This is Python API for Agilex limo

This is a python API for serial communication with Agilex Robotics-limo

Installation

Notes:

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

pip

pip3 install pylimo

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
from pylimo import limo
limo=limo.LIMO()

function list:

    EnableCommand()
    SetMotionCommand()
    GetLinearVelocity()
    GetAngularVelocity()
    GetSteeringAngle()
    GetLateralVelocity()
    GetControlMode()
    GetBatteryVoltage()
    GetErrorCode()
    GetRightWheelOdem()
    GetLeftWheelOdem()
    GetIMUAccelData()
    GetIMUGyroData()
    GetIMUYawData()
    GetIMUPichData()
    GetIMURollData()

EnableCommand

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

SetMotionCommand

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

GetLinearVelocity

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

GetAngularVelocity

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

GetSteeringAngle

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

GetLateralVelocity

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

GetControlMode

• Prototype: GetControlMode()
• Description:Get the control mode from limo .
• 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 limo
• Return:battery voltage

GetErrorCode

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

GetIMUAccelData

• Prototype: GetIMUAccelData()
• Description:Get the IMU accle data form limo.
• Return:IMU_accel_x,IMU_accel_y,IMU_accel_z

GetIMUGyroData

• Prototype: GetIMUGyroData()
• Description:Get the IMU gyro data form limo.
• Return:IMU_gyro_x,IMU_gyro_y,IMU_gyro_z

GetIMUYaw

• Prototype: GetIMUYaw()
• Description:Get the IMU yaw data form limo.
• Return:IMU_yaw

GetIMUPitch

• Prototype: GetIMUPitch()
• Description:Get the IMU pitch data form limo.
• Return:IMU_pitch

GetIMURoll

• Prototype: GetIMURoll()
• Description:Get the IMU roll data form limo.
• Return:IMU_roll

Example

Note:

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

1.Move Robot

#!/usr/bin/env python3
# coding=UTF-8
from pylimo import limo
import time
limo=limo.LIMO()
limo.EnableCommand()
while True:
    limo.SetMotionCommand(linear_vel=0.1,angular_vel=-0.01)
    time.sleep(0.1)

2.get message

#!/usr/bin/env python3
# coding=UTF-8
from pylimo import limo
import time
limo=limo.LIMO()
limo.EnableCommand()
while True:
    time.sleep(0.1)
    print(limo.GetLinearVelocity())