whill 1.2.0

WHILL Model CR SDK for Python

pywhill

pywhill is a WHILL Model CR SDK for Python.
We also have Model CR Technical Support repository for current and potential Model CR users.
For general questions and requests, please visit our product page .

Requirements

• WHILL Model CR (Normal Model C does not support serial communication.)
• Python3.6 or later
• pySerial (https://github.com/pyserial/pyserial)

OS Support

• Windows 10
• MacOS X
• Ubuntu 16.04
• Ubuntu 18.04

Getting Started

Clone or download this repository at any place you want, or this package is avalable on PyPI.

python3 -m pip install whill

APIs

Initialize

from whill import ComWHILL
<your_obj_name> = ComWHILL(port=<Your COM Port>)

Initialize WHILL instance with SoftwareSerial.

Communication

<your_obj_name>.start_data_stream(interval_msec=<update interval in millisecond>)

Command WHILL to start reporting WHILL status.

<your_obj_name>.refresh()

Fetch serial interface and do internal process.

<your_obj_name>.stop_data_stream()

Command WHILL to stop report WHILL status.

Manipulation

<your_obj_name>.set_joy_stick(front=<Integer -100~100>, side=<Integer -100~100>)

Manipulate a WHILL via this command. Both front and side are integer values with range -100 ~ 100.

<your_obj_name>.send_power_on()
<your_obj_name>.send_power_off()
<your_obj_name>.set_power(power_state_command=<True/False>)

Turn on/off a WHILL. power_state_command is a bool with True to power WHILL on.

<your_obj_name>.set_battery_voltage_output_mode(vbatt_on_off=<True/False>)

Enable/Disable power supply to the interface connector. True to enable power supply.

Sensors and Status

Accelerometer (deprecated)

Accelerometer API has been disabled since v1.2.0.

Gyro (deprecated)

Gyro API has been disabled since v1.2.0.

Battery

<your_obj_name>.battery

Remaining battery level[%] and consumpting current[mA].

Motor State

<your_obj_name>.left_motor
<your_obj_name>.right_motor

Motors angle and speed. The angle range is -PI to +PI, Speed unit is km/h. Note that the speed value is low-pass filterd.

Speed Mode

<your_obj_name>.speed_mode_indicator

Current selected speed mode.

Callback

<your_obj_name>.register_callback(event=<either 'data_set_0' or 'data_set_1', func=<your callback function>)

By registering callback functions, You can hook at status is updated. See Example: cr_example3_callback.py

License

MIT License