aeroshield.aeroshield

Submodules

Package Contents

Classes

AeroShield

DummyShield

class aeroshield.aeroshield.AeroShield(baudrate: int | None = 115200, port: str | None = None)[source]
RUN = 1
STOP = 2
TIMEOUT = 3
find_arduino() → str[source]

Get the name of the port that is connected to Arduino. Raises exception if no port was found.

Raises:

AeroShieldException – Raised if no Arduino was found.

Returns:

COM port of the Arduino.

Return type:

str

static raw_angle_to_deg(raw: int) → float[source]

Convert raw angle to degrees.

Parameters:

raw (int) – 12-bit value of angle sensor.

Returns:

Angle value scaled to degrees.

Return type:

float

static raw_angle_to_rad(raw: int) → float[source]

Convert raw angle to radians.

Parameters:

raw (int) – 12-bit value of angle sensor.

Returns:

Angle value scaled to radians.

Return type:

float

calibrated_angle_deg(raw_angle: int) → float[source]

Convert angle to degrees and calibrate with zero angle.

Parameters:

raw_angle (int) – Raw 12-bit angle value.

Returns:

Calibrated angle in degrees.

Return type:

float

static raw_pot_to_percent(raw: int) → float[source]

Convert 10-bit potentiometer reading to percentage value.

Parameters:

raw (int) – 10-bit potentiometer value.

Returns:

Potentiometer value as percentage [0, 1).

Return type:

float

read() → tuple[float][source]

Read data from Arduino. Convert potentiometer and angle readings. Calibrate angle to zero reference.

Raises:

AeroShieldException – Raised if no data was received. This can happen if there was no write command preceding a call to read.

Returns:

Converted and calibrated potentiometer and angle readings, in that order.

Return type:

tuple[float]

static saturate(value: float, bits: int) → int[source]

Saturate value between 0 and 2**bits - 1.

Parameters:

  • value (float) – Raw value.

  • bits (int) – Number of bits.

Returns:

Saturated value.

Return type:

int

write(flag: int, motor: float) → int[source]

Write run/stop flag and motor value to Arduino. Saturate the motor value.

Parameters:

  • flag (int) – AeroShield.RUN or AeroShield.STOP. The former signals normal running mode, the latter tells the Arduino to stop the motor.

  • motor (float) – Motor value.

Returns:

Saturated 8-bit motor value.

Return type:

int

calibrate()[source]

Read out a zero reference. Pendulum should be at rest when calling this method.

stop()[source]

Send stop signal to Arduino.

open()[source]

Reset buffers and open connection to Arduino if it is not open already. Wait for AeroShield.TIMEOUT seconds to make sure connection is established.

close(*args)[source]

Close connection to Arduino.

__enter__()[source]
__exit__(*args)[source]
class aeroshield.aeroshield.DummyShield[source]

Bases: aeroshield.aeroshield.aeroshield.AeroShield

read() → tuple[float][source]

Read data from Arduino. Convert potentiometer and angle readings. Calibrate angle to zero reference.

Raises:

AeroShieldException – Raised if no data was received. This can happen if there was no write command preceding a call to read.

Returns:

Converted and calibrated potentiometer and angle readings, in that order.

Return type:

tuple[float]

write(flag: int, motor: float)[source]

Write run/stop flag and motor value to Arduino. Saturate the motor value.

Parameters:

  • flag (int) – AeroShield.RUN or AeroShield.STOP. The former signals normal running mode, the latter tells the Arduino to stop the motor.

  • motor (float) – Motor value.

Returns:

Saturated 8-bit motor value.

Return type:

int

open()[source]

Reset buffers and open connection to Arduino if it is not open already. Wait for AeroShield.TIMEOUT seconds to make sure connection is established.

close(*args)[source]

Close connection to Arduino.

exception aeroshield.aeroshield.AeroShieldException[source]

Bases: Exception

Common base class for all non-exit exceptions.