src package

Submodules

src.camera module

class src.camera.Camera(config: Config)[source]

Bases: object

cam: picamera2.Picamera2

capture()[source]

image_array: ndarray

class src.camera.Config[source]

Bases: TypedDict

show_preview: bool

src.distance_sensor module

class src.distance_sensor.Config[source]

Bases: TypedDict

pins: PinsConfig

class src.distance_sensor.DistanceSensor(*args, **kwargs)[source]

Bases: DistanceSensor

child class of gpiozero.InputDevice, main functionality is instance property ‘distance’

class src.distance_sensor.PinsConfig[source]

Bases: TypedDict

echo: int

trigger: int

src.led module

class src.led.Config[source]

Bases: TypedDict

pin: int

class src.led.LED(config: Config)[source]

Bases: object

off()[source]

on()[source]

pin: int

src.motor module

class src.motor.Config[source]

Bases: TypedDict

pins: PinsConfig

class src.motor.Motor(config: Config)[source]

Bases: object

MAX_SPEED: float = 1.0

backward(speed: float) → None[source]: Spin the motor backward at a given speed

control1: LED

control2: LED

drive(speed: float, direction: bool) → None[source]

Spin the motor at a given speed and direction

speed: float in [0, 1] direction: True for forward, False for backwards

forward(speed: float) → None[source]: Spin the motor forward at a given speed

pwm: PWMLED

stop() → None[source]: Stop the motor

class src.motor.PinsConfig[source]

Bases: TypedDict

control1: int

control2: int

encoder: int

speed: int

src.params module

src.switch module

class src.switch.Config[source]

Bases: TypedDict

pin: int

class src.switch.Switch(*args, **kwargs)[source]

Bases: Button

state: bool: child class of gpiozero.Button

switch_state()[source]

src.vehicle module

class src.vehicle.Config[source]

Bases: TypedDict

motors: MotorsConfig

slant: float

class src.vehicle.MotorsConfig[source]

Bases: TypedDict

left: Config

right: Config

class src.vehicle.Vehicle(config: Config)[source]

Bases: object

static calculate_slant_from_ticks(left_motor_ticks: int, right_motor_ticks: int) → float[source]: Calculate the slant of the vehicle based on the difference in ticks between the left and right motors

current_speed: float

drive(left_speed: float, left_direction: bool, right_speed: float, right_direction: bool)[source]

drive_backward(speed: float = 1.0) → None[source]: turn both motors backward at a given speed

drive_forward(speed: float = 1.0) → None[source]: turn both motors forward at a given speed

left_motor: Motor

mode: str | None

pivot_left(speed: float = 1.0) → None[source]: at the same speed, drive the left motor backward, and the right motor forward

pivot_right(speed: float = 1.0) → None[source]: at the same speed, drive the left motor forward, and the right motor backward

right_motor: Motor

slant: float

stop() → None[source]: stop both motors

test_run_calculate_slant()[source]

src.wheel_encoder module

class src.wheel_encoder.Config[source]

Bases: TypedDict

pin: int

class src.wheel_encoder.WheelEncoder(*args, **kwargs)[source]

Bases: Button

TICKS_PER_REVOLUTION: int = 192

WHEEL_RADIUS: float = 25.0

static distance_from_ticks(ticks)[source]

increment_ticks()[source]

static revolutions_from_ticks(ticks)[source]

ticks: int

src package

Subpackages

Submodules

src.camera module

src.distance_sensor module

src.led module

src.motor module

src.params module

src.switch module

src.vehicle module

src.wheel_encoder module

Module contents