Thymio

Thymio#

class pyaseba.client.thymio.Thymio(cached: bool = False, record_prox_comm: bool = False, enable_prox_comm: bool = False)#

High-level interface to a remote Thymio.

>>> thymio = Thymio()
>>> thymio.connect()
>>> thymio.leds_top = [32, 0, 32]
>>> thymio.prox_horizontal
[0, 0, 1215, 1563, 2065, 0, 0]

that can run an offboard Python controller like

>>> def control(thymio: Thymio) -> None
        if thymio.prox_horizontal[2] > 2000:
            thymio.motor_left_target = 0
            thymio.motor_right_target = 0
        else:
            thymio.motor_left_target = 100
            thymio.motor_right_target = 100
>>>
>>> thymio.set_controller(control)

property acc: int | list[int]#: Aseba variable acc

property acc__tap: int | list[int]#: Aseba variable acc._tap

apply(callback: Callback[__annotationlib_name_1__], *args: ~typing.~P, **kwargs: ~typing.~P) → None#

Calls a callback and then calls sync().

Parameters:

callback – The callback
args – The callback arguments
kwargs – The callback keywords arguments

property button_backward: int | list[int]#: Aseba variable button.backward

property button_center: int | list[int]#: Aseba variable button.center

property button_forward: int | list[int]#: Aseba variable button.forward

property button_left: int | list[int]#: Aseba variable button.left

property button_right: int | list[int]#: Aseba variable button.right

property buttons__mean: int | list[int]#: Aseba variable buttons._mean

property buttons__noise: int | list[int]#: Aseba variable buttons._noise

property buttons__raw: int | list[int]#: Aseba variable buttons._raw

call__leds_set(*args: int) → None#

Calls native function _leds.set

Parameters:: args – The argument passed to the function.

call_leds_bottom_left(*args: int) → None#

Calls native function leds.bottom.left

Parameters:: args – The argument passed to the function.

call_leds_bottom_right(*args: int) → None#

Calls native function leds.bottom.right

Parameters:: args – The argument passed to the function.

call_leds_buttons(*args: int) → None#

Calls native function leds.buttons

Parameters:: args – The argument passed to the function.

call_leds_circle(*args: int) → None#

Calls native function leds.circle

Parameters:: args – The argument passed to the function.

call_leds_prox_h(*args: int) → None#

Calls native function leds.prox.h

Parameters:: args – The argument passed to the function.

call_leds_prox_v(*args: int) → None#

Calls native function leds.prox.v

Parameters:: args – The argument passed to the function.

call_leds_rc(*args: int) → None#

Calls native function leds.rc

Parameters:: args – The argument passed to the function.

call_leds_sound(*args: int) → None#

Calls native function leds.sound

Parameters:: args – The argument passed to the function.

call_leds_temperature(*args: int) → None#

Calls native function leds.temperature

Parameters:: args – The argument passed to the function.

call_leds_top(*args: int) → None#

Calls native function leds.top

Parameters:: args – The argument passed to the function.

call_prox_comm_enable(*args: int) → None#

Calls native function prox.comm.enable

Parameters:: args – The argument passed to the function.

call_sound_duration(*args: int) → None#

Calls native function sound.duration

Parameters:: args – The argument passed to the function.

call_sound_freq(*args: int) → None#

Calls native function sound.freq

Parameters:: args – The argument passed to the function.

call_sound_play(*args: int) → None#

Calls native function sound.play

Parameters:: args – The argument passed to the function.

call_sound_record(*args: int) → None#

Calls native function sound.record

Parameters:: args – The argument passed to the function.

call_sound_replay(*args: int) → None#

Calls native function sound.replay

Parameters:: args – The argument passed to the function.

call_sound_system(*args: int) → None#

Calls native function sound.system

Parameters:: args – The argument passed to the function.

control_event = 'timer0'#: Which local event to use to trigger the control step

default_target = 'ser:name=Thymio'#: Default Dashel target

property event_args: int | list[int]#: Aseba variable event.args

property event_source: int | list[int]#: Aseba variable event.source

property leds_bottom_left: int | list[int]#: Aseba variable leds.bottom.left

property leds_bottom_right: int | list[int]#: Aseba variable leds.bottom.right

property leds_circle: int | list[int]#: Aseba variable leds.circle

property leds_top: int | list[int]#: Aseba variable leds.top

property mic__mean: int | list[int]#: Aseba variable mic._mean

property mic_intensity: int | list[int]#: Aseba variable mic.intensity

property mic_threshold: int | list[int]#: Aseba variable mic.threshold

property motor_left_pwm: int | list[int]#: Aseba variable motor.left.pwm

property motor_left_speed: int | list[int]#: Aseba variable motor.left.speed

property motor_left_target: int | list[int]#: Aseba variable motor.left.target

property motor_right_pwm: int | list[int]#: Aseba variable motor.right.pwm

property motor_right_speed: int | list[int]#: Aseba variable motor.right.speed

property motor_right_target: int | list[int]#: Aseba variable motor.right.target

property on_acc: Callable[[Node], None] | None#: Callback for Aseba event acc

property on_button_backward: Callable[[Node], None] | None#: Callback for Aseba event button.backward

property on_button_center: Callable[[Node], None] | None#: Callback for Aseba event button.center

property on_button_forward: Callable[[Node], None] | None#: Callback for Aseba event button.forward

property on_button_left: Callable[[Node], None] | None#: Callback for Aseba event button.left

property on_button_right: Callable[[Node], None] | None#: Callback for Aseba event button.right

property on_mic: Callable[[Node], None] | None#: Callback for Aseba event mic

property on_motor: Callable[[Node], None] | None#: Callback for Aseba event motor

property on_prox: Callable[[Node], None] | None#: Callback for Aseba event prox

property on_prox_comm: Callable[[Node], None] | None#: Callback for Aseba event prox.comm

property on_rc5: Callable[[Node], None] | None#: Callback for Aseba event rc5

property on_tap: Callable[[Node], None] | None#: Callback for Aseba event tap

property on_timer0: Callable[[Node], None] | None#: Callback for Aseba event timer0

property on_timer1: Callable[[Node], None] | None#: Callback for Aseba event timer1

property prox_comm_rx: int | list[int]#: Aseba variable prox.comm.rx

property prox_comm_rx__align_tol: int | list[int]#: Aseba variable prox.comm.rx._align_tol

property prox_comm_rx__intensities: int | list[int]#: Aseba variable prox.comm.rx._intensities

property prox_comm_rx__lead: int | list[int]#: Aseba variable prox.comm.rx._lead

property prox_comm_rx__payloads: int | list[int]#: Aseba variable prox.comm.rx._payloads

property prox_comm_rx__tol: int | list[int]#: Aseba variable prox.comm.rx._tol

property prox_comm_rx__trail: int | list[int]#: Aseba variable prox.comm.rx._trail

property prox_comm_tx: int | list[int]#: Aseba variable prox.comm.tx

property prox_ground_ambiant: int | list[int]#: Aseba variable prox.ground.ambiant

property prox_ground_delta: int | list[int]#: Aseba variable prox.ground.delta

property prox_ground_reflected: int | list[int]#: Aseba variable prox.ground.reflected

property prox_horizontal: int | list[int]#: Aseba variable prox.horizontal

property rc5_address: int | list[int]#: Aseba variable rc5.address

property rc5_command: int | list[int]#: Aseba variable rc5.command

property sd_present: int | list[int]#: Aseba variable sd.present

set_behavior(behavior: Behavior, time_step: float = 0.1, event: str = '') → None#

Setup a behavior. Same as set_controller().

Parameters:

behavior – The callback called at each control step
time_step – The control time step
event – The event that should trigger a control step

set_control_period(time_step: float, event: str = '') → None#

A virtual method to setup the controller The base implementation is empty. Override to specialize the class.

Parameters:

time_step – The time step
event – The name of the local event that should trigger a control step.

stop() → None#: Sends a command to stop running the remote node.

property temperature: int | list[int]#: Aseba variable temperature

property timer_period: int | list[int]#: Aseba variable timer.period

class pyaseba.client.thymio.ThymioAsync(cached: bool = False, record_prox_comm: bool = False, enable_prox_comm: bool = False)#: Asynchronous version of pyaseba.client.thymio.Thymio based on pyaseba.client.NodeAsync.

Thymio

Contents

Thymio#