move Marty to the normal standing position 1️⃣ 2️⃣
Arguments:
- move_time - How long (in milliseconds) Marty will take to reach the normal standing position. (Higher number means slower movement.)
- blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().
Returns:
True if Marty accepted the request
eyes
| eyes(pose_or_angle: Union[str, int], move_time: int = 1000, blocking: Optional[bool] = None) -> bool
Move the eyes to a pose or an angle 1️⃣ 2️⃣
Arguments:
- pose_or_angle - 'angry', 'excited', 'normal', 'wide', or 'wiggle' 2️⃣ - alternatively this can be an angle in degrees (which can be a negative number)
- move_time - how long this movement should last, in milliseconds
- blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().
Returns:
True if Marty accepted the request
kick
| kick(side: str = 'right', twist: int = 0, move_time: int = 2500, blocking: Optional[bool] = None) -> bool
Kick one of Marty's feet 1️⃣ 2️⃣
Arguments:
- side - 'left' or 'right', which foot to use
- twist - the amount of twisting do do while kicking (in degrees)
- move_time - how long this movement should last, in milliseconds
- blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().
Returns:
True if Marty accepted the request
arms
| arms(left_angle: int, right_angle: int, move_time: int, blocking: Optional[bool] = None) -> bool
Move both of Marty's arms to angles you specify 1️⃣ 2️⃣
Arguments:
- left_angle - Angle of the left arm (degrees -100 to 100)
- right_angle - Position of the right arm (degrees -100 to 100)
- move_time - how long this movement should last, in milliseconds
- blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().
Returns:
True if Marty accepted the request
lean
| lean(direction: str, amount: Optional[int] = None, move_time: int = 1000, blocking: Optional[bool] = None) -> bool
Lean over in a direction 1️⃣ 2️⃣
Arguments:
- direction - 'left', 'right', 'forward', or 'back'
- amount - How much to lean. The defaults and the exact meaning is different between Marty V1 and V2:
- 1️⃣ If not specified or None, amount defaults to 50 (no specific unit). Limit is -60/60 in either direction.
- 2️⃣ If not specified or None, amount defaults to 29 degrees. Limit for foward and back is 45 and limit for left and right is 60.
- move_time - How long this movement should last, in milliseconds.
- blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().
Returns:
True if Marty accepted the request
sidestep
| sidestep(side: str, steps: int = 1, step_length: int = 35, move_time: int = 1000, blocking: Optional[bool] = None) -> bool
Take sidesteps 1️⃣ 2️⃣
Arguments:
- side - 'left' or 'right', direction to step in
- steps - number of steps to take
- step_length - how broad the steps are (up to 127)
- move_time - how long this movement should last, in milliseconds
- blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().
Returns:
True if Marty accepted the request
play_sound
| play_sound(name_or_freq_start: Union[str,int], freq_end: Optional[int] = None, duration: Optional[int] = None) -> bool
Play a named sound (Marty V2 2️⃣) or make a tone (Marty V1 1️⃣)
Arguments:
- name_or_freq_start - name of the sound, e.g. 'excited' or 'no_way' 2️⃣
- name_or_freq_start - starting frequency, min 20, max 20000, Hz 1️⃣
- freq_end - ending frequency, min 20, max 20000, Hz 1️⃣
- duration - milliseconds, maximum 5000 1️⃣
Returns:
True if Marty accepted the request
play_mp3
def play_mp3(filename: str, progress_callback: Callable[[int, int], bool] = None) -> bool
Play an mp3 file on the robot. 2️⃣
Arguments:
- filename - the name of the mp3 file to play
send_file
def send_file(filename: str, progress_callback: Callable[[int, int], bool] = None, file_dest: str = "fs") -> bool
Send a file to Marty. 2️⃣
Arguments:
- filename - the name of the file to send
- progress_callback - callback used to indicate how file send is progressing, callable takes three params which are bytesSent and totalBytes and returns a bool which should be True to continue the file upload or False to abort
- file_dest - “fs” to upload to file system, “ricfw” for new RIC firmware
Returns:
True if the file was sent successfully Throws: - OSError - operating system exceptions May throw other exceptions so include a general exception handler
get_accelerometer
| get_accelerometer(axis: Optional[str] = None) -> float
Get the latest value from the Marty's accelerometer 1️⃣ 2️⃣
Arguments:
- axis - (optional) 'x', 'y' or 'z' OR no parameter at all (see returns below)
Returns:
- The acceleration value from the axis (if axis specified)
- A tuple containing x, y and z values (if no axis) 2️⃣ Note that the returned value will be 0 if no value is available
Raises:
MartyCommandException if the axis is unknown
is_moving
| is_moving() -> bool
Check if Marty is moving 2️⃣
Arguments:
none
Returns:
True if Marty is moving
stop
| stop(stop_type: Optional[str] = None) -> bool
Stop Marty's movement 1️⃣ 2️⃣
You can also control what way to “stop” you want with the parameter stop_type. For instance:
- 'clear queue' to finish the current movement before stopping (clear any queued movements)
- 'clear and stop' stop immediately (and clear queues)
- 'clear and disable' 1️⃣ stop and disable the robot
- 'clear and zero' stop and move back to get_ready pose
- 'pause' pause motion
- 'pause and disable' 1️⃣ pause motion and disable the robot
Arguments:
- stop_type - the way to stop - see the options above
Raises:
MartyCommandException if the stop_type is unknown
resume
| resume() -> bool
Resume Marty's movement after a pause 2️⃣
Returns:
True if Marty accepted the request
hold_position
| hold_position(hold_time: int, blocking: Optional[bool] = None) -> bool
Hold Marty at its current position 2️⃣
Arguments:
hold_time, time to hold position in milli-seconds - blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking(). Holding position counts as movement because Marty is using its motors to actively resist any attempts to move its joints.
Returns:
True if Marty accepted the request
is_paused
| is_paused() -> bool
Check if Marty is paused 2️⃣
Returns:
True if Marty is paused
is_blocking
| is_blocking() -> bool
Check the default movement command behaviour of this Marty. 1️⃣ 2️⃣
Returns:
True if movement commands block by default
set_blocking
| set_blocking(blocking: bool)
Change whether movement commands default to blocking or non-blocking behaviour for this Marty. 1️⃣ 2️⃣
The blocking behaviour can also be specified on a per-command basis using the blocking= argument which takes precedence over Marty's overall setting.
Arguments:
- blocking - whether or not to block by default
move_joint
| move_joint(joint_name_or_num: Union[int, str], position: int, move_time: int, blocking: Optional[bool] = None) -> bool
Move a specific joint to a position 1️⃣ 2️⃣
Arguments:
- joint_name_or_num - joint to move, see the Marty.JOINT_IDS dictionary (can be name or number)
- position - angle in degrees
- move_time - how long this movement should last, in milliseconds
- blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().
Returns:
True if Marty accepted the request
Raises:
MartyCommandException if the joint_name_or_num is unknown
get_joint_position
| get_joint_position(joint_name_or_num: Union[int, str]) -> float
Get the position (angle in degrees) of a joint 2️⃣
Arguments:
- joint_name_or_num - see the Marty.JOINT_IDS dictionary (can be name or number)
Returns:
Angle of the joint in degrees
Raises:
MartyCommandException if the joint_name_or_num is unknown
get_joint_current
| get_joint_current(joint_name_or_num: Union[int, str]) -> float
Get the current (in milli-Amps) of a joint 1️⃣ 2️⃣ This can be useful in detecting when the joint is working hard and is related to the force which the joint's motor is exerting to stay where it is
Arguments:
- joint_name_or_num - see the Marty.JOINT_IDS dictionary (can be name or number)
Returns:
the current of the joint in milli-Amps (this will be 0 if the joint current is unknown)
Raises:
MartyCommandException if the joint_name_or_num is unknown
get_joint_status
| get_joint_status(joint_name_or_num: Union[int, str]) -> int
Get information about a joint 2️⃣ This can be helpful to find out if the joint is working correctly and if it is moving at the moment, etc
Arguments:
- joint_name_or_num - see the Marty.JOINT_IDS dictionary (can be name or number)
Returns:
a code number which is the sum of codes in the Marty.JOINT_STATUS dictionary will be 0 if the joint status is unknown
Raises:
MartyCommandException if the joint_name_or_num is unknown
get_distance_sensor
| get_distance_sensor() -> Union[int, float]
Get the latest value from the distance sensor 1️⃣ 2️⃣
Returns:
The distance sensor reading. The meaning of the returned value is different between Marty V1 and V2: - 1️⃣ Returns a raw distance sensor reading as a float. - 2️⃣ Returns the distance in millimeters as int. Both will return 0 if no distance sensor is found.
foot_on_ground
| foot_on_ground(add_on_or_side: str) -> bool
Checks whether the foot is on a surface 2️⃣
Arguments:
- add_on_or_side - Takes in the name of a color sensor, name of an IR sensor, 'left' for the add on connected to the left foot, or 'right' for the add on connected to the right foot.
Returns:
A boolean for whether the addon detects the ground. True for ground detected, False otherwise.
foot_obstacle_sensed
| foot_obstacle_sensed(add_on_or_side: str) -> bool
Checks whether there is an obstacle in front of the foot 2️⃣
Arguments:
- add_on_or_side - Takes in the name of a color sensor, name of an IR sensor, 'left' for the add on connected to the left foot, or 'right' for the add on connected to the right foot.
Returns:
A boolean for whether the addon detects and obstacle. True for obstacle detected, False otherwise.
get_obstacle_sensor_reading
| get_obstacle_sensor_reading(add_on_or_side: str) -> int
Gets a raw obstacle sensor reading from an IR or color sensor 2️⃣
Arguments:
- add_on_or_side - Takes in the name of a color sensor, name of an IR sensor, 'left' for the add on connected to the left foot, or 'right' for the add on connected to the right foot.
Returns:
Raw reading of obstacle sensor data from the add on.
get_ground_sensor_reading
| get_ground_sensor_reading(add_on_or_side: str) -> int
Gets a raw ground sensor reading from an IR or color sensor 2️⃣
Arguments:
- add_on_or_side - Takes in the name of a color sensor, name of an IR sensor, 'left' for the add on connected to the left foot, or 'right' for the add on connected to the right foot.
Returns:
Raw reading of ground sensor data from the add on.
get_battery_remaining
| get_battery_remaining() -> float
Get the battery remaining percentage 2️⃣
Returns:
The battery remaining capacity in percent
save_calibration
| save_calibration() -> bool
Set the current motor positions as the zero positions 1️⃣ 2️⃣
BE CAREFUL, this can cause unexpected movement or self-interference
clear_calibration
| clear_calibration() -> bool
Mark the current calibration as invalid 1️⃣ 2️⃣
This has no immediate physical effect. Marty will still remember the last calibration but will report that it needs to be calibrated again. (You may notice that a “Calibrate” button appears in the app for example.)
is_calibrated
| is_calibrated() -> bool
Check if Marty is calibrated 2️⃣
get_robot_status
| get_robot_status() -> Dict
Get status of Marty the Robot 2️⃣
Arguments:
none
Returns:
Dictionary containing: “workQCount” number of work items (movements) that are queued up - "isMoving" - True if Marty is moving - "isPaused" - True if Marty is paused - "isFwUpdating" - True if Marty is doing an update
get_joints
| get_joints() -> Dict
Get information on all of Marty's joints 2️⃣
Arguments:
none
Returns:
Dictionary containing dictionaries (one for each joint) each of which contain: - "IDNo" - the joint identification number (see Marty.JOINT_IDS) - "name" - the name of the joint - "pos" - the angle of the joint - "current" - the joint current (in milli-Amps) - "enabled" - True if the servo is enabled - "commsOK" - True if the servo is communicating ok - "flags" - joint status flags (see Marty.JOINT_STATUS)
get_power_status
| get_power_status() -> Dict
Get information on Marty's battery and power supply 2️⃣
Arguments:
none
Returns:
Dictionary containing: - "battRemainCapacityPercent" - remaining battery capacity in percent - "battTempDegC" - battery temperature in degrees C - "battRemainCapacityMAH" - remaining battery capacity in milli-Amp-Hours - "battFullCapacityMAH" - capacity of the battery when full in milli-Amp-Hours - "battCurrentMA" - current the battery is supplying (or being charged with) milli-Amps - "power5VOnTimeSecs" - number of seconds the power to joints and add-ons has been on - "powerUSBIsConnected" - True if USB is connected - "power5VIsOn" - True if power to the joints and add-ons is turned on
Other values for internal use
Note: Some keys may not be included if Marty reports that the corresponding information is not available.
get_add_ons_status
| get_add_ons_status() -> Dict
Get latest information for all add-ons 2️⃣
Arguments:
none
Returns:
Dictionary containing dictionaries (one for each add-on) each of which contain: - "IDNo" - the add-on identification number - "name" - the name of the add-on - "type" - the type of the add-on (see Marty.ADD_ON_TYPE_NAMES but it may not be in this list) - "whoAmITypeCode" - a code which can be used for further add-on identification - "valid" - True if the data is valid - "data" - 10 bytes of data from the add-on - the format of this data depends on the type of add-on
get_add_on_status
| get_add_on_status(add_on_name_or_id: Union[int, str]) -> Dict
Get latest information for a single add-on 2️⃣
Arguments:
- add_on_name_or_id - either the name or the id (number) of an add-on
Returns:
Dictionary containing: - "IDNo" - the add-on identification number - "valid" - True if the data is valid - "data" - 10 bytes of data from the add-on - the format of this data depends on the type of add-on
add_on_query
| add_on_query(add_on_name: str, data_to_write: bytes, num_bytes_to_read: int) -> Dict
Write and read an add-on directly (raw-mode) 2️⃣
Arguments:
- add_on_name - name of the add-on (see get_add_ons_status() at the top level or response to addon/list REST API command)
- data_to_write - can be zero length if nothing is to be written, the first byte will generally be the register or opcode of the add-on
- num_bytes_to_read - number of bytes to read from the device - can be zero
Returns:
Dict with keys including: “rslt” - the result which will be “ok” if the query succeeded “dataRead” - the data read from the add-on
get_system_info
| get_system_info() -> Dict
Get information about Marty 2️⃣
Arguments:
none
Returns:
Dictionary containing: - "HardwareVersion" - string containing the version of Marty hardware “1.0” for Marty V1 “2.0” for Marty V2 other values for later versions of Marty - "SystemName" - the name of the physical hardware in Marty - this will be RicFirmwareESP32 for Marty V2 and MartyV1 for Marty V1 - "SystemVersion" - a string in semantic versioning format with the version of Marty firmware (e.g. “1.2.3”) - "SerialNo" - serial number of this Marty - "MAC" - the base MAC address of the Marty - "RicHwRevNo" - the revision number of the RIC hardware
set_marty_name
| set_marty_name(name: str) -> bool
Set Marty's name 2️⃣
Arguments:
name to call Marty
Returns:
True if successful in setting the name
get_marty_name
| get_marty_name() -> str
Get Marty's name 2️⃣
Arguments:
none
Returns:
the name given to Marty
is_marty_name_set
| is_marty_name_set() -> bool
Check if Marty's name is set 2️⃣
Arguments:
none
Returns:
True if Marty's name is set
get_hw_elems_list
| get_hw_elems_list() -> List
Get a list of all of the hardware elements on Marty 2️⃣
Arguments:
none
Returns:
List containing a dictionary for each hardware element, each element is in the form: - "name" - name of the hardware element - "type" - type of element, see Marty.HW_ELEM_TYPES, other types may appear as add-ons - "busName" - name of the bus the element is connected to - "addr" - address of the element if it is connected to a bus - "addrValid" - 1 if the address is valid, else 0 - "IDNo" - identification number of the element - "whoAmI" - string from the hardware which may contain additional identification - "whoAmITypeCode" - string indicating the type of hardware - "SN" - serial number of the hardware element - "versionStr" - version string of hardware element in semantic versioning (semver) format - "commsOK" - 1 if the element is communicating ok, 0 if not
send_ric_rest_cmd
| send_ric_rest_cmd(ricRestCmd: str) -> None
Send a command in RIC REST format to Marty 2️⃣
This is a special purpose command which you can use to do advanced control of Marty
Arguments:
- ricRestCmd - string containing the command to send to Marty
Returns:
None
send_ric_rest_cmd_sync
| send_ric_rest_cmd_sync(ricRestCmd: str) -> Dict
Send a command in RIC REST format to Marty and wait for reply 2️⃣
This is a special purpose command which you can use to do advanced control of Marty
Arguments:
- ricRestCmd - string containing the command to send to Marty
Returns:
Dictionary containing the response received from Marty
get_motor_current
| get_motor_current(motor_id: int) -> float
Get current flowing through a joint motor 1️⃣ 2️⃣
Arguments:
motor_id, integer >= 0 (non-negative) selects which motor to query
Returns:
Instantaneous current sense reading from motor motor_id
is_conn_ready
| is_conn_ready() -> bool
Check if the robot is connected and the connection is ready to accept commands 2️⃣
Arguments:
None
Returns:
True if the robot is connected and ready
disco_off
| disco_off(add_on: Union[Disco, str] = Disco.ALL) -> bool
Turn disco add on LEDs off 2️⃣
Arguments:
- add_on - add on name of which the function applies to
Returns:
True if Marty accepted the request
disco_pattern
| disco_pattern(pattern: int, add_on: Union[Disco, str] = Disco.ALL) -> bool
Turn on a pattern of lights on the disco LED add on 2️⃣
Arguments:
- pattern - 1 or 2, pattern of lights that user wants to use
- add_on - add on name of which the function applies to
Returns:
True if Marty accepted the request
disco_color
| disco_color(color: Union[str, Tuple[int, int, int]] = 'white', add_on: Union[Disco, str] = Disco.ALL, region: Union[int, str] = 'all') -> bool
Turn on disco add on LED lights to a specific color 2️⃣
Arguments:
- color - color to switch the LEDs to; takes in a hex code, RGB tuple of integers between 0-255, or one of the built in colors: white, red, blue, yellow, green, teal, pink, purple, orange
- add_on - add on name of which the function applies to
- region - 0,1,2; region on the add on
Returns:
True if Marty accepted the request
Legacy MartyV1 commands
enable_motors
| enable_motors(enable: bool = True, clear_queue: bool = True) -> bool
Toggle power to motors 1️⃣
Arguments:
- enable - True/False toggle
- clear_queue - Default True, prevents unfinished but 'muted' motions from jumping as soon as motors are enabled
enable_safeties
| enable_safeties(enable: bool = True) -> bool
Tell the board to turn on 'normal' safeties 1️⃣
fall_protection
| fall_protection(enable: bool = True) -> bool
Toggle fall protections 1️⃣
Arguments:
- enable - True/False toggle
motor_protection
| motor_protection(enable: bool = True) -> bool
Toggle motor current protections 1️⃣
Arguments:
- enable - True/False toggle
battery_protection
| battery_protection(enable: bool = True) -> bool
Toggle low battery protections 1️⃣
Arguments:
- enable - True/False toggle
buzz_prevention
| buzz_prevention(enable: bool = True) -> bool
Toggle motor buzz prevention 1️⃣
Arguments:
- enable - True/False toggle
lifelike_behaviour
| lifelike_behaviour(enable: bool = True) -> bool
Tell the robot whether it can or can't move now and then in a lifelike way when idle. 1️⃣
Arguments:
- enable - True/False toggle
ros_command
| ros_command(*byte_array: int) -> bool
Low level proxied access to the ROS Serial API between the modem and main controller 1️⃣
keyframe
| keyframe(time: float, num_of_msgs: int, msgs) -> List[bytes]
Takes in information about movements and generates keyframes returns a list of bytes 1️⃣
Arguments:
- time - time (in seconds) taken to complete movement
- num_of_msgs - number of commands sent
- msgs - commands sent in the following format [(ID CMD), (ID CMD), etc…]
get_chatter
| get_chatter() -> bytes
Return chatter topic data (variable length) 1️⃣
get_firmware_version
| get_firmware_version() -> bool
Ask the board to print the firmware version over chatter 1️⃣
ros_serial_formatter
| ros_serial_formatter(topicID: int, send: bool = False, *message: int) -> List[int]
Formats message into ROS serial format and returns formatted message as a list 1️⃣
Calls ros_command with the processed message if send is True. More information about the ROS serial format can be found here: http://wiki.ros.org/rosserial/Overview/Protocol
pinmode_gpio
| pinmode_gpio(gpio: int, mode: str) -> bool
Configure a GPIO pin 1️⃣
Arguments:
- gpio - pin number between 0 and 7
- mode - choose from: 'digital in','analog in' or 'digital out'
write_gpio
| write_gpio(gpio: int, value: int) -> bool
Write a value to a GPIO port 1️⃣
digitalread_gpio
| digitalread_gpio(gpio: int) -> bool
Read from GPIO 1️⃣
Arguments:
GPIO pin number, >= 0 (non-negative)
Returns:
Returns High/Low state of a GPIO pin
set_parameter
| set_parameter(*byte_array: int) -> bool
Set board parameters 1️⃣
Arguments:
- byte_array - a list in the following format [paramID, params]
i2c_write
| i2c_write(*byte_array: int) -> bool
Write a bytestream to the i2c port. 1️⃣
The first byte should be the address, following from that the datagram folows standard i2c spec
i2c_write_to_ric
| i2c_write_to_ric(address: int, byte_array: bytes) -> bool
Write a formatted bytestream to the i2c port. 1️⃣
The bytestream is formatted in the ROS serial format.
address: the other device's address
i2c_write_to_rick
| i2c_write_to_rick(address: int, byte_array: bytes) -> bool
Write a formatted bytestream to the i2c port. 1️⃣
The bytestream is formatted in the ROS serial format. address: the other device's address
get_battery_voltage
| get_battery_voltage() -> float
Get the voltage of the battery 1️⃣
Returns:
The battery voltage reading as a float in Volts
hello
| hello(blocking: Optional[bool] = None) -> bool
Zero joints and wiggle eyebrows 1️⃣
Arguments:
- blocking - Blocking mode override; whether to wait for physical movement to finish before returning. Defaults to the value returned by self.is_blocking().
discover
| discover() -> List[str]
Try and find us some Martys! 1️⃣
Helper commands
You probably won't need to use these directly.
__del__
| __del__() -> None
Marty is stopping
close
| close() -> None
Close connection to Marty