Method | Action |
Robot() |
creates a robot instance (without motors) and starts an IP connection trial |
Robot(ip) |
same, but starts the connection using the given IP/Alias (string) without prompting |
exit() |
stops the robot, releases all resources and disconnects the IP link |
getIPAdresses()() |
returns all IP addresses of the robot |
isEscapeHit() |
True, if the robot push button (autonomous) or the keyboard ESC key (remote) was hit |
isLeftHit() |
True, if the keyboard Cursor-Left key was hit (only remote mode) |
isRightHit() | True, if the keyboard Cursor-Right key was hit (only remote mode) |
isUpHit() | True, if the keyboard Cursor-Up key was hit (only remote mode) |
isDownHit() | True, if the keyboard Cursor-Down key was hit (only remote mode) |
playTone(frequency, duration) |
plays a tone with given frequency (in Hz) and duration (in ms) |
setSoundVolume(volume) | sets the sound volume (0..100) |
initSound(soundFile, volume) | prepares the given wav or mp3 sound file for playing with given volume (0..100) |
playSound() | starts playing |
stopSound() | stops playing |
fadeoutSound(time) | decreases the volume slowly during the given time (in ms) and stops playing |
pauseSound() | temporarily stops playing at current position |
resumeSound() | resumes playing from stop position |
rewindSound() | resumes playing from the beginning |
isSoundPlaying() | True, if the sound is playing |
Gear() |
creates a vehicle with 2 synchronized motors |
backward() | starts moving backward (non-blocking method) |
backward(ms) | moves backward for the given time interval (in ms) and stops (blocking method) |
forward() | starts moving forward (non-blocking method) |
forward(ms) | moves forward for the given time interval (in ms) and stops (blocking method) | left() | starts moving left (non-blocking method) |
left(ms) | moves left for the given time interval (in ms) and stops (blocking method) |
leftArc(radius) | starts moving on left circle with given radius (in m) (non-blocking method) |
leftArc(radius, ms) | moves on left circle with given radius (in m) for the given time (in ms) (non-blocking method) |
right() | starts moving right (non-blocking method) |
right(ms) | moves right for the given time interval (in ms) and stops (blocking method) |
rightArc(radius) | starts moving on right circle with given radius (in m) (non-blocking method) |
rightArc(radius, ms) | moves on right circle with given radius (in m) for given time (in ms) (non-blocking method) |
setSpeed(speed) | sets the speed (0..100). Effects only the next movement call |
stop() | stops the vehicle |
Motor(MOTOR_LEFT) | creates a left motor instance |
Motor(MOTOR_RIGHT) | creates a right motor instance |
backward() | starts the backward rotation |
forward() | starts the forward rotation |
setSpeed(speed) | sets the speed (0..100). Effects only the next movement call |
stop() | stops the motor |
LightSensor(id) | creates an instance of a light sensor with given id (LS_FRONT_LEFT=0, LS_FRONT_RIGHT=1, LS_REAR_LEFT=2, LS_REAR_RIGHT=3) |
LightSensor(id, bright = onBright, dark = onDark) | same with registered event callbacks onBright(id, value), onDark(id, value) while crossing the trigger level |
LightSensor(id, True) | (simulation mode only) creates an instance of an upwards directed light sensor with given id (LS_FRONT_LEFT=0, LS_FRONT_RIGHT=1, LS_REAR_LEFT=2, LS_REAR_RIGHT=3) |
LightSensor(id, True, bright = onBright, dark = onDark) | same with registered event callbacks onBright(id, value), onDark(id, value) while crossing the trigger level |
getValue() | returns the measured light intensity (0..255) |
setTriggerLevel(level) | sets a new trigger level |
UltrasonicSensor() | creates an instance of an ultrasonic sensor |
UltrasonicSensor(far = onFar, near = onNear) |
same with registered event callbacks onFar(value), onNear(value) while crossing the trigger level |
getValue() | returns the distance (in cm, -1 if error) |
setTriggerLevel(level) | sets a new trigger level |
InfraredSensor(id) | creates an instance of a infrared sensor with given id (IR_CENTER = 0, IR_LEFT = 1, IR_RIGHT = 2, IR_LINE_LEFT = 3, IR_LINE_RIGHT = 4) |
InfraredSensor(id, activated = onActivated, passivated = onPassivated | same with registered event callbacks onActivated(id), onPassivated(id) |
getValue() | returns 1, if the sensor detects a light source; otherwise 0 |
setTriggerLevel(level) | sets a new trigger level |
Camera() | creates an instance of a Raspberry Pi camera |
captureJPEG(width, height) | takes a camera snapshot with given pixel resolution and retuns the image as string in JPEG format |
saveData(data, filename) | writes the content of data as byte stream into the binary file (e.g. an image in JPEG format) |
captureAndSave(width, height, filename) | takes a camera snapshot with given pixel resolution and stores it in JPEG format in the Raspberry Pi Linux file system |
setHorzPos(pos) | positions the camera horizontally with the horizontal servo motor (approx. in degrees, zero to the forward direction) |
captureAndTransfer(width, height) | (only remote mode) takes a camera snapshot with given pixel resolution, transfers it to the remote device and returns it in JPEG format (as string) |
readImage(jpeg) | converts an image in JPEG format to a Bitmap used by GPanel (from gpanel import *) |
ServoMotor(id, home, inc) | creates an instance of a servo motor connected to header S12 (id = 0), S13 (id = 1), S14 (id = 2), S15 (id = 3). home: PWM duty cycle for home position (0..4095), inc: duty/position factor. Moves the motor to the home position |
setPos(pos) | positions the motor relative to the home position (pos <>0) |
setPosAbs(pos) | positions the motor to given absolute position (PWM duty cycle 0..4995) |
setHome() | positions the motor at home position |
Beeper() | creates an instance of a beeper (active buzzer at given GPIO port and ground, observe the polarity) |
Beeper(pin = 40) | same, but attached at given port |
turnOn() | turns the beeper on |
turnOff() | turns the beeper off |
start(onTime, offTime, count = 0, blocking = False) | starts an on-off cycle with count number of periods (count = 0: endless) and given turn-on and turn-off times (in ms). When blocking = True, the call blocks until all cycles are played; otherwise returns after starting the cycle |
stop() | terminates the playing cycle |
setOnTime(onTime) | sets the turn-on time (in ms, also while playing) |
setOffTime(offTime) | sets the turn-off time (in ms, also while playing) |
setOnOffTime(onTime, offTime) | sets the turn-on and turn-off times (in ms, also while playing) |
isBeeping() | returns true, while playing |
beep(count = 1) | short beep count times (default: 1) |
Led(id) |
creates an instance of a LED pair with give id (LED_FRONT = 0, LED_LEFT = 1, LED_REAR = 2, LED_RIGHT = 3) |
setColor(red, green, blue) |
turns the LED pair on using the given RGB color (values 0..255) |
setColor(colorStr) | same, but X11-color string |
startBlinker(onColorStr, offColorStr, onTime,offTime, count, blocking = False) | starts blinker with onColorStr, offColorStr (X11-color strings) and onTime, offTime (in ms). count: number of periods (0: endless). Returns immediately, if blocking = False; otherwise blocking until blinking is finished |
stopBlinker() | stops blinker and turns the led off |
isBlinkerAlive() | True, if blinker is active |
Led.setColorAll(red, green, blue) | turns all 8 LEDs on using the given RGB color (values 0..255) (static method) |
Led.setColorAll(colorStr) | same, but X11-color string |
Led.clearAll() | turns all LEDs off (static method) |
Display() | creates an instance of the 7-segment display |
clear() | clears the display (and stops the display multiplexer) |
isAvailable() | returns True, the a display is installed; otherwise False |
isBlinkerAlive()() | returns True, if the blinker is active; otherwise False |
isTickerAlive()() | returns True, if the ticker is active; otherwise False |
scrollToLeft() | scrolls the text one step to the left |
scrollToRight() | scrolls the text one step to the right |
setToStart() | sets the scrollable text at the starting positions |
showText(text, pos=0, dp=[0, 0, 0, 0]] |
shows the given text. Optional: Position pos and list of decimal points (0: hidden, 1: shown) |
showBlnker(text, dp=[0, 0, 0, 0], count=3, speed=1, blocking=False] |
shows the blinking text. Options: list of decimal points (0: hidden, 1: shown), number of repetitions, blinking speed, blocking until the blinker has finished |
showTicker(text, count=1, speed=2, blocking=False) |
shows a running ticker text scrolling to the left until the last 4 characters are displayed. Options: number of repetitions, scroll speed, blocking until the ticker has finished |
stopBlinker() | stops a running blinker |
stopTicker() | stops a running ticker |
OLED1306() | creates an instance of an alphanumeric OLED display with 128x64 pixels (based on SSD1306 chip) attached at the I2C port (using the address 0x3C) |
OLED1306(filename) | same with given background image (image format: PPM 128x64 B/W) (Only autonomous mode) |
setBkImage(filename) | sets the background image (image format: PPM 128x64 B/W). None: the background image is removed. (Only autonomous mode) |
setFont(ttfFile, fontSize) | takes the text font from given TTF font file. (Only autonomous mode) |
setFontSize(fontSize) | sets the font size (in pixel) |
setText(text, lineNum, fontSize = None, indent = 0) | displays the given text at given line number (0, 1,...) with given font size. indent is the text indentation in pixel (default: 0) |
println(text) | appends the given text (including a line break) in the text buffer and shows the content. If needed, the text is scrolled upwards, so that the last line is visible |
clear() | clears the display and the content of the text buffer |
setInverse(inverse = True) | selects black pixels on white background |
startBlinker(count = 3, offTime = 1000, onTime = 1000, blocking = False) | starts an on-off cycle with count number of periods (count = 0: endless) and given turn-on and turn-off times (in ms). When blocking = True, the call blocks until all cycles are shown; otherwise returns after starting the cycle |
stopBlinker() | stops the blinking cycle |
isBlinking() | returns True, while the display is blinking |
delay(time) | halts the program for the given time interval (in milliseconds) |
setStartDirection(angle) | sets the starting direction (0 to east, positive clockwise) |
setStartPosition(x, y) | sets the starting position (in pixels, zero at upper-left vertex) |
showStatusBar(height) | adds a status bar with given height at the bottom of the window |
setStatusText(text) | inserts text into the status bar (old text is erased) |
useBackground(filename) | inserts the given image into the background to be used by a light sensor |
useObstacle(filename, x, y) | inserts an obstacle at given position to be used by a the infrared sensor |
useTarget(filename, mesh, x, y) | inserts a target at given position to be used by the ultrasonic sensor |
useTorch(power, x, y, z) | inserts a draggable torch (spotlight) with given power at given location (z: height) (used by upwards directed light sensors) |
useShadow(ulx, uly, lrx, lry) | inserts a rectangular shadow at given upper left/lower right vertex (absorbs light from torches) |
Complete documentation : | RaspiPyLib (Python Doc) |
RaspiJLib (JavaDoc) | |
RaspiSim (JavaDoc, simulation mode) | |
State |
Switch on |
Search Access Point (AP) |
AP found |
AP not found |
Ready |
BrickGate server is running and waits for a client |
BrickGate server connection established |
Display |
empty |
AP-- |
Ticker: |
Ticker: |
m-n |
HOLd |
Conn for a short while, then empty (free for user program) |
LEDs |
off |
white |
green |
yellow |
blue, blicking selected program id |
green blinking |
off |
Possible Actions |
Wait |
Cancel |
Cancel |
Cancel by a click |
Click starts selected Python program, double-click selects current program, long press starts BrickGate server, long press with front IRS active starts shutdown, click with front IRS active shows IP, double-click with front IRS active deletes all programs |
Click starts autonomous Java program, long press stops BrickGate server |
free for user program |
State |
IdLE |
Shutdown "Are you sure?" |
Shutdown confirmed |
Shutdown canceled |
Display |
m-n |
oooo |
BYE. |
IdLE |
LEDs |
blue |
red |
off, then faint red |
blue |
Possible Actions |
Long press and front IR sensor activated |
Confirm: Click and front IR sensor activated |
Wait until Raspberry Pi's green LED stops blinking. Then switch-off |
Normal use |