robotpy_ext.common_drivers package

robotpy_ext.common_drivers.distance_sensors module

class robotpy_ext.common_drivers.distance_sensors.SharpIR2Y0A02(port)

Sharp GP2Y0A02YK0F is an analog IR sensor capable of measuring distances from 20cm to 150cm. Output distance is measured in centimeters.

Distance is calculated using the following equation derived from the graph provided in the datasheet:

62.28*x ^ -1.092

Warning

FRC Teams: the case on these sensors is conductive and grounded, and should not be mounted on a metallic surface!

Parameters

port – Analog port number

getDistance()

Returns

distance in centimeters. The output is constrained to be between 22.5 and 145

class robotpy_ext.common_drivers.distance_sensors.SharpIR2Y0A21(port)

Sharp GP2Y0A21YK0F is an analog IR sensor capable of measuring distances from 10cm to 80cm. Output distance is measured in centimeters.

Distance is calculated using the following equation derived from the graph provided in the datasheet:

26.449*x ^ -1.226

Warning

FRC Teams: the case on these sensors is conductive and grounded, and should not be mounted on a metallic surface!

Parameters

port – Analog port number

getDistance()

Returns

distance in centimeters. The output is constrained to be between 10 and 80

class robotpy_ext.common_drivers.distance_sensors.SharpIRGP2Y0A41SK0F(port)

Sharp GP2Y0A41SK0F is an analog IR sensor capable of measuring distances from 4cm to 40cm. Output distance is measured in centimeters.

Distance is calculated using the following equation derived from the graph provided in the datasheet:

12.84*x ^ -0.9824

Warning

FRC Teams: the case on these sensors is conductive and grounded, and should not be mounted on a metallic surface!

Parameters

port – Analog port number

getDistance()

Returns

distance in centimeters. The output is constrained to be between 4.5 and 35

robotpy_ext.common_drivers.driver_base module

class robotpy_ext.common_drivers.driver_base.DriverBase

This should be the base class for all drivers in the cdl, currently all it does is spit out a warning message if the driver has not been verified.

Constructor for DriverBase, all this does is print a message to console if the driver has not been verified yet.

verified = False

robotpy_ext.common_drivers.units module

class robotpy_ext.common_drivers.units.Unit(base_unit, base_to_unit, unit_to_base)

Bases: object

The class for all of the units here

Unit constructor, used as a mechanism to convert between various measurements :param base_unit: The instance of Unit to base conversions from. If None, then assume it is the ultimate base unit :param base_to_unit: A callable to convert measurements between this unit and the base unit :param unit_to_base: A callable to convert measurements between the base unit and this unit

robotpy_ext.common_drivers.units.convert(source_unit, target_unit, value)

Convert between units, returns value in target_unit :param source_unit: The unit of value :param target_unit: The desired output unit :param value: The value, in source_unit, to convert

robotpy_ext.common_drivers.xl_max_sonar_ez module

These are a set of drivers for the XL-MaxSonar EZ series of sonar modules. The devices have a few different ways of reading from them, and the these drivers attempt to cover some of the methods

class robotpy_ext.common_drivers.xl_max_sonar_ez.MaxSonarEZAnalog(channel, output_units=<robotpy_ext.common_drivers.units.Unit object>)

Bases: robotpy_ext.common_drivers.driver_base.DriverBase

This is a driver for the MaxSonar EZ series of sonar sensors, using the analog output of the sensor.

To use this driver, pin 3 on the sensor must be mapped to an analog pin, and the sensor must be on a 5v supply.

Sonar sensor constructor

Parameters

• channel – The analog input index which is wired to the analog output pin (pin 3) on the sensor.

• output_units – The Unit instance specifying the format of value to return

get()

Return the current sonar sensor reading, in the units specified from the constructor

verified = False

class robotpy_ext.common_drivers.xl_max_sonar_ez.MaxSonarEZPulseWidth(channel, output_units=<robotpy_ext.common_drivers.units.Unit object>)

Bases: robotpy_ext.common_drivers.driver_base.DriverBase

This is a driver for the MaxSonar EZ series of sonar sensors, using the pulse-width output of the sensor.

To use this driver, pin 2 on the sensor must be mapped to a dio pin.

Sonar sensor constructor

Parameters

• channel – The digital input index which is wired to the pulse-width output pin (pin 2) on the sensor.

• output_units – The Unit instance specifying the format of value to return

get()

Return the current sonar sensor reading, in the units specified from the constructor

verified = True