llllllllll / pynxt Goto Github PK

Bluetooth control for the Lego NXT.

This is a wrapper around another project: C_NXT. That library was written when I had access to a Lego NXT; however, I have not yet tested the bindings. I would love for people to use this but it is currently untested.

When writing that project I hoped that it could be used to introduce programming to kids but being in C caused too many problems. Now that I know Python, I feel like it is a much better language for teaching and have added bindings so that more people have access to this code.

TODO: sphinx docs.

This library provides one class pynxt.NXT which represents a bluetooth connection to a Lego NXT. The NXT must be paired with the computer, and the constructor is given the MAC address of the NXT, for example:

from pynxt import NXT

nxt = NXT('00:00:00:00:00:00')  # some MAC address

We may also use the NXT object in a context manager to automatically close the connection when we are done.

The charge remaining in mV.

Is the connection to the Lego NXT closed?

The device id of the connected lego NXT.

Close the connection to the Lego NXT.

Tell the nxt to drive forward for some
period of time at a specified power.

Parameters
----------
time : int
    The number of seconds to drive for.
power : int
    How much power should be applied to the motors
    [-100, 100].
left_port : int
    The port where the left motor is connected.
right_port : int
    The port where the right motor is connected.

Raises
------
ValueError
    Raised when the left or right port is out of bounds
    or when the power is not in the range [-100, 100]
IOError
    Raised when communication with the NXT fails.

Tell the nxt to drive backward for some
period of time at a specified power.

Parameters
----------
time : int
    The number of seconds to drive for.
power : int
    How much power should be applied to the motors
    [-100, 100].
left_port : int
    The port where the left motor is connected.
right_port : int
    The port where the right motor is connected.

Raises
------
ValueError
    Raised when the left or right port is out of bounds
    or when the power is not in the range [-100, 100]
IOError
    Raised when communication with the NXT fails.

Tell the NXT that there is a button plugged to a certain port.

Parameters
----------
port : int
    The port which has a button plugged in.

Raises
------
ValueError
    Raised when the port number is out of bounds.
IOError
    Raised when communication with the NXT fails.

Tell the NXT that there is a light sensor plugged to a certain
port.

Parameters
----------
port : int
    The port which has a light plugged in.

Raises
------
ValueError
    Raised when the port number is out of bounds.
IOError
    Raised when communication with the NXT fails.

Check if a button is currently pressed.

Parameters
----------
port : int
    The port of the button to check.

Returns
-------
is_pressed : bool
    Is the button currently being pressed?

Raises
------
ValueError
    Raised when the port number is out of bounds.
IOError
    Raised when communication with the NXT fails.

Play a tone of a given frequency for a certain amount of time
on the NXT.

Parameters
----------
freq : int
    The frequency to play.
time : int
    The amount of time to play the note for in microsenconds.

Raises
------
IOError
    Raised when communication with the NXT fails.

Read the value of a light sensor.

 Parameters
 ----------
 port : int
     The port of the light sensor to read.

 Returns
 -------
 value : int
     The value on a scale from 0 to 1024.

 Raises
 ------
 ValueError
     Raised when the port number is out of bounds.
 IOError
     Raised when communication with the NXT fails.

Sets the power of a motor.

Parameters
----------
port : int
    The port of the motor to set the power of.
power : int
    The power to set the motor to: [-100, 100].

Raises
------
ValueError
    Raised if the port is out of bounds or the power is not
    in the range [-100, 100].
IOError
    Raised when communication with the NXT fails.

Send a message to the NXT that prevents it from turning off.

If the NXT doesn't see this message for a couple of minutes it
will power down to save battery.

Raises
------
IOError
    Raised when communication with the NXT fails.

Stop all of the motors.

Raises
------
IOError
    Raised when communication with the NXT fails.

Stop a motor.

Parameters
----------
port : int
    The port of the motor to stop.

Raises
------
ValueError
    Raised if the port is out of bounds
IOError
    Raised when communication with the NXT fails.

Tell the nxt to turn left for some
period of time at a specified power.

Parameters
----------
time : int
    The number of seconds to turn for.
power : int
    How much power should be applied to the motors
    [-100, 100].
left_port : int
    The port where the left motor is connected.
right_port : int
    The port where the right motor is connected.

Raises
------
ValueError
    Raised when the left or right port is out of bounds
    or when the power is not in the range [-100, 100]
IOError
    Raised when communication with the NXT fails.

Tell the nxt to turn right for some
period of time at a specified power.

Parameters
----------
time : int
    The number of seconds to turn for.
power : int
    How much power should be applied to the motors
    [-100, 100].
left_port : int
    The port where the left motor is connected.
right_port : int
    The port where the right motor is connected.

Raises
------
ValueError
    Raised when the left or right port is out of bounds
    or when the power is not in the range [-100, 100]
IOError
    Raised when communication with the NXT fails.

phorth is free software, available under the terms of the GNU General Public License, version 2 or later. For more information, see LICENSE.