ackmetton 0.1.1

A base library for making use of classes that has commonly used and modular functions and variables.

ackmetton

A base library for robotics, unmanned vehicles, and automation — compatible with Python and MicroPython.

ackmetton provides a modular, reusable foundation of math primitives, control algorithms, logging, and platform abstraction designed to run the same code across CPython and MicroPython environments with minimal friction.

Features

Math Library (ackmetton.mathlib)

Component	Description
clamp, map, deadzone, low_pass, amplitude_impedance	Utility functions for signal conditioning and filtering
sin, cos, acos	Convenience wrappers around math
Vector2	2D vector with arithmetic, magnitude, normal, unit, dot, cross
Vector3	3D vector with arithmetic, magnitude, normal, unit, dot, cross
Basis	Orthonormal basis container (3×3)
Quaternion	Full quaternion algebra — multiplication, conjugation, rotation, axis-angle construction, Euler angles, rotation matrix, basis extraction
PID	Proportional-Integral-Derivative controller with integral clamping, set-point tracking, and reset

Utilities (ackmetton.utils)

Component	Description
TimeStamp	High-resolution timing with configurable unit mask, delta measurement

Base Classes (ackmetton.base)

Component	Description
Base	Root class with name attribute shared by all library classes
Logger	File-based logging with leveled output, auto-rotating directory creation
LogWrap	Proxy that forwards log calls scoped to an object name
Printer	Timestamped console printer with configurable output level
Logged	Combined logging + printing class that bridges Logger and Printer

Platform Abstraction (ackmetton.platform)

Function	Description
is_micropython()	Detect MicroPython runtime
is_python()	Detect CPython on Linux

Enums (ackmetton.enums)

Enum	Description
FEED_LEVELS	Log/print severity levels (NOTSET, DEBUG, INFO, WARNING, ERROR, CRITICAL)

Requirements

• Python ≥ 3.14 or MicroPython (any version)
• No external dependencies

Installation

pip install ackmetton

Or copy src/ackmetton/ directly into your project for embedded/MicroPython targets.

Installing from source

git clone https://github.com/<your-org>/ackmetton.git
cd ackmetton
pip install .

Quick Start

from ackmetton.mathlib import Vector3, Quaternion, PID, clamp

# Vector math
v = Vector3(1, 2, 3) + Vector3(4, 5, 6)
print(v.normal())

# Quaternion rotation
q = Quaternion.from_axis_angle(90, Vector3(0, 1, 0))

# PID control
pid = PID(kp=2.0, ki=0.1, kd=0.05, set_point=100)
output = pid.update(measured_value=85, dt=0.01)

MicroPython Compatibility

ackmetton is designed for cross-platform use. Modules that rely on CPython stdlib (notably Logger which uses logging) raise a clear ImportError when imported on MicroPython. All other modules — mathlib, utils, platform, enums, and the core Base/Printer classes — work unchanged on MicroPython.

Project Structure

src/
└── ackmetton/
    ├── __init__.py
    ├── base.py        # Base, Logger, LogWrap, Printer
    ├── enums.py       # FEED_LEVELS
    ├── mathlib.py     # Math utilities, vectors, quaternions, PID
    ├── platform.py    # is_micropython(), is_python()
    └── utils.py       # TimeStamp

License

MIT