openrover 1.0.0a1

A Python driver for driving the Rover Robotics OpenRover Basic robot

OpenRover Python Suite

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.

Included in this package are:

1. A Python library for programmatically interfacing with the Rover over USB
2. A command line application "pitstop" for upgrading and configuring the Rover firmware
3. A test suite that confirms the Firmware and hardware are operating as expected.

Setup

To install official releases from PyPi:

python3 -m pip install -U pip setuptools
python3 -m pip install -U openrover --no-cache-dir

On Linux, you may not have permission to access USB devices. If this is the case, run the following then restart your computer:

sudo usermod -a -G dialout $(whoami)

Development setup

Manual Prerequisites:

• Python3 (recommended to install Python3.6, Python3.7, and Python3.8)
• Poetry

Instead, we recommend:

git clone https://github.com/RoverRobotics/openrover-python.git
cd openrover-python
poetry install

Useful commands

For testing, it is recommended to use tox, which can run tests on multiple Python interpreters.

pytest

Test on current Python interpreter

tox

Test on all supported Python minor versions

black .

Reformat code to a uniform style

githooks setup

Install git pre-commit hook to automatically run black

Caveats

• When running in PyCharm in debug mode, you will get a warning like "RuntimeWarning: You seem to already have a custom sys.excepthook handler installed ..." https://github.com/python-trio/trio/issues/1553
• Note this is a pyproject (PEP-517) project so it will NOT work to pip install --editable ...

pitstop

Pitstop is a new utility to bootload your rover and set options. After installing, you can invoke it with pitstop or python3 -m openrover.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 ============