physical_interfaces

Interfaces to the hardware.

Subpackages

Package Contents

Classes

PhysicalInterface

Abstract implementation for interfacing with hardware.

Functions

get_interface(...)

Get the interface for the given hardware type.
get_interface(hardware_type: modular_robot_physical._hardware_type.HardwareType, debug: bool, dry: bool) → modular_robot_physical.physical_interfaces._physical_interface.PhysicalInterface

Get the interface for the given hardware type.

Parameters:

  • hardware_type – The type of hardware.

  • debug – If debugging messages are activated.

  • dry – If servo outputs are not propagated to the physical servos.:

Returns:

The interface.

Raises:

  • NotImplementedError – If the hardware type is not supported or if careful is enabled and not supported for the hardware type.

  • ModuleNotFoundError – If some required package are not installed.

class PhysicalInterface

Bases: abc.ABC

Inheritance diagram of modular_robot_physical.physical_interfaces.PhysicalInterface

Abstract implementation for interfacing with hardware.

abstract set_servo_targets(pins: list[int], targets: list[float]) → None

Set the target for multiple servos.

This can be a fairly slow operation.

Parameters:

  • pins – The GPIO pins.

  • targets – The target angles.

abstract enable() → None

Start the robot.

abstract disable() → None

Set the robot to low power mode.

This disables all active modules and sensors.

abstract get_battery_level() → float

Get the battery level.

Returns:

The battery level as a number between 0.0 and 1.0.

Raises:

NotImplementedError – If getting the battery level is not supported on this hardware.

abstract get_multiple_servo_positions(pins: Sequence[int]) → list[float]

Get the current position of multiple servos.

Parameters:

pins – The GPIO pins.

Returns:

The current positions.

Raises:

NotImplementedError – If getting the servo position is not supported on this hardware.

abstract get_imu_angular_rate() → pyrr.Vector3

Get the angular rate from the IMU.

Returns:

The angular rate.

Raises:

NotImplementedError – If the IMU is not supported on this hardware.

abstract get_imu_orientation() → pyrr.Vector3

Get the orientation from the IMU.

Returns:

The orientation.

Raises:

NotImplementedError – If the IMU is not supported on this hardware.

abstract get_imu_specific_force() → pyrr.Vector3

Get the specific force from the IMU.

Returns:

The specific force.

Raises:

NotImplementedError – If the IMU is not supported on this hardware.

abstract get_camera_view() → numpy.typing.NDArray[numpy.uint8] | None

Get the current view from the camera.

Returns:

The camera view.

Raises:

NotImplementedError – If the Camera is not supported on this hardware.