My Rasptank

Hello there! I created this version of the rasptank code to be more modular and start developing a ROS code. With this implementation you can instantiate the object Rasptank, (only one can be created).

To install:

pip install daiego43_rasptank

Rasptank Control

To control the rasptank you can use the following methods:

from daiego43_rasptank.rasptank import Rasptank
rasptank = Rasptank()

A rasptank object is composed of the following sensors and actuators:

class Rasptank:
    def __init__(self):
        # Brazo del robot
        self.link_4 = Servo(15, "end_effector", min_angle=0, max_angle=90, home_angle=90)
        self.link_3 = Servo(14, "wrist", min_angle=0, max_angle=180, home_angle=80)
        self.link_2 = Servo(13, "elbow", min_angle=0, max_angle=135, home_angle=110)
        self.link_1 = Servo(12, "base", min_angle=0, max_angle=180, home_angle=120)
        self.link_0 = Servo(11, "camera", min_angle=70, max_angle=120, home_angle=110)

        # Camara del robot
        self.video = Camera()

        # Ruedas del robot
        self.left_wheel = LeftWheel()
        self.right_wheel = RightWheel()

        # Sensor distancesensor
        self.ultrasonic_sensor = DistanceSensor()

        # Sensor de linea
        self.line_follower = MyLineSensor()

5 servos, 2 wheels, 1 camera, 1 ultrasonic sensor and 1 line sensor. The LEDs are not implemented bc I had to remove them from my unit. Also all these classes are my own implementation and might have some errors. But we can essentially get and set every sensor in the robot with a more friendly interface.

Comments

Since for me this package is ready to be used with my own robot, now I am continuing with the ROS implementation. If you reading this, would like to install this software or test it on your own robot, please let me know or contact me and we can work together to make this package better for everyone :).

Now I am working on a ROS package that essentially publishes sensor info and subscribes to the wheels and servos to control the robot. I think that will be a separate package.