MicroPython library to control DBH-10 for Arlo Parallax platform.
In this repo you will find a script called arlorobot.py, which contains an object ArloRobot() with its corresponding methods in order to controll the driver DBH-10.
The object is defined with the following parameters: def __init__(self,serial_id=2,tx=17,rx=16,baudrate=19200), where serial_id defines the ID of the UART bus that will be used. By default in uPy when serial_id is defined, tx and rx are by default as well, however they can still be changed in case the pins are different in other boards.
Here is an example of how it should be:
from arlorobot import *
robot=ArloRobot()OR
from arlorobot import *
robot=ArloRobot(serial_id=1, tx=12,rx=13,baudrate=115200)Note: In the second example, all parameters have been defined by random, it depends on the board, for example the baudrate by default is 19200.
| Method | What it does |
|---|---|
turn(motor_movement, top_speed) |
Turns the robot in place, but instead of degrees, the motor_movement corresponds to the number of positions to move each wheel, constrained from -32767 to 32767, and top_speed to the speed which is constrained between 1 to 512. |
| arc | |
move(left, right, speed) |
Accelerate, travel, and decelerate across a distance in positions, motors will complete the travel at the same time. left and right are the distance in position, constrained from -32767 to 32767. speed is the positions per second, which goes from 1 to 32767. |
go_speed(left, right) |
Accelerate and sustain a speed, independently for each motor. left/right correspond to the positions per second, which goes from -32767 to 32767. |
go(left, right) |
Set and hold the motor output power, independently for each motor. left/right corresponds to the power of each motor, values go from -127 to 127. |