DFRobot-Maqueenplus-Python
Python library for maqueenplus robot developed by DFRobot.
This library is a python version of the one proposed by DFRobot used for block coding.
This version has been developed for students to let them play and enjoy coding this nice little robot.
Link to DFRobot page : [https://www.dfrobot.com/product-2026.html]
Usage
- Create robot object
Instantiate the robot object
from microbit import *
from lib_robot_maqueen import Robot
import time #can be removed if not used
mq = Robot()Methods
- Move the robot
Move the robot along 4 axis : * TD -> forward * AR -> backward * G -> left * D -> right
Function definition :
def direction(speed, dir):
"""
speed(pwm) : 0 -> 255
dir(string) : "TD" or "AR" or "G" or "D"
"""Example :
mq.direction(70, "TD")
time.sleep(1) #wait for 1s
mq.direction(70, "D")To move the robot you can also use the run method.
Function definition :
def run(self, mot, sens, vit):
"""
mot left: MG ; mot right: MD
sens (forward) : 1; sens (backward) :2
vit max :255; arret :0
"""Example :
mq.run(mq.MG,2,50)
mq.run(mq.MD,2,70)- Stop
Stop the robot
Function definition:
def stop(self):
"""Stop the robot
"""Example:
mq.stop()- Control ServoMotor
You can move three servos with the version of the library, S1, S2, S3.
Function definition:
def servo(self, number, angle):
"""Move a servo for a given angle
Args:
number (int): number of the servo to move
angle (int): rotating angle (min=0 max=180)
"""Example:
mq.servo(mq.S3,90)
time.sleep(1)
mq.servo(mq.S3,0)- Line tracking sensor
Read line tracking sensor state for a given sensor. All the functions proposed by DFRobot have not been implemented. It is up to you to do so.
Function declaration:
def readLineSensor(self, sensor_name):
"""Read line tracking state for a given sensor
Args:
sensor_name (int): object attribut define in constructor (R1,R2,R3,L1,L2,L3)
Returns:
[int]: 0 : black / 1 : white
"""Example:
#Read R1 (Right #1) line tracking sensor state
state = mq.readLineSensor(mq.R1)
#you can display the value by doing :
#display.show(state)- Ultrasonic sensor
Get the distance between the robot and an object.
Function defition:
def ultrasonic(self):
"""Get the distance between the robot and an object.
Returns:
[float]: distance to the object if one is detected else max value.
"""Example:
distance = mq.ultrasonic()- Motor Speed
Get the linear speed of a given motor. INFO : This method has no been tested yet but you can test it and set an issue for feedback.
Function defition:
def motor_speed(self, mot):
"""Get the linear speed of a given motor
Args:
mot (int): object attribute define in the constructor (MG, MD)
Returns:
[type]: [description]
"""Example:
mq.direction(70, "TD")
time.sleep(1) #delay is necessary. Otherwise the robot read the speed before the motor started.
vitesse = mq.vitesse_moteur(mq.MG)
display.show(str(vitesse))
time.sleep(5)
mq.stop()- RGB Lights Turn on/off the rbg light of your choice with the color you want.
-
RGB LED choice: REB_G : left led, REB_D : right led, REB_G_D : center led
-
Color choice: RED, GREEN, BLUE, YELLOW, PINK, CYAN, WHITE, OFF
Function declaration:
def RGBLight(self, rgbshow, color):
"""Turn on/off the rbg light of your choice with the color you want.
Args:
rgbshow (int): rgb light object attribute defined in the constructor :
REB_G : left led,
REB_D : right led,
REB_G_D : center led
color (int): color of the led:
RED,GREEN,
BLUE,YELLOW,
PINK,CYAN,
WHITE, OFF
"""Example:
mq.RGBLight(mq.RGB_G,mq.RED)Updates
One major update that should be added soon concerns the rotation movements of the robot. In fact, when we ask the robot to move right of left no information is given concerning the angle to rotate. Only time.sleep(_) is used actually which is not accurate.