A small example package for limo
Project description
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
robots=limo.Limo()
function list:
EnableCommand()
SetMotionCommand()
GetLinearVelocity()
GetAngularVelocity()
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)lateral_velocity
:(float)steering_angle
:(float)
GetLinearVelocity
- Prototype:
GetLinearVelocity(id)
- Description:Get the linear velocity from limo
- Return:linear velocity
GetAngularVelocity
- Prototype:
GetAngularVelocity()
- Description:Get the angular velocity from limo .
- Return:angular 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.Open Front Light
#!/usr/bin/env python3
# coding=utf-8
from pyagxrobots import agxrobots
robots=agxrobots.UGV(bustype='socketcan', channel='can0', bitrate=500000)
robots.EnableCANCtrl()
robots.EnableLightCtrl()
robots.LightFrontMode(1)
2.Move Robot
#!/usr/bin/env python3
# coding=utf-8
from pyagxrobots import agxrobots
robots=agxrobots.UGV(bustype='socketcan', channel='can0', bitrate=500000)
robots.EnableCANCtrl()
robots.SendLinerVelocity(0.2)
3.get CAN message
#!/usr/bin/env python3
# coding=utf-8
from pyagxrobots import agxrobots
robots=agxrobots.UGV(bustype='socketcan', channel='can0', bitrate=500000)
robots.EnableCANCtrl()
robots.GetAngularVelocity()
robots.GetLinerVelocity()
Project details
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