This is a clearer implementation of a library to interact with the Adeept rasptank robot. Pins are hardcoded
Project description
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
Rasptan 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. 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 some .
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