koebelt-dash-scripts

Control drones, robots and test rigs connected in koebelt/dash from Python: read their telemetry, drive them, react to buttons and conditions, with any Python package you like (OpenCV, PyTorch, YOLO…).

pip install koebelt-dash-scripts

from koebelt_dash_scripts import connect, every, pid

dev = connect()                      # the device selected in koebelt dash
speed = dev.setting("speed", 0.4, min=0, max=1)   # a slider in dash
hold = pid(1.5, 0.0, 0.2)

stopped = False

@dev.trigger("Stop here", key="S")   # a button in dash
def stop_here():
    global stopped
    stopped = True
    dev.mode("HOLD")                 # it stops driving: the device holds

for _ in every(0.05):                # 20 Hz; dash puts it in AUTO while it drives
    if stopped:
        continue
    error = 0.0 - dev.tlm.pos[0]     # stay on the north-south line
    dev.sticks(throttle=speed.value, steer=hold.update(error))

A script can say what it needs, and dash only runs it on a device that fits:

# requires: drone, rover     # a kind: any one of them
# requires: gps, camera      # capabilities: all of them

Capabilities are the sensors the device announces (gps, imu, lidar, camera, baro…) and what dash sees on it (battery, joints, its own channels such as motor_temp, sequences). connect(requires=[...]) adds more from the code.

Run it from koebelt dash (Scripts), or from a terminal while dash is open on the same computer: it finds dash by itself.

With a model on the camera:

from ultralytics import YOLO
from koebelt_dash_scripts import connect, pid

model = YOLO("yolov8n.pt")
dev = connect()
steer = pid(1.2, 0, 0.1)

for frame in dev.camera.frames():
    result = model(frame, verbose=False)[0]
    dev.overlay(result)                       # see what the model sees, in dash
    people = [b for b in result.boxes if int(b.cls) == 0]
    if not people:
        dev.sticks(throttle=0, steer=0)
        continue
    x = float(people[0].xywhn[0][0]) - 0.5    # −0.5 left … 0.5 right
    dev.sticks(throttle=0.4, steer=steer.update(x))  # positive steer turns right

Script hosts: scripts for phones and tablets

koebelt dash on an iPhone, iPad or Android device sends its scripts to a computer on the same network, which runs them with its own Python (and its GPU), while the phone keeps the device link, the sticks and STOP:

pip install koebelt-dash-scripts
koebelt-dash-scripts host

It prints a pairing code; in dash: Scripts > Runs on > Add a script host. A laptop on the field, a Raspberry Pi 5 or a Jetson all work. A computer running koebelt dash can also be a host (Settings > Scripts).

Safety

dash stays in charge, whatever the script does:

• STOP stops every device and ends the script.
• Moving the sticks in dash takes over; the script's sticks are ignored until you resume it.
• Each script has limits set in dash: maximum speed, geofence, ceiling. Arming, take-off and parameter writes are refused unless you allow them.
• If the script crashes, hangs or leaves the geofence, the device holds, and the script cannot drive again until you resume it.

The API

Errors

When something goes wrong, the error says what, points at the line of your script, says why and how to fix it, and suggests the name you meant:

error[E0201]: “pitch” is not a stick of a rover
  --> follow_me.py:21
   |
21 |     dev.sticks(throttle=0.4, pitch=steer)
   |     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
   |
   = why: sticks are named for the kind of device
   = help: a rover has: throttle, steer, lx, ly, rx, ry
   = docs: https://github.com/koebelt/koebelt_dash/blob/main/libs/python-dash-scripts/ERRORS.md#e0201

Every code is explained in ERRORS.md. Catch them as ScriptError (e.code, e.why, e.help).

The messages between scripts and dash are documented in protocol/SCRIPTS.md.

MIT licence.