DIYGO Python Library

Installation

The command below will install RobokitRS.

pip3 install RobokitRS

A pyserial library is required for Serial communication, and you can run the following commands to proceed with the library installation.

pip3 install pyserial

Upgrade

When you upgrade your library to the latest version, run the following commands.

pip3 install --upgrade RobokitRS

Deletion

The following command deletes the RobokitRS library.

pip3 uninstall RobokitRS

Modes

The types of pin modes on the DIYGO CPU board are as follows.

It supports digital and analog, respectively, and analog modes are subdivided according to the type of sensor.

class Modes(enum.enum):

  INPUT  = 0x00

  OUTPUT  = 0x01

  ANALOG  = 0x02

  PWM   = 0x03

  SERVO  = 0x04

  I2C   = 0x05

  TONE   = 0x0A

  SONAR  = 0x0B

  RGBLED  = 0x0E

Sensor Type

The type of analog sensor that connects to the DIYGO CPU board.

Use to read the value of an analog sensor that is not distinguished by pin mode.

class SensorType(enum.Enum):

  TEMPERATURE = 0

  JOYSTICK_X = 1

  JOYSTICK_Y = 2

  LIGHT = 3

  DIAL  = 4

  A_KEYPAD = 5

  ROTARYPOSITION = 6

  MAGNETIC = 7

  SONAR = 8

Gyro Data Type

The data type of the gyro sensor.

It is used to read seven types of data values that can be recognized by gyro sensors.

class GyroDataType(enum.Enum):

  ANGLE_X = 0

  ANGLE_Y = 1

  ANGLE_Z = 2

  GYRO_X = 3

  GYRO_Y = 4

  GYRO_Z = 5

  SHAKE = 6

Rotary Position Data Type

This is the data type of the rotation position sensor.

It is used to read three types of data values that can be recognized by the rotation position sensor.

class RotaryPositionDataType(enum.Enum):

  ROTATION = 0

  POSITION = 1

  ANGLE = 2

Two Wheels Direction Type

This is the type of driving direction of a two-wheeled robot using two DC motors.

Used to drive in that direction.

When wired in accordance with the rules set in the motor drive board mounted on the CPU board, it operates correctly.

class TwoWheelsDirectionType(enum.Enum):

  FORWARD = 0

  BACKWARD = 1 

  LEFTWARD = 2

  RIGHTWARD = 3

  STOP = 4

The creators of the RobokitRS class are as follows.

def __init__(self):

It does not have a separate factor, and when you create an object, the default pin mode setting and communication thread are automatically turned on.

In addition, the public function of the RobokitRS class is organized as follows.

1. port_open( )

Name

: port_open(portname:str)

Explanation

Open the serial port named portname, which has a communication speed of 115200, and additional communication threads will be turned on.

Port name

Port Name that is composed of 'COM' and numbers

example

port_open("COM3")

2. set_pin_mode( )

Name

: set_pin_mode(pin:int, mode:RobokitRS.Modes)

Explanation

Set pin usage to mode. Sensor and module must be set up before use.

pin

min : 2, max : 19

mode

Refer to: Modes 

example

set_pin_mode(3,RobokitRS.Modes.OUTPUT)

1. analog_read( )

Name

: analog_read(pin:int)->int

Explanation

Receives the analog sensor value associated with the pin number.

pin

min : 0, max : 5

example

value = analog_read(3)

2. analog_reads( )

Name

: analog_reads(pins:list)->list

Explanation

Receives the analog sensor value associated with the pin number.

pins

min : 0, max : 5 list

example

value = []

value = analog_reads([3,4,5])

3. analog_write( )

Name

: analog_write(pin:int, value:int)

Explanation

Input value in the Pin

pin

min : 0, max : 5

value

min : 0, max : 255

example

analog_write(3,200)

4.digital_read( )

Name

: digital_read(pin:int)->int

Explanation

Receives the value of the digital sensor connected to the pin number.

pin

min : 2, max : 13

example

value = digital_read(2)

5. digital_reads( )

Name

: digital_reads(pins:list)->list

Explanation

Receives the value of the digital sensor connected to the pin number.

pins

min : 2, max : 13 List

example

value = []

value = digital_reads([3,4,5])

6. digital_write( )

Name

: digital_write(pin:int, value:int)

Explanation

Input value in the Pin

pin

min : 2, max : 13

value

0 or 1

example

digital_write(2,0)

7. sensor_read( )

Name

: sensor_read(pin:int, type:RobokitRS.SensorType)

Explanation

Calculate and receive the value of the analog sensor connected to the pin number according to the type.

pin

min : 0, max : 5

type

Standard: : SensorType.TEMPERATURE

Refer to: SensorType 

example

value = sensor_read(3,RobokitRS.SensorType.TEMPERATURE)

1. motor_write( )

Name

: motor_write(motorid:int, direction:int, speed:int)

Explanation

A function that controls the DC motor. Rotates the motor connected to the motor at speed in the direction.

You can control the motor wired with the correct rules on the motor driveboard of the CPU board.

motorid

Motor1 : 0 (pin 4,5)

Motor2 : 1 (pin 6,7)

Motor3 : 2 (pin 8,9)

Motor4 : 3 (pin 10,11)

direction

CW : 0 , CCW : 1

Default: CW

speed

min : 0, max : 15

Default: 15

example

motor_write(0, 1, 15)

# Turn motor1 counterclockwise at a speed of 15

2. motor_stop( )

Name

: motor_stop(motorid:int)

Explanation

Function that controls the DC motor. Stop the motor connected to the motor.

You can control the motor wired with the correct rules on the motor drive board of the CPU board.

motorid

Motor1 : 0 (pin 4,5)

Motor2 : 1 (pin 6,7)

Motor3 : 2 (pin 8,9)

Motor4 : 3 (pin 10,11)

example

motor_stop(0)

# Stops motor1

3. set_twowheels_direction( )

Name

: set_twowheels_direction(first_id:int,second_id:int,first_speed:int=15,second_speed:int=15,direction:RobokitRS.TwoWheelsDirectionType)

Explanation

A function that drives a two-wheel drive robot using two DC motors toward direction at speed.

You can control the motor wired with the correct rules on the motor drive board of the CPU board.

first_id, second_id

Motor1 : 0 (pin 4,5)

Motor2 : 1 (pin 6,7)

Motor3 : 2 (pin 8,9)

Motor4 : 3 (pin 10,11)

first_speed, second_speed

min : 0, max : 15

Default: 15

direction

Indicates the direction of the 2-wheel robot. Refer to: TwoWheelsDirectionType 

example

set_twowheels_direction(0, 1, 15, 15, RobokitRS.TwoWheelsDirectionType.FORWARD)

sleep(1)

set_twowheels_direction(0, 1, 15, 15, RobokitRS.TwoWheelsDirectionType.RIGHTWARD)

sleep(1)

set_twowheels_direction(0, 1, 0, 0, RobokitRS.TwoWheelsDirectionType.STOP)

# Turn the two-wheel drive robot using motor1 and motor2 straight for 1 second at a speed of 15 and then to the right for 1 second.

A function to control a four-wheel drive robot equipped with a mechanical wheel.

Four DC motors must be wired to the two motor drive boards on the CPU board with the correct rules.

1. set_mecanumwheels_drive_front( )

Name

: set_mecanumwheels_drive_front(speed:int, motortype:int)

Explanation

It is a function that distinguishes a four-wheel drive robot using a mechanical wheel by motor type and drives forward by speed.

speed

min : 0, max : 15

Default : 15

motortype

DC motor : 1, Smart motor : 2

Default : 1

example

set_mecanumwheels_drive_front(15,1)

# Advance a four-wheel drive robot equipped with a mechanical wheel at a speed of 15.

2. set_mecanumwheels_drive_back( )

Name

: set_mecanumwheels_drive_back(speed:int, motortype:int)

Explanation

It is a function of distinguishing a four-wheel drive robot using a mechanical wheel by motor type and driving backward by speed.

speed

min : 0, max : 15

Default : 15

motortype

DC motor : 1, Smart motor : 2

Default: 1

example

set_mecanumwheels_drive_back(15,1)

# Reverse the four-wheel drive robot equipped with a mechanical wheel at a speed of 15.

3. set_mecanumwheels_drive_right( )

Name

: set_mecanumwheels_drive_right(speed:int, motortype:int)

Explanation

It is a function that distinguishes a four-wheel drive robot using a mechanical wheel by motor type and drives it in parallel in the right direction (→) by speed.

Speed

min : 0, max : 15

Default: 15

motortype

DC motor : 1, Smart motor: 2

Default : 1

example

set_mecanumwheels_drive_right(15,1)

# Drive a four-wheel drive robot equipped with a mechanical wheel to the right (parallel drive) at a speed of 15.

4. set_mecanumwheels_drive_left( )

Name

: set_mecanumwheels_drive_left(speed:int, motortype:int)

Explanation

It is a function that distinguishes a four-wheel drive robot using a mechanical wheel by motor type and runs parallel to the left (←) by speed.

speed

min : 0, max : 15

Default : 15

motortype

DC motor : 1, Smart motor : 2

Default : 1

example

set_mecanumwheels_drive_left(15,1)

# Drive a four-wheel drive robot equipped with a mechanical wheel to the left (parallel drive) at a speed of 15.

5. set_mecanumwheels_drive_frontright( )

Name

: set_mecanumwheels_drive_frontright(speed:int, motortype:int)

Explanation

A function that distinguishes a four-wheel drive robot using a mechanical wheel by motor type and drives it in the forward right diagonal direction (↗) by speed.

speed

min : 0, max : 15

Default : 15

motortype

DC motor : 1, Smart motor : 2

Default : 1

example

set_mecanumwheels_drive_frontright(15,1)

# A four-wheel drive robot equipped with a mechanical wheel is driven diagonally to the front right at a speed of 15.

6. set_mecanumwheels_drive_frontleft( )

Name

: set_mecanumwheels_drive_frontleft(speed:int, motortype:int)

Explanation

A function that distinguishes a four-wheel drive robot using a mechanical wheel from a motor type and drives it in the front left diagonal direction (↖) as much as the speed.

speed

min : 0, max : 15

Default : 15

motortype

DC motor : 1, Smart motor : 2

Default : 1

example

set_mecanumwheels_drive_frontleft(15,1)

# A four-wheel drive robot equipped with a mechanical wheel is driven diagonally to the front left at a speed of 15.

7. set_mecanumwheels_drive_backright( )

Name

: set_mecanumwheels_drive_backright(speed:int, motortype:int)

Explanation

A function that distinguishes a four-wheel drive robot using a mechanical wheel by motor type and drives it in the right diagonal direction (↘) rear by speed.

speed

min : 0, max : 15

Default : 15

motortype

DC motor : 1, Smart motor : 2

Default : 1

example

set_mecanumwheels_drive_backright(15,1)

# A four-wheel drive robot equipped with a mechanical wheel is driven diagonally to the right of the rear at a speed of 15.

8. set_mecanumwheels_drive_backleft( )

Name

: set_mecanumwheels_drive_backleft(speed:int, motortype:int)

Explanation

A function that distinguishes a four-wheel drive robot using a mechanical wheel by motor type and drives it in the rear left diagonal direction (↙) by speed.

speed

min : 0, max : 15

Default : 15

motortype

DC motor : 1, Smart motor : 2

Default : 1

example

set_mecanumwheels_drive_backright(15,1)

# A four-wheel drive robot equipped with a mechanical wheel is driven diagonally to the rear left at a speed of 15.

9. set_mecanumwheels_drive_stop( )

Name

: set_mecanumwheels_drive_stop(motortype:int)

Explanation

It is a function that distinguishes and stops a four-wheel drive robot using a mechanical wheel by motor type.

motortype

DC motor : 1, Smart motor : 2

Default : 1

example

set_mecanumwheels_drive_stop(1)

# Stop the four-wheel drive robot equipped with a mechanical wheel.

10. set_mecanumwheels_rotate_right( )

Name

: set_mecanumwheels_rotate_right(speed:int, motortype:int)

Explanation

It is a function that distinguishes a four-wheel drive robot using a mechanical wheel by motor type and rotates clockwise by speed.

speed

min : 0, max : 15

Default: 15

motortype

DC motor : 1, Smart motor : 2

Default: 1

example

set_mecanumwheels_rotate_right(15,1)

# Rotates a four-wheel drive robot equipped with a mechanical wheel clockwise at a speed of 15.

11. set_mecanumwheels_rotate_left( )

Name

: set_mecanumwheels_rotate_left(speed:int, motortype:int)

Explanation

It is a function that distinguishes a four-wheel drive robot using a mechanical wheel into a motor type and rotates counterclockwise by speed.

speed

min : 0, max : 15

Default : 15

motortype

DC motor : 1, Smart motor : 2

Default : 1

example

set_mecanumwheels_rotate_left(15,1)

# Turn a four-wheel drive robot equipped with a mechanical wheel counterclockwise at a speed of 15.

servo_write( )

Name

: servo_write(pin:int, position:int)

Explanation

A function that controls the servomotor. Move the servomotor connected to the pim to the position position.

id 

min : 2, max : 13

position

min : 2, max : 13

example 

servo_write(4,20)

# Move the servomotor connected to port 4 to the 20 degree position

Functions to control the color and brightness of RGB LEDs.

1. set_rgb_led_color( )

Name

: set_rgb_led_color(pin:int, red:int, green:int, blue:int)

Explanation 

A function that determines the color of the RGB LED connected to the pin number.

It has a method of determining the color by mixing red, green, and blue lighting values.

pin 

min : 2, max : 13

red, green, blue

min : 0, max : 100

example 

set_rgb_led_color(2, 100, 100, 100)

#Set the RGB LED connected to port 2 to white.

2. set_rgb_led_red( )

Name

: set_rgb_led_red(pin:int)

Explanation

: A function that determines the color of the RGB LED associated with the pin number to be red.

3. set_rgb_led_orange( )

Name

: set_rgb_led_orange(pin:int)

Explanation

: A function that determines the color of the RGB LED connected to the pin number to be orange.

4. set_rgb_led_yellow( )

Name

: set_rgb_led_yellow(pin:int)

Explanation

: A function that determines the color of the RGB LED connected to the pin number to be Yellow.

5. set_rgb_led_green( )

Name

: set_rgb_led_green(pin:int)

Explanation

: A function that determines the color of the RGB LED connected to the pin number to be Green.

6. set_rgb_led_sky( )

Name

: set_rgb_led_sky(pin:int)

Explanation

: A function that determines the color of the RGB LED connected to the pin number to be Sky Blue.

7. set_rgb_led_navy( )

Name

: set_rgb_led_navy(pin:int)

Explanation

: A function that determines the color of the RGB LED connected to the pin number to be Navy.

8. set_rgb_led_purple( )

Name

: set_rgb_led_purple(pin:int)

Explanation

: A function that determines the color of the RGB LED connected to the pin number to be Purple

9. set_rgb_led_pink( )

Name

: set_rgb_led_pink(pin:int)

Explanation

: A function that determines the color of the RGB LED connected to the pin number to be Pink.

10. set_rgb_led_white( )

Name

: set_rgb_led_white(pin:int)

Explanation

: A function that determines the color of the RGB LED connected to the pin number to be White.

9. set_rgb_led_random( )

Name

: set_rgb_led_random(pin:int)

Explanation:

A function that determines the color of the RGB LED connected to the pin number to be random.

11. set_rgb_led_brightness( )

Name

: set_rgb_led_brightness(pin:int, brightness:int)

Explanation

A function that sets the brightness of the RGB LED connected to the pin number to brightness.

pin 

min : 2, max : 13

brightness

Indicates the degree of brightness.

Unit : Percentage (%)

min : 0, max : 100

Default : 100

example 

set_rgb_led_brightness(2, 50)

#Set the brightness of the RGB LED connected to port 2 to 50%.

12. change_rgb_led_brightness( )

Name 

: change_rgb_led_brightness(pin:int, brightness:int)

Explanation

A function that changes the brightness of the RGB LED connected to the pin number by brightness.

pin 

min : 2, max : 13

brightness

The brightness level increases or decreases with the value entered.

Unit : Percentage (%)

min : 0, max : 100

Default: 10

example 

change_rgb_led_brightness(2, -20)

#Indicates the brightness of the RGB LED connected to port 2 to be 20 darker than the current state.

change_rgb_led_brightness(4, 50)

#Express the brightness of the RGB LED connected to port 4 by 50 brighter than the current state.

13. set_rgb_led_on( )

Name

: set_rgb_led_on(pin:int)

Explanation

Function to turn on RGB LED associated with pin number.

Color data settings must be preceded before RGB LED is turned on.

pin 

min : 2, max : 13

example 

set_rgb_led_color(2, 0, 100, 0)

#Set the color of the RGB LED connected to port 2 to green.

set_rgb_led_on(2)

#Turn on the RGB LED connected to port 2 (green)

A control function for setting the scale from the piezo and turning it on and off.

1. tone( )

Name

: tone(pin:int, note:int, duration:int)

Description

A function that causes the piezoelectric buzzer connected to the pin number to sound during duration on the note scale.

pin

min : 2, max : 13

note

min : 0, max : 95

A parameter that represents the scale.

duration

Unit: milliseconds (ms), Default: 500

Example

tone(2,75,170)

#Sound the Piezo-booster connected to port 2 for 170 ms on the 75th scale.

2. tone_with_delay( )

Name

: tone_with_delay(pin:int, note:int, duration:int)

Description

A function that causes the piezoelectric buzzer connected to the pin number to sound and wait for the duration on the note scale.

Run all of these actions, then run the following command.

pin

min : 2, max : 13

note

min : 0, max : 95

A parameter that represents the scale.

duration

Unit: milliseconds (ms), Default: 500

example

tone_with_delay(2,75,170)

tone_with_delay(2,78,204)

tone_with_delay(2,82,255)

tone_with_delay(2,85,291)

#Play in order for 170ms on 75th scale, 204ms on 78th scale, 255ms on 82nd scale, and 291ms on 85th scale with a piezo-buzzer connected to port 2

3. tone_do( )

name

: tone_do(pin:int, duration:int)

Explanation

: A function that allows the piezoelectric buzzer connected to the pin number to be heard during duration on a 'do' scale.

4. tone_re( )

name

: tone_re(pin:int, duration:int)

Explanation

: A function that allows the piezoelectric buzzer connected to the pin number to be heard during duration on a 'Re' scale.

5. tone_mi( )

name

: tone_mi(pin:int, duration:int)

Explanation

: A function that allows the piezoelectric buzzer connected to the pin number to be heard during duration on a 'Mi' scale.

6. tone_fa( )

name

: tone_fa(pin:int, duration:int)

Explanation

: A function that allows the piezoelectric buzzer connected to the pin number to be heard during duration on a 'fa' scale.

7. tone_sol( )

name 

: tone_sol(pin:int, duration:int)

: A function that allows the piezoelectric buzzer connected to the pin number to be heard during duration on a 'Sol' scale.

8. tone_la( )

name

: tone_la(pin:int, duration:int)

Explanation

: A function that allows the piezoelectric buzzer connected to the pin number to be heard during duration on a 'La' scale.

9. tone_si( )

Name

: tone_si(pin:int, duration:int)

Explanation

: A function that allows the piezoelectric buzzer connected to the pin number to be heard during duration on a 'si' scale.

A function that can be used to obtain tilt-related data of robot/structure to which the sensor is attached using gyro sensors.

1. gyro_begin( )

Name

: gyro_begin()

Explanation

A function that activates a gyro sensor to collect data.

The gyro sensor must have both pins properly connected to the DIYGO CPU's I2C port.

2. set_gyro_default_position( )

Name

: set_gyro_default_position(position:int)

Explanation

A function that sets the default position of the gyro sensor to position.

The gyro sensor must have both pins properly connected to the DIYGO CPU's I2C port.

position

Up : 0 (Default)

Front : 1

Right : 2

Back : 3

Left : 4

3. gyro_read( )

Name

: gyro_read(type:RobokitRS.GyroDataType)

Explanation

A function that returns data that meets the type of stored gyro sensor data.

The gyro sensor must have both pins properly connected to the DIYGO CPU's I2C port.

type

It consists of Angle (X, Y, Z), Gyro (X, Y, Z), and Shake. See GyroDataType

It is a function that can secure external environment data input value data with a rotation position sensor.

1. rotary_position_read( )

Name

: rotary_position_read(pin:int, type:RobokitRS.RotaryPositionDataType)

Explanation 

A function that returns data corresponding to the type of rotation position sensor connected to the pin number.

pin

min :0, max : 5

type

Indicates the type of data the rotation position sensor has, see RotaryPositionDataType

2. reset_rotary_position( )

Name

: reset_rotary_position(pin:int, type:RobokitRS.RotatyPositionDataTypevalue:int)

Explanation

A function that determines the data corresponding to the type of rotation position sensor connected to the pin number as value.

pin

min :0, max : 5

type

Indicates the type of data the rotation position sensor has, see RotaryPositionDataType.

value

The value to change the selected data for the rotation position sensor.

This function can be used when detecting external environment data with an ultrasonic sensor.

1. sonar_begin( )

Name

: sonar_begin(pin:int)

Explanation

It is a function that operates an ultrasonic sensor connected to the pin number to collect data.

pin

min : 2, max : 13

example

sonar_begin(2)

#Turn on the ultrasonic sensor connected to digital port 2.

2. sonar_read( )

Name

: sonar_read(pin:int)

Explanation

A function that returns the data detected by the ultrasonic sensor connected to the pin number.

The data returned is the distance (cm) data between the ultrasonic sensor and the detected object.

pin

min : 2, max : 13

example

value = sonar_read(2)

#Store the detected value of the ultrasonic sensor connected to the digital port 2 in the value.