Robot base classes

Robot

class pyenki.Robot

Base class for all robots

DifferentialWheeled

class pyenki.DifferentialWheeled

Bases: Robot, PhysicalObject

The virtual base class shared by all robots currently implemented in enki.

left_wheel_target_speed

The target left wheel speed in centimeters per second.

Type:

float

right_wheel_target_speed

The target right wheel speed in centimeters per second.

Type:

float

left_wheel_encoder_speed

The current left wheel speed in centimeters per second (readonly).

Type:

float

right_wheel_encoder_speed

The current right wheel speed in centimeters per second (readonly).

Type:

float

left_wheel_odometry

The left wheel odometry integrated from measured wheel speeds in centimeters (readonly).

Type:

float

right_wheel_odometry

The right wheel odometry integrated from measured wheel speeds in centimeters (readonly).

Type:

float

wheel_axis

The distance between wheels in cm (readonly).

Type:

float

max_wheel_speed

The maximal wheel speed in centimeters per second (readonly).

Type:

float

wheel_speed_noise

The relative noise applied to the target wheel speed at each control step.

Type:

float

reset_encoders() → None

Reset the odometry of both wheels.