pyCreate2 package

Subpackages

• pyCreate2.robot package
  • Submodules
  • pyCreate2.robot.create2_driver module
  • pyCreate2.robot.gpio module
  • pyCreate2.robot.pwm module
  • pyCreate2.robot.servo module
  • pyCreate2.robot.sonar module
  • Module contents
• pyCreate2.simulation package
  • Submodules
  • pyCreate2.simulation.create2_vrep module
  • pyCreate2.simulation.kuka_lbr4p_vrep module
  • pyCreate2.simulation.servo module
  • pyCreate2.simulation.sonar module
  • pyCreate2.simulation.time_helper module
  • Module contents
• pyCreate2.visualization package
  • Submodules
  • pyCreate2.visualization.virtual_create module
  • Module contents
• pyCreate2.vrep package
  • Submodules
  • pyCreate2.vrep.vrep module
  • pyCreate2.vrep.vrepConst module
  • Module contents

Submodules

pyCreate2.create2 module

Helper enumerations which are both used for simulation and driver.

class pyCreate2.create2.ChargingState

Bases: enum.Enum

An enumeration.

ChargingFaultCondition = 5

ChargingStateWaiting = 4

FullCharging = 2

NotCharging = 0

ReconditioningCharging = 1

TrickleCharging = 3

class pyCreate2.create2.InfraredCharacter

Bases: enum.Enum

An enumeration.

DockForceField = 242

DockGreenBuoy = 244

DockGreenBuoyAndForceField = 246

DockRedBuoy = 248

DockRedBuoyAndForceField = 250

DockRedBuoyAndGreenBuoyAndForceField = 254

DockRedBuoyGreenBuoy = 252

class pyCreate2.create2.Mode

Bases: enum.Enum

An enumeration.

Full = 3

Off = 0

Passive = 1

Safe = 2

class pyCreate2.create2.Op

Bases: object

Baud = 129

Buttons = 165

Clean = 135

Control = 130

DigitsLedsAscii = 164

DigitsLedsRaw = 163

Drive = 137

DriveDirect = 145

DrivePwm = 146

Full = 132

Leds = 139

Max = 136

Motors = 138

PauseResumeStream = 150

Play = 141

Power = 133

PwmMotors = 144

QueryList = 149

Reset = 7

Safe = 131

Schedule = 167

SchedulingLeds = 162

SeekDock = 143

Sensors = 142

SetDayTime = 168

Song = 140

Spot = 134

Start = 128

Stop = 173

Stream = 148

class pyCreate2.create2.Sensor

Bases: object

Angle = 20

BatteryCapacity = 26

BatteryCharge = 25

BumpsAndWheelDrops = 7

Buttons = 18

ChargingSourcesAvailable = 34

ChargingState = 21

CliffFrontLeft = 10

CliffFrontLeftSignal = 29

CliffFrontRight = 11

CliffFrontRightSignal = 30

CliffLeft = 9

CliffLeftSignal = 28

CliffRight = 12

CliffRightSignal = 31

Current = 23

DirtDetect = 15

Distance = 19

InfraredCharacterLeft = 52

InfraredCharacterOmni = 17

InfraredCharacterRight = 53

LeftEncoderCounts = 43

LeftMotorCurrent = 54

LightBumpCenterLeftSignal = 48

LightBumpCenterRightSignal = 49

LightBumpFrontLeftSignal = 47

LightBumpFrontRightSignal = 50

LightBumpLeftSignal = 46

LightBumpRightSignal = 51

MainBrushMotorCurrent = 56

NumberOfStreamPackets = 38

OIMode = 35

RequestedLeftVelocity = 42

RequestedRadius = 40

RequestedRightVelocity = 41

RequestedVelocity = 39

RightBumper = 45

RightEncoderCounts = 44

RightMotorCurrent = 55

SideBrushMotorCurrent = 57

SongNumber = 36

SongPlaying = 37

Stasis = 58

Temperature = 24

VirtualWall = 13

Voltage = 22

WheelOvercurrents = 14

class pyCreate2.create2.Specs

Bases: object

CountsPerRev = 508.8

WheelDiameterInMM = 72.0

WheelDistanceInMM = 235.0

class pyCreate2.create2.State

Bases: object

pyCreate2.factory module

Module with factory methods for different objects (either real or simulation)

class pyCreate2.factory.FactoryCreate

Bases: object

Class to create objects which are related to the physical iRobot Create2 robot.

close()

Clean-up

create_create()

Instantiates a new create robot (only a single one is supported!)

Returns:(robot.Create2Driver) instance of robot.Create2Driver

create_pen_holder()

Instantiates a new pen holder (only a single one is supported!)

Returns:(robot.PenHolder) instance of robot.PenHolder

create_servo()

Instantiates a new servo (only a single one is supported!)

Returns:(robot.Servo) instance of robot.Servo

create_sonar()

Instantiates a new sonar (only a single one is supported!)

Returns:(robot.Sonar) instance of robot.Sonar

create_time_helper()

Instantiates a new time object.

Returns:(time) instance of time

create_tracker(tag_id, sd_x=0, sd_y=0, sd_theta=0)

create_virtual_create(hostname)

Instantiates a new virtual create for visualization (only a single one is supported!)

Returns:(visualization.VirtualCreate) instance of visualization.VirtualCreate

class pyCreate2.factory.FactorySimulation

Bases: object

Class to create objects which are simulated.

close()

Clean-up

create_create()

Instantiates a new create robot (only a single one is supported!)

Returns:(simulation.Create2Vrep) instance of simulation.Create2Vrep

create_kuka_lbr4p()

Instantiates a new robotic arm (only a single one is supported!)

Returns:(simulation.KukaLBR4PlusVrep) instance of simulation.KukaLBR4PlusVrep

create_pen_holder()

Instantiates a new pen holder (only a single one is supported!)

Returns:(simulation.PenHolder) instance of simulation.PenHolder

create_servo()

Instantiates a new servo (only a single one is supported!)

Returns:(simulation.Servo) instance of simulation.Servo

create_sonar()

Instantiates a new sonar (only a single one is supported!)

Returns:(simulation.Sonar) instance of simulation.Sonar

create_time_helper()

Instantiates a new time object.

Returns:(simulation.TimeHelper) instance of simulation.TimeHelper

create_tracker(tag_id, sd_x=0.01, sd_y=0.01, sd_theta=0.01)

create_virtual_create()

Instantiates a new virtual create for visualization (only a single one is supported!)

Returns:(visualization.VirtualCreate) instance of visualization.VirtualCreate

Module contents

class pyCreate2.FactoryCreate

Bases: object

Class to create objects which are related to the physical iRobot Create2 robot.

close()

Clean-up

create_create()

Instantiates a new create robot (only a single one is supported!)

Returns:(robot.Create2Driver) instance of robot.Create2Driver

create_pen_holder()

Instantiates a new pen holder (only a single one is supported!)

Returns:(robot.PenHolder) instance of robot.PenHolder

create_servo()

Instantiates a new servo (only a single one is supported!)

Returns:(robot.Servo) instance of robot.Servo

create_sonar()

Instantiates a new sonar (only a single one is supported!)

Returns:(robot.Sonar) instance of robot.Sonar

create_time_helper()

Instantiates a new time object.

Returns:(time) instance of time

create_tracker(tag_id, sd_x=0, sd_y=0, sd_theta=0)

create_virtual_create(hostname)

Instantiates a new virtual create for visualization (only a single one is supported!)

Returns:(visualization.VirtualCreate) instance of visualization.VirtualCreate

class pyCreate2.FactorySimulation

Bases: object

Class to create objects which are simulated.

close()

Clean-up

create_create()

Instantiates a new create robot (only a single one is supported!)

Returns:(simulation.Create2Vrep) instance of simulation.Create2Vrep

create_kuka_lbr4p()

Instantiates a new robotic arm (only a single one is supported!)

Returns:(simulation.KukaLBR4PlusVrep) instance of simulation.KukaLBR4PlusVrep

create_pen_holder()

Instantiates a new pen holder (only a single one is supported!)

Returns:(simulation.PenHolder) instance of simulation.PenHolder

create_servo()

Instantiates a new servo (only a single one is supported!)

Returns:(simulation.Servo) instance of simulation.Servo

create_sonar()

Instantiates a new sonar (only a single one is supported!)

Returns:(simulation.Sonar) instance of simulation.Sonar

create_time_helper()

Instantiates a new time object.

Returns:(simulation.TimeHelper) instance of simulation.TimeHelper

create_tracker(tag_id, sd_x=0.01, sd_y=0.01, sd_theta=0.01)

create_virtual_create()

Instantiates a new virtual create for visualization (only a single one is supported!)

Returns:(visualization.VirtualCreate) instance of visualization.VirtualCreate