Arduino Alvik API
Para acceder a las funciones de Arduino Alvik API tenemos que ejecutar las instrucciones:
alvik = ArduinoAlvik()
alvik.begin()Entonces ya podemos usar las siguientes:
| FUNCION con sus Inputs | Outputs |
| stop() | para todas las funciones Alvik |
| is_on() | true si esta encendido false si esta apagado |
| is_target_reached() | true si ha enviado M o R en el mensaje |
| get_ack() | last_ack: el valor del último mensaje |
| stop() | para todas las funciones Alvik |
| get_orientation() | r: valor de balanceo p: valor de cabeceo y: valor de guiñada |
|
get_accelerations()
ver uso en |
ax ay az |
|
get_gyros()
|
gx by gz |
| get_imu() | las 6 anteriores |
| get_line_sensors() |
left right |
| brake() | Frena el robot |
| get_battery_charge() | battery_soc: el % de la batería |
| get_touch_any() | touch_any es true si se ha apretado cualquier botón |
| get_touch_ok() get_touch_cancel() get_touch_center() get_touch_up() get_touch_left() get_touch_down() get_touch_right() |
touch_ok es true si se ha apretado ok etc... |
| get_color_raw() get_color_label() |
color |
| get_version() print_status() |
versión del firmware
|
| set_behaviour(behaviour: int) | |
| rotate(angle: float, unit: str = 'deg', blocking: bool = True) | |
| move(distance: float, unit: str = 'cm', blocking: bool = True) | |
| get_wheels_speed(unit: str = 'rpm') | left_wheel_speed: the speed value right_wheel_speed: the speed value |
| set_wheels_speed(left_speed: float, right_speed: float, unit: str = 'rpm') | |
| set_wheels_position(left_angle: float, right_angle: float, unit: str = 'deg') | |
| get_wheels_position(unit: str = 'deg') | angular_velocity |
| drive(linear_velocity: float, angular_velocity: float, linear_unit: str = 'cm/s',angular_unit: str = 'deg/s') | |
| get_drive_speed(linear_unit: str = 'cm/s', angular_unit: str = 'deg/s') | linear_velocity: speed of the robot. angular_velocity: speed of the wheels. |
| reset_pose(x: float, y: float, theta: float, distance_unit: str = 'cm', angle_unit: str = 'deg') | |
| get_pose(distance_unit: str = 'cm', angle_unit: str = 'deg') | x y theta |
| set_servo_positions(a_position: int, b_position: int) | |
| set_builtin_led(value: bool) | |
| set_illuminator(value: bool) | |
| color_calibration(background: str = 'white') | |
|
rgb2hsv(r: float, g: float, b: float) |
h: hue value s: saturation value v: brightness value |
|
get_color(color_format: str = 'rgb') |
r or h g or s b or v |
|
hsv2label(h, s, v) |
color label: like "BLACK" or "GREEN", if possible, otherwise return "UNDEFINED" |
|
get_distance(unit: str = 'cm') |
lee la distancia del sensor TOF: ver ejemplo en https://libros.catedu.es/books/arduino-alvik/page/evita-obstaculos left_tof: 45° to the left object distance center_left_tof: 22° to the left object distance center_tof: center object distance center_right_tof: 22° to the right object distance right_tof: 45° to the right object distance |
|
get_distance_top(unit: str = 'cm') |
top_tof: 45° to the top object distance |
|
get_distance_bottom(unit: str = 'cm') |
bottom_tof: 45° to the bottom object distance |
|
on_touch_ok_pressed(callback: callable, args: tuple = ()) on_touch_cancel_pressed(callback: callable, args: tuple = ()) on_touch_center_pressed(callback: callable, args: tuple = ()) on_touch_up_pressed(callback: callable, args: tuple = ()) on_touch_left_pressed(callback: callable, args: tuple = ()) on_touch_down_pressed(callback: callable, args: tuple = ()) on_touch_right_pressed(callback: callable, args: tuple = ()) |
Unidades
- m: centimeters
mm: millimeters
m: meters
inch: inch, 2.54 cm
in: inch, 2.54 cm - deg: degrees, example: 1.0 as reference for the other unit. 1 degree is 1/360 of a circle.
rad: radiant, example: 1 radiant is 180/pi deg.
rev: revolution, example: 1 rev is 360 deg.
revolution: same as rev
perc: percentage, example 1 perc is 3.6 deg.
%: same as perc - 'cm/s': centimeters per second
'mm/s': millimeters per second
'm/s': meters per second
'inch/s': inch per second
'in/s': inch per second - 'rpm': revolutions per minute, example: 1.0 as reference for the other unit.
'deg/s': degrees per second, example: 1.0 deg/s is 60.0 deg/min that is 1/6 rpm.
'rad/s': radiant per second, example: 1.0 rad/s is 60.0 rad/min that is 9.55 rpm.
'rev/s': revolution per second, example: 1.0 rev/s is 60.0 rev/min that is 60.0 rpm.
¿Qué es eso de bloking?
Por ejemplo en rotate(angle: float, unit: str = 'deg', blocking: bool = True)
Si es true, todos los eventos no influyen, es decir el microprocesador esta centrado en esa instrucción
Si es falso, el microprocesador es libre de hacer otra cosa a la vez
Utiliza true si quieres precisión o no quieres que nada interaccione con la acción que estas ejecutando