pywhill

WHILL Model CR SDK for Python

Requirements

WHILL Model CR (Normal Model C does not support serial communication.)
Python3.6 or later (Python2 SDK is currently under develpment)
pySerial (https://github.com/pyserial/pyserial)

OS Support

Windows 10
MacOS X (Currently under migration. Any pull request is more than welcome)
Ubuntu 16.04 (Currently under migration. Any pull request is more than welcome)

Getting Started

Clone or download this repository at any place you want.

APIs

Initialize

<your_obj_name> = ComWHILL(port=<Your COM Port>)

Initialize WHILL instance with SoftwareSerial.

Communication

<your_obj_name>.start_data_stream(interval_msec=<update interval in millisecond>)

Command WHILL to start reporting WHILL status.

<your_obj_name>.refresh()

Fetch serial interface and do internal process.

<your_obj_name>.stop_data_stream()

Command WHILL to stop report WHILL status.

Manipulation

<your_obj_name>.set_joy_stick(front=<Integer -100~100>, side=<Integer -100~100>)

Manipulate a WHILL via this command. Both front and side are integer values with range -100 ~ 100.

<your_obj_name>.send_power_on()
<your_obj_name>.send_power_off()
<your_obj_name>.set_power(power_state_command=<True/False>)

Turn on/off a WHILL. power_state_command is a bool with True to power WHILL on.

<your_obj_name>.set_battery_voltage_output_mode(vbatt_on_off=<True/False>)

Enable/Disable power supply to the interface connector. True to enable power supply.

Sensors and Status

Accelerometer

<your_obj_name>.accelerometer

Accelerometer mounted on body.

Gyro

<your_obj_name>.gyro

Gyro sensor mounted on body.

Battery

<your_obj_name>.battery

Remaining battery level[%] and consumpting current[mA].

Motor State

<your_obj_name>.left_motor
<your_obj_name>.right_motor

Motors angle and speed. The angle range is -PI to +PI, Speed unit is km/h. Note that the speed value is low-pass filterd.

Speed Mode

<your_obj_name>.speed_mode_indicator

Current selected speed mode.

Callback

<your_obj_name>.register_callback(event=<either 'data_set_0' or 'data_set_1', func=<your callback function>)

By registering callback functions, You can hook at status is updated. See Example: cr_example3_callback.py

License

MIT License

SatoshiRobatoFujimoto/pywhill