rovlib 0.0.1

ROV control and image library

ROV Library

A custom library that exactly fits our needs, be it programmatically controlling a Remote Operated Vehicle (ROV) or processing image data from the on-board cameras, it's got you covered.

Table of contents 🗒

• Installation

• Usage

  • Cameras

  • Control

• Dependency

  • User side

  • ROV side

• Future Plans

General-Usage ⬇

Like any other 3rd party module you can easily import the desired sub-module by specifying what you want from the main rovlib module

from rovlib.cameras import RovCam

# or

from rovlib.control import RovMavLink, Mode

More about rovlib.cameras ? ➡ Cameras module

More about rovlib.control ? ➡ Control module

---

ROV-cameras 🎥

-- brief description 📝

The camera module is required to receive frames from ROV cameras being sent by the On board camera system

How to use it 🔧

-- steps on how to use it 💻

---

ROV-control 🕹

It is a python sub-module that simplifies the use of pymavlink APIs, to ease the control of our beloved Alenda (the ROV).

How to use it 🔧

Establish communication 🤝

# create an instance of RovMavlink

# Those are the default constructor params.

rov = RovMavlink(connection_type = 'udpin', connection_ip = '0.0.0.0', connection_port = '14550', silent_mode = True)

# Binds to the port in the given address

rov.establish_connection()

To start controlling the vehicle you should Arm it first. To arm it use there following commands.

# Silent mode is used to shut off prints from the used functions for instance - > 'vehicle Armed successfully'

rov = RovMavlink(silent_mode=False).establish_connection()

rov.arm_vehicle() # you only need to arm the vehicle once, there is no need to arm it every time you want to stablize it



# to disarm vehicle

rov.disarm_vehicle()

Set vehicle mode 🎯

rov = RovMavlink().establish_connection()

rov.arm_vehicle()

rov.set_vehicle_mode(Mode.STABILIZE)

Those are all the modes you would need to use. If you used set_vehicle_mode() with any thing other that Mode enum it would raise a violation ❌🔞. blash fakaka 😘

class Mode(IntEnum):

    STABILIZE = 0

    ACRO = 1

    ALT_HOLD = 2

    AUTO = 3

    GUIDED = 4

    CIRCLE = 7

    SURFACE = 9

    POSHOLD = 16

    MANUAL = 19



# use them as follows

# rov.set_vehicle_mode(Mode.STABILIZE)

sending custom control 🎮

⚠ Take care the throttle of x, y, z and rotation is a value between -1 to 1. any value out side this boundry will raise a violation. ❌🔞

rov.send_control(JoyStickControl(x_throttle = 0.5, y_throttle = 0.5, z_throttle = 0, rotation_throttle = 1, delay = 0.1))

also you can it as follows ⬇

rov = RovMavlink(silent_mode=False).establish_connection()

period = 10 # period for moving the joystick control in seconds

rov.arm_vehicle()

# my_lovely_fake_joy_stick = JoyStickControl(x_throttle=1, y_throttle=1) # name the param u want to add and give it a value between -1 to 1

my_lovely_fake_joy_stick = JoyStickControl(y_throttle=1)

rov.send_control(my_lovely_fake_joy_stick, period)