platypush.plugins.gpio.zeroborg

class platypush.plugins.gpio.zeroborg.Direction[source]

An enumeration.

class platypush.plugins.gpio.zeroborg.GpioZeroborgPlugin(directions: Dict[str, List[float]] = None, **kwargs)[source]

ZeroBorg plugin. It allows you to control a ZeroBorg (https://www.piborg.org/motor-control-1135/zeroborg) motor controller and infrared sensor circuitry for Raspberry Pi

Triggers:

__init__(directions: Dict[str, List[float]] = None, **kwargs)[source]
Parameters:directions – Configuration for the motor directions. A direction is basically a configuration of the power delivered to each motor to allow whichever object you’re controlling (wheels, robotic arms etc.) to move in a certain direction. In my experience the ZeroBorg always needs a bit of calibration, depending on factory defaults and the mechanical properties of the load it controls.

Example configuration that I use to control a simple 4WD robot:

directions = {
    "up": [
        0.4821428571428572,   # Motor 1 power
        0.4821428571428572,   # Motor 2 power
        -0.6707142857142858,  # Motor 3 power
        -0.6707142857142858   # Motor 4 power
    ],
    "down": [
        -0.4821428571428572,
        -0.4821428571428572,
        0.825,
        0.825
    ],
    "left": [
        -0.1392857142857143,
        -0.1392857142857143,
        -1.0553571428571429,
        -1.0553571428571429
    ],
    "right": [
        1.0017857142857143,
        1.0017857142857143,
        0.6214285714285713,
        0.6214285714285713
    ]
}
drive(direction)[source]

Drive the motors in a certain direction.

status() → dict[source]

Get the current direction and motors power. Example response:

.. code-block:: json

{
    "status": "running",
    "direction": "up",
    "motors": [1.0, 1.0, -1.0, -1.0]
}
stop()[source]

Turns off the motors