pyagxrobots 0.8.0

A small example package for limo

This is Python API for Agilex Robotics

This is a python API for serial communication with Agilex Robotics

Installation

Notes:

Make sure that python version >=3.4. if you have python3 and python2 ,please use python3

Communication protocol

Robot	Protocol V1	Protocol V2	CAN	Support Status
Scout 1.0	Y	-	Y	Discontinued
Scout 2.0	Y	Y	Y	Active
Scout Mini (Skid)	Y	Y	Y	Active
Scout Mini (Omni)	Y	Y	Y	Active
Hunter 1.0	Y	Y	Y	Active
Hunter 2.0	-	Y	Y	Active
Bunker	Y	Y	Y	Active
Tracer	-	Y	Y	Active
Ranger Mini	-	Y	Y	Active

pip

pip3 install pyagxrobots

Notes:

Make sure that pip3 version >= 9.0.0.

pip3 -V     																				 #cheak the pip3 version
python3 -m pip install --upgrade pip                          #updata pip3

import to your project

#!/usr/bin/env python3
# coding=utf-8
import pyagxrobots
robots=pyagxrobots.pysdkugv.robotstype()  #    robotstype depend on your robot

function list:

EnableCAN()
SetMotionCommand()
SetLightCommand()
GetRobotStae:
    MotionCommandMessage:
        GetLinearVelocity()
        GetAngularVelocity()
        GetLateralVelocity()
        GetSteeringAngle()
    LightCommandMessage:
        GetLightCmdCtrl()
        GetFrontMode()
        GetFrontCustom()
        GetRearMode()
        GetRearCustom()
    SystemStateMessage:
        GetVehicleState()
        GetControlMode()
        GetBatteryVoltage()
        GetErrorCode()
    RcStateMessage:
    OdometryMessage:
        GetLeftWheel()
        GetRightWheel()
    ActuatorStateMessageV1:
		current()
        rpm()
        driver_temp()
        motor_temp()
    ActuatorStateMessageV2:
        rpm()
        current()
        pulse_count()
        driver_voltage()
        driver_temp()
        motor_temp()
        driver_state()

EnableCAN

• Prototype: EnableCAN()
• Description: Enable command and control mode.

SetMotionCommand

• Prototype: SetMotionCommand()
• Description:Send Version Request to robots.
• Parameters
  • linear_vel:(float)
  • angular_vel:(float)
  • lateral_velocity:(float)
  • steering_angle:(float)

GetLinearVelocity

• Prototype: GetLinearVelocity()
• Description:Get the linear velocity from robot
• Return:linear velocity

GetAngularVelocity

• Prototype: GetAngularVelocity()
• Description:Get the angular velocity from robot.
• Return:angular velocity

GetSteeringAngle

• Prototype: GetSteeringAngle()
• Description:Get the steering angle from robot .
• Return:steering angle

GetLateralVelocity

• Prototype: GetLateralVelocity()
• Description:Get the lateral velocity from robot .
• Return:lateral velocity

GetControlMode

• Prototype: GetControlMode()
• Description:Get the control mode from robot .
• Return:control mode

GetLeftWheelOdeom

• Prototype: GetLeftWheelOdeo()
• Description:get robots LeftWheelOdom .
• Return:LeftWheelOdom

GetRightWheelOdom

• Prototype: GetRightWheelOdom()
• Description:get robots RightWheelOdom .
• Return:RightWheelOdeom

GetBatteryVoltage

• Prototype: GetBatteryVoltage()
• Description:Get the battery voltage from robot
• Return:battery voltage

GetErrorCode

• Prototype: GetErrorCode()
• Description:Get the error code from robot
• Return:error code

Example

Note:

For safety, please ensure that the robot's wheels are off the ground

1.ScoutMini

#!/usr/bin/env python3
# coding=UTF-8
import pyagxrobots
import time
scoutmini=pyagxrobots.pysdkugv.ScoutMiniBase()
scoutmini.EnableCAN()
num=5
while num>0:
    
    scoutmini.SetMotionCommand(linear_vel=0.1)
    print(scoutmini.GetLinearVelocity())
    time.sleep(0.3)
    num-=1

2.get message

#!/usr/bin/env python3
# coding=UTF-8
import pyagxrobots
import time
bunker=pyagxrobots.pysdkugv.BunkerBase()
bunker.EnableCAN()
num=5
while num>0:
    
    bunker.SetMotionCommand(linear_vel=0.1)
    print(bunker.GetLinearVelocity())
    time.sleep(0.3)
    num-=1