openrover 0.2a3

A Python driver for driving the Rover Robotics OpenRover Basic robot

OpenRover Python3 Driver

This is the official Python driver for the Rover Robotics "Open Rover Basic" robot. Use this as a starting point to get up and running quickly.

Setup

Assuming you already have Pipenv, and a compatible version of Python (3.5+), set up a new virtual environment:

mkdir myproject
cd myproject
pipenv install --python 3

To activate that virtual environment, pipenv shell in that directory.

To install official releases from PyPi:

pip3 install openrover

To install specific releases from git for development, use the git url:

pip3 install -e git+https://github.com/RoverRobotics/openrover_python_driver/tree/<some branch>#egg=openrover

Utilities

pitstop

Pitstop is a new utility to bootload your rover and set options. After installing, you can invoke it with pitstop.

> pitstop --help
usage: pitstop [-h] [-p port] [-f path/to/firmware.hex] [-m version]
               [-u k:v [k:v ...]]

OpenRover companion utility to bootload robot and configure settings.

optional arguments:
  -h, --help            show this help message and exit
  -p port, --port port  Which device to use. If omitted, we will search for a possible rover device
  -f path/to/firmware.hex, --flash path/to/firmware.hex
                        Load the specified firmware file onto the rover
  -m version, --minimumversion version
                        Check that the rover reports at least the given version
                        version may be in the form N.N.N, N.N, or N
  -u k:v [k:v ...], --updatesettings k:v [k:v ...]
                        Send additional commands to the rover. v may be 0-255; k may be:
                                3=SET_POWER_POLLING_INTERVAL_MS
                                4=SET_OVERCURRENT_THRESHOLD_100MA
                                5=SET_OVERCURRENT_TRIGGER_DURATION_5MS
                                6=SET_OVERCURRENT_RECOVERY_THRESHOLD_100MA
                                7=SET_OVERCURRENT_RECOVERY_DURATION_5MS
                                8=SET_PWM_FREQUENCY_KHZ
                                9=SET_BRAKE_ON_ZERO_SPEED_COMMAND
                                11=SET_BRAKE_ON_DRIVE_TIMEOUT
                                12=SET_MOTOR_SLOW_DECAY_MODE
                                13=SET_TIME_TO_FULL_SPEED

tests

To run tests, first attach the rover via breakout cable then run either openrover-test or python3 -m openrover.test. By default, tests that involve running the motors will be skipped, since you may not want a rover ripping cables out of your computer. If you have made sure running the motors will not damage anything, these tests can be opted in with the flag --motorok.

> openrover-test
==================== test session starts =====================
platform win32 -- Python 3.7.3, pytest-4.3.1, py-1.8.0, pluggy-0.9.0
rootdir: ..., inifile:
plugins: trio-0.5.2
collected 32 items

..\openrover\tests\test_bootloader.py .s                [  6%]
..\openrover\tests\test_data.py ..                      [ 12%]
..\openrover\tests\test_find_device.py ....             [ 25%]
..\openrover\tests\test_openrover_protocol.py ....      [ 37%]
..\openrover\tests\test_rover.py .......sssss......ss   [100%]

=========== 24 passed, 8 skipped in 89.14 seconds ============