Control LEGO(tm) BluetoothLE Hubs, Motors, and Sensors using Async Python
BrickNil [*] provides an easy way to connect to and program LEGO® Bluetooth hubs (including the PoweredUp Passenger Train 60197 and Cargo Train 60198 sets, and the Lego Duplo Steam Train 10874 and Cargo Train 10875 ) using Python on OS X and Linux. This work was inspired by this EuroBricks thread, and the NodeJS Powered-Up library. Unlike the official apps available from LEGO, BrickNil allows you to control multiple hubs with a single program, which lets you easily scale to programming large interactive systems.
BrickNil requires modern Python (designed and tested for 3.7) and uses asynchronous event programming built on top of the Curio async library. As an aside, the choice of async library is fairly arbitrary; and enabling another library such as asyncio or Trio should be straightforward.
An example BrickNil program for controlling the Train motor speed is shown below:
from curio import sleep from bricknil import attach, start from bricknil.hub import PoweredUpHub from bricknil.sensor import TrainMotor @attach(TrainMotor, name='motor') class Train(PoweredUpHub): async def run(self): for i in range(2): # Repeat this control two times await self.motor.ramp_speed(80,5000) # Ramp speed to 80 over 5 seconds await sleep(6) await self.motor.ramp_speed(0,1000) # Brake to 0 over 1 second await sleep(2) async def system(): train = Train('My train') if __name__ == '__main__': start(system)
Free and open-source software: ASL2 license
- Supports the following actuators/sensors:
Hub LED color
Boost vision sensor (color, distance)
Boost internal tilt/orientation/accelerometer
Boost external motor
Wedo external motor
Wedo tiltand motion sensors
- Fully supports Python asynchronous keywords and coroutines
Allows expressive concurrent programming using async/await syntax
The current implementation uses the async library Curio by David Beazley
Uses the Adafruit Bluefruit BluetoothLE library for Mac OS X
Uses the Bleak Bluetooth library for Linux and Win10; also tested on Raspberry Pi.
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