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Merge pull request #97 from alan412/sample_components
Quick pass at sample components
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‎external_samples/color_range_sensor.py‎

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# @license
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# Copyright 2025 Porpoiseful LLC
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# https://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# @fileoverview This is a sample for a color/range sensor
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# @author [email protected] (Alan Smith)
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from component import Component, PortType, InvalidPortException
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from collections.abc import Protocol
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class DistanceCallable(Protocol):
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def __call__(self, distance : float) -> None:
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pass
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class ColorCallable(Protocol):
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def __call__(self, hue : int, saturation : int, value : int) -> None:
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pass
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class ColorRangeSensor(Component):
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def __init__(self, ports : list[tuple[PortType, int]]):
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portType, port = ports[0]
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if portType != PortType.I2C_PORT:
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raise InvalidPortException
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self.port = port
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def get_manufacturer(self) -> str:
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return "REV Robotics"
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def get_name(self) -> str:
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return "Color Sensor v3"
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def get_part_number(self) -> str:
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return "REV-31-1557"
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def get_url(self) -> str:
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return "https://www.revrobotics.com/rev-31-1557"
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def get_version(self) -> tuple[int, int, str]:
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return (1, 0, "")
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def stop(self) -> None:
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# send stop command to sensor
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pass
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def reset(self) -> None:
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pass
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def get_connection_port_type(self) -> list[PortType]:
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return [PortType.I2C_PORT]
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def periodic(self) -> None:
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pass
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# Component specific methods
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def get_color_rgb(self) -> tuple[int, int, int]:
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'''gets the color in rgb (red, green, blue)'''
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pass
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def get_color_hsv(self) -> tuple[int, int, int]:
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'''gets the color in hsv (hue, saturation, value)'''
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pass
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def get_distance_mm(self) -> float:
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'''gets the distance of the object seen'''
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pass
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def register_when_less_than_distance(self, distance : float,
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callback: DistanceCallable) -> None:
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'''Event when item is seen closer than a distance'''
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self.less_than_distance_callback = callback
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def register_when_hue_in_range(self, min_hue : int,
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max_hue : int,
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callback: ColorCallable) -> None:
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'''Event when hue is in range'''
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self.hue_in_range_callback = callback
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def register_when_saturation_in_range(self, min_saturation : int,
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max_saturation : int,
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callback : ColorCallable) -> None:
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'''Event when saturation is in range'''
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self.saturation_in_range_callback = callback

‎external_samples/component.py‎

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# @license
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# Copyright 2025 Porpoiseful LLC
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# https://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# @fileoverview This is an abstract class for all components
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# @author [email protected] (Alan Smith)
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from abc import ABC, abstractmethod
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from enum import Enum
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from collections.abc import Protocol
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class EmptyCallable(Protocol):
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def __call__(self) -> None:
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pass
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class PortType(Enum):
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CAN_PORT = 1
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SMART_IO_PORT = 2
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SMART_MOTOR_PORT = 3
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SERVO_PORT = 4
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I2C_PORT = 5
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USB_PORT = 6
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class InvalidPortException(Exception):
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pass
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# This is an abstract class
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class Component(ABC):
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@abstractmethod
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def __init__(self, ports : list[tuple[PortType, int]]):
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pass
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# This is the manufacturer of the component
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@abstractmethod
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def get_manufacturer(self) -> str:
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pass
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# This is the name of the component
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@abstractmethod
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def get_name(self) -> str:
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pass
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# This is the part number of the component
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@abstractmethod
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def get_part_number(self) -> str:
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pass
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# This is the URL of the component
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@abstractmethod
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def get_url(self) -> str:
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pass
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# This is the version of the software (returned as a (major, minor, revision) tuple where
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# major and minor are positive integers
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# revision can be an empty string or specify small changes that are less than a
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# minor revision
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@abstractmethod
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def get_version(self) -> tuple[int, int, str]:
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pass
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# This stops all movement (if any) for the component
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@abstractmethod
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def stop(self) -> None:
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pass
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# This performs any reset required (if any) at the beginning of each opmode
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# This might remove any registered callbacks
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@abstractmethod
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def reset(self) -> None:
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pass
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# This returns a list (can be empty, one, or multiple) of the ports this connects to
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# of the PortType enumeration
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@abstractmethod
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def get_connection_port_type(self) -> list[PortType]:
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pass
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# This is called periodically when an opmode is running. The component might use this
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# to talk to hardware and then call callbacks
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@abstractmethod
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def periodic(self) -> None:
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pass

‎external_samples/rev_touch_sensor.py‎

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# @license
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# Copyright 2025 Porpoiseful LLC
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# https://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# @fileoverview This is a sample for a touch sensor
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# @author [email protected] (Alan Smith)
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from component import Component, PortType, InvalidPortException, EmptyCallable
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class RevTouchSensor(Component):
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def __init__(self, ports : list[tuple[PortType, int]]):
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self.is_pressed = None
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portType, port = ports[0]
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if portType != PortType.SMART_IO_PORT:
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raise InvalidPortException
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self.port = port
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def get_manufacturer(self) -> str:
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return "REV Robotics"
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def get_name(self) -> str:
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return "Touch Sensor"
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def get_part_number(self) -> str:
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return "REV-31-1425"
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def get_url(self) -> str:
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return "https://www.revrobotics.com/rev-31-1425/"
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def get_version(self) -> tuple[int, int, str]:
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return (1, 0, "")
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def stop(self) -> None:
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pass
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def reset(self) -> None:
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self.pressed_callback = None
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self.released_callback = None
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pass
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def get_connection_port_type(self) -> list[PortType]:
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return [PortType.SMART_IO_PORT]
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def periodic(self) -> None:
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old = self.is_pressed
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self._read_hardware()
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if old != self.is_pressed:
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if self.is_pressed and self.pressed_callback:
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self.pressed_callback()
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elif old and self.released_callback:
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self.released_callback()
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def _read_hardware(self):
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# here read hardware to get the current value of the sensor and set self.is_pressed
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pass
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def is_pressed(self) -> bool:
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'''Returns if the touch sensor is pressed or not'''
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return self.is_pressed
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# Events
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def register_when_pressed(self, callback: EmptyCallable) -> None:
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'''Event when touch sensor is pressed (after being not pressed)'''
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self.pressed_callback = callback
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def register_when_released(self, callback: EmptyCallable) -> None:
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'''Event when touch sensor is released (after being pressed)'''
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self.released_callback = callback

‎external_samples/servo.py‎

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# @license
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# Copyright 2025 Porpoiseful LLC
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# https://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# @fileoverview This is a sample for a servo
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# @author [email protected] (Alan Smith)
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from component import Component, PortType, InvalidPortException
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class Servo(Component):
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def __init__(self, ports : list[tuple[PortType, int]]):
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portType, port = ports[0]
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if portType != PortType.SERVO_PORT:
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raise InvalidPortException
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self.port = port
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def get_manufacturer(self) -> str:
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return "REV Robotics"
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def get_name(self) -> str:
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return "SRS Servo"
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def get_part_number(self) -> str:
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return "REV-41-1097"
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def get_url(self) -> str:
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return "https://www.revrobotics.com/rev-41-1097/"
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def get_version(self) -> tuple[int, int, str]:
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return (1, 0, "")
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def stop(self) -> None:
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# De-energize servo port
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pass
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def reset(self) -> None:
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pass
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def get_connection_port_type(self) -> list[PortType]:
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return [PortType.SERVO_PORT]
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def periodic(self) -> None:
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pass
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# Component specific methods
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def set_position(self, pos: float) -> None:
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'''Set the servo to a position between 0 and 1'''
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# sends to the hardware the position of the servo
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pass
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def set_angle_degrees(self, angle: float) -> None:
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'''Set the servo to an angle between 0 and 270'''
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self.set_position(angle / 270.0)
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‎external_samples/smart_motor.py‎

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# @license
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# Copyright 2025 Porpoiseful LLC
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# https://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# @fileoverview This is a sample for a smart motor
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# @author [email protected] (Alan Smith)
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from component import Component, PortType, InvalidPortException
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class SmartMotor(Component):
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def __init__(self, ports : list[tuple[PortType, int]]):
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portType, port = ports[0]
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if portType != PortType.SMART_MOTOR_PORT:
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raise InvalidPortException
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self.port = port
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def get_manufacturer(self) -> str:
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return "REV Robotics"
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def get_name(self) -> str:
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return "DC Motor"
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def get_part_number(self) -> str:
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return "REV-xx-xxxx"
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def get_url(self) -> str:
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return "https://www.revrobotics.com/rev-xx-xxxx"
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def get_version(self) -> tuple[int, int, str]:
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return (1, 0, "")
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def stop(self) -> None:
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# send stop command to motor
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pass
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def reset(self) -> None:
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pass
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def get_connection_port_type(self) -> list[PortType]:
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return [PortType.SMART_MOTOR_PORT]
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def periodic(self) -> None:
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pass
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# Component specific methods
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def set_speed(self, speed: float) -> None:
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'''Set the motor to a speed between -1 and 1'''
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# TODO: send to the hardware the speed of the motor
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pass
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def set_angle_degrees(self, angle: float) -> None:
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'''Set the motor to an angle between 0 and 360'''
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pass
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def get_num_relative_encoder_ticks(self) -> int:
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'''Get the number of relative motor ticks since reset of encoder'''
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pass
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def get_angle_degrees(self) -> float:
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'''Get the angle position of the motor'''
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pass
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def reset_relative_encoder(self) -> None:
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'''Reset the relative encoder value to 0'''
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pass
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