Merge pull request #1 from ihsrobotics/prototype

Completed v1.0.0 source code

IHSBotballKit/__init__.py

@@ -0,0 +1,14 @@
+from IHSBotballKit.bot import *
+from IHSBotballKit.sensor import *
+from IHSBotballKit.motor import *
+from IHSBotballKit.servo import *
+from IHSBotballKit.create import *
+from IHSBotballKit.runner import *
+from IHSBotballKit.controller import *
+from IHSBotballKit.config_loader import *
+from IHSBotballKit.camera import *
+
+from IHSBotballKit import create_extras
+from IHSBotballKit import motors_extras
+
+__version__ = "1.0.0"

IHSBotballKit/bot.py

@@ -0,0 +1,97 @@
+from __future__ import annotations as _annotations
+from ctypes import CDLL as _CDLL
+import time as _time
+import os as _os
+import signal as _signal
+import threading as _threading
+
+class BotController:
+    """Bot object that contains the kipr library and wrappers for basic components.
+    
+    Args:
+        libkipr_path (str | None, optional): Path of the libkipr shared object. Defaults to /usr/local/lib/libkipr.so.
+
+    Attributes:
+        k (CDLL): The kipr library object.
+    """
+    def __init__(self, libkipr_path: str | None = None) -> None:
+        path = libkipr_path if libkipr_path is not None else "/usr/local/lib/libkipr.so"
+        self.k: _CDLL = _CDLL(path)
+
+    def wait_for_light(self, light_port: int, reset_file_path: str) -> None:
+        """Wait for light using the light sensor at the start of the round.
+
+        Args:
+            light_port (int): Port number of the light sensor.
+            reset_file_path (str): File path of the 'reset' program. Leave as empty string if not applicable.
+        """
+        _IHSRunner(self, light_port, reset_file_path)
+
+    def shut_down_in(self, seconds: float) -> None:
+        """Terminate the program and stop robot in set amount of time.
+
+        Args:
+            seconds (float): Amount of time in seconds.
+        """
+        def terminate():
+            _time.sleep(seconds)
+            _os.kill(_os.getpid(), _signal.SIGTERM)
+        terminator_thread = _threading.Thread(target=terminate)
+        terminator_thread.daemon = True
+        terminator_thread.start()
+
+    def enable_all_servos(self) -> None:
+        """Enables all servo ports.
+        """
+        self.k.enable_servos()
+
+    def disable_all_servos(self) -> None:
+        """Disables all servo ports.
+        """
+        self.k.disable_servos()
+
+    def stop_all_motors(self) -> None:
+        """Stops all motors.
+        """
+        self.k.ao()
+
+    def create_servo(self, port: int, default_enable: bool = True) -> _Servo:
+        """A wrapper for the Servo class.
+
+        Args:
+            port (int): Port of the servo.
+            default_enable (bool, optional): Whether to immediately enable the servo upon instantiation. Defaults to True.
+
+        Returns:
+            Servo: A Servo object.
+        """
+        return _Servo(self, port, default_enable)
+
+    def create_motor(self, port: int) -> _Motor:
+        """A wrapper for the Motor class.
+
+        Args:
+            port (int): Port of the motor.
+
+        Returns:
+            Motor: A Motor object.
+        """
+        return _Motor(self, port)
+
+    def create_sensor(self, sensor_type: _SensorType, port: int) -> _Sensor:
+        """A wrapper for the Sensor class.
+
+        Args:
+            sensor_type (SensorType): Type of the sensor (ANALOG or DIGITAL) using the `SensorType` enum from the sensor module.
+            port (int): Port of the sensor.
+
+        Returns:
+            Sensor: A Sensor object.
+        """
+        return _Sensor(self, sensor_type, port)
+
+
+from .motor import Motor as _Motor
+from .sensor import Sensor as _Sensor, SensorType as _SensorType
+from .servo import Servo as _Servo
+from .runner import IHSRunner as _IHSRunner