srobot

srobot - SourceBots Robot API

This is the API for Southampton Robotics Outreach robotics competitions.

Installation

If you wish to install openCV from your package manager, you can install the base package with:

pip install srobot

To install the full package, including openCV, you can install with:

pip install srobot[vision]

Usage

Importing the module will, by default, trigger board discovery and wait for the start button to be pressed.

import sbot

Unlike previous versions, robot functionality is accessed directly from the sbot library instead of instantiating a class.

from sbot import *

motors.set_power(0, 0.3)
motors.set_power(1, 0.3)

power.get_output_current(PowerOutputPosition.H0)
utils.sound_buzzer(880, 0.5)

servos.set_position(0, 45/90)

print(arduino.measure_ultrasound_distance(8, 9))

if comp.is_competition:
    markers = vision.detect_markers()
    leds.set_colour(0, Colour.MAGENTA)

Startup behaviour

You can configure the startup behaviour of sbot with an override.env file in the same directory as your project.

Example override.env file:

ENABLE_DEBUG_LOGGING=1
SKIP_WAIT_START=1
NO_POWERBOARD=1

If SKIP_WAIT_START is set, you will have to manually trigger board discovery and wait for the start button:

from sbot import utils

utils.load_boards()
utils.wait_start()

The currently supported override keys are:

You can also configure these settings as environment variables, by prepending the prefix SBOT_. For example, ENABLE_DEBUG_LOGGING can be set as SBOT_ENABLE_DEBUG_LOGGING. Some settings can only be configured as environment variables. These are:

Developer Notes

There are a number of considerations that have been made in the design of this API. Some of these may not be immediately obvious, so they are documented below.

• tuple is used to prevent the user from adding, removing or overwriting items in any parts of the API that would return a list.
• __slots__ is used to prevent the user from adding, removing or overwriting attributes in any parts of the API.
• sbot.serial_wrapper.SerialWrapper handles automatic reconnection to the serial port if the connection is lost and impleents 3 retries on any serial operation before raising a BoardDisconnectionError.
• The old API is still available under sbot.historic, though this might change.