`modular_robot_physical`

Physical Robot Control and Utils.

Subpackages

`Config`	The configuration for running a physical robot.
`HardwareType`	The types of hardware.
`UUIDKey`	Wraps a value and implements __eq__ and __hash__ based purely on id(value).

`PROTOCOL_VERSION`
`STANDARD_PORT`

class Config

The configuration for running a physical robot.

modular_robot: revolve2.modular_robot.ModularRobot: The Modular Robot Object.

hinge_mapping: dict[modular_robot_physical._uuid_key.UUIDKey[revolve2.modular_robot.body.base.ActiveHinge], int]: Hinge mapping: map each active hinge object to a specific Servo with its ID (int).

initial_hinge_positions: dict[modular_robot_physical._uuid_key.UUIDKey[revolve2.modular_robot.body.base.ActiveHinge], float]: Initial positions of the active hinges.

control_frequency: int: Frequency at which to call the brain control functions in seconds. There currently is a bug where if you set the control frequency to (around) 10 or smaller the program might hang. This is most likely a big in pycapnp and once pycapnp v2 is released this is probably resolved.

inverse_servos: dict[int, bool]: If a servo is mounted in the wrong direction on the body one can fix it by inverting the action. inverse_servos allows you to inverse specific servos with their gpio number as key.

class HardwareType(*args, **kwds)

Bases: enum.Enum

The types of hardware.

class UUIDKey(value: _T)

Bases: Generic[_T]

Wraps a value and implements __eq__ and __hash__ based purely on id(value).

property value: _T

Get the wrapped value.

__eq__(other: object) → bool

Compare with another wrapped value using their ids.

__hash__() → int

Hash this object using its id only.