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ROBOT_FUNCTIONS.md

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ROBOT_FUNCTIONS.md

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Functions Implemented in the Robot Class

Setup

load_base_config()

Arguments: None

Returns: None

Action: Called when the robot is first powered on. Sets all the motor parameters to the values defined in the relevant json file. Also sets up all of the relevant sensors.

load_pid_config()

Arguments: None

Returns: None

Action: Called when the robot is first powered on. Sets all the motor parameters to the values defined in the PID json file.

Sensors

calibrate_ultra_position(pose)

Arguments: pose

Returns: None

Action: Sets the current ultrasonic sensor position state to the value passed in and saves this state.

read_touch_sensor(port) -> result

Arguments: port - The port on the BrickPi the sensor is attached to (int).

Returns: The value of the sensor (bool).

Action: If a sensor is attached to the reference port, it gets the current value of the sensor and returns it. As it is a bump sensor this will be a 1 or 0.

read_ultrasonic_sensor() -> result

Arguments: None

Returns: The value of the ultrasonic sensor (int).

Action: If a sensor is attached to the reference port, it gets the current value of the sensor and returns it. As it is an ultrasonic sensor this will be an integer.

median_filtered_ultrasonic(size) -> result

Arguments: Size of the filter to be used (int).

Returns: The median value of the ultrasonic sensor (int).

Action: Further from the function read_ultrasonic_sensor, this function filters the value by collecting a determined number of samples (size) and then taking the median value from the sample. Should help with noise filtering.

save_state(state_file)

Arguments: Name of the file to be used (string).

Returns: None

Action: Saves the current robot state to a json file, determined by the string passed to the function.

set_ultra_pose(pose)

Arguments: Position to move the ultrasonic sensor to (int).

Returns: None

Action: Rotates the ultrasonic sensor to the specified position in degrees.

Movement

calibrate(radians, angle)

Depricated.

move_wheels(distances, wheels)

Arguments: Distance to move each wheel by (int array). Wheels to be moved (int array).

Returns: None

Action:

rotate_motor(angles, motors)

Arguments: Angle to move each wheel by (int). Motor to be moved (int).

Returns: None

Action:

rotate_right(angle)

Arguments: Angle to rotate the robot to the right by (int).

Returns: None

Action: Rotates the robot right the number of degrees specified by the argument passed.

rotate_left(angle)

Arguments: Angle to rotate the robot to the left by (int).

Returns: None

Action: Rotates the robot left the number of degrees specified by the argument passed.

set_speed(speeds, motors)

stop()

Arguments: None

Returns: None

Action: Stops the robot motors.

travel_straight(distance)

Arguments: Distance for the robot to move (int).

Returns: None

Action: Moves the robot forward a set distance in centimeters.

set_robot_pose(s_pose)

Arguments: Pose to move the robot to (int).

Returns: None

Action: Moves the robot to a certain pose. Differs from rotate as robot can be told to rotate to a certain number of degrees from it's starting post (i.e. return to the direction it began facing) rather than blindly turning.

interactive_mode()

Arguments: None

Returns: None

Action: Allows the user to issue commands to the robot on the fly. Available commands:\n-1: End session.\n1: Travel straight.\n2: Set pose.\n3: Move wheels.\n4: Set ultra pose.\n5: Recalibrate ultra pose.\n6: Reload config files.

approach_object(d, s_post)

Arguments: Distance for the robot to be from the object (int). Coordinate sensor should be turned to so it's facing the object (int).

Returns: None

Action: Allows the robot to approach an object at a known angle. Robot will approach the object smoothly and stop when it reaches the set distance.