pycozmo.robot¶
Robot constants and helper code.
Classes
LiftPosition ([height, ratio, angle]) |
Represents the position of Cozmo’s lift. |
RobotOrientation |
Robot orientation enumeration. |
RobotStatusFlag |
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pycozmo.robot.
MIN_HEAD_ANGLE
= <Angle -0.44 radians (-25.00 degrees)>¶ Minimum head angle.
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pycozmo.robot.
MAX_HEAD_ANGLE
= <Angle 0.78 radians (44.50 degrees)>¶ Maximum head angle.
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pycozmo.robot.
MIN_LIFT_HEIGHT
= <Distance 32.00 mm (1.26 inches)>¶ Minimum lift height.
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pycozmo.robot.
MAX_LIFT_HEIGHT
= <Distance 92.00 mm (3.62 inches)>¶ Maximum lift height.
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pycozmo.robot.
LIFT_ARM_LENGTH
= <Distance 66.00 mm (2.60 inches)>¶ Lift arm length.
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pycozmo.robot.
LIFT_PIVOT_HEIGHT
= <Distance 45.00 mm (1.77 inches)>¶ Lift arm pivot point height.
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pycozmo.robot.
MIN_LIFT_ANGLE
= <Angle -0.20 radians (-11.36 degrees)>¶ Minimum lift arm angle.
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pycozmo.robot.
MAX_LIFT_ANGLE
= <Angle 0.79 radians (45.41 degrees)>¶ Maximum lift arm angle.
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pycozmo.robot.
MAX_WHEEL_SPEED
= <Speed 200.00 mmps>¶ Maximum wheel speed.
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pycozmo.robot.
TRACK_WIDTH
= <Distance 45.00 mm (1.77 inches)>¶ Track width.
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pycozmo.robot.
FRAME_RATE
= 30¶ Number of frames per second for animations.
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class
pycozmo.robot.
RobotStatusFlag
¶ Bases:
object
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ARE_WHEELS_MOVING
= 32768¶
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CLIFF_DETECTED
= 16384¶
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HEAD_IN_POS
= 512¶
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IS_ANIMATING
= 64¶
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IS_ANIMATING_IDLE
= 2048¶
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IS_ANIM_BUFFER_FULL
= 1024¶
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IS_BODY_ACC_MODE
= 16¶
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IS_CARRYING_BLOCK
= 2¶
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IS_CHARGER_OOS
= 65536¶
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IS_CHARGING
= 8192¶
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IS_FALLING
= 32¶
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IS_MOVING
= 1¶
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IS_ON_CHARGER
= 4096¶
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IS_PATHING
= 128¶
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IS_PICKED_UP
= 8¶
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IS_PICKING_OR_PLACING
= 4¶
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LIFT_IN_POS
= 256¶
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pycozmo.robot.
RobotStatusFlagNames
= {1: 'IS_MOVING', 2: 'IS_CARRYING_BLOCK', 4: 'IS_PICKING_OR_PLACING', 8: 'IS_PICKED_UP', 16: 'IS_BODY_ACC_MODE', 32: 'IS_FALLING', 64: 'IS_ANIMATING', 128: 'IS_PATHING', 256: 'LIFT_IN_POS', 512: 'HEAD_IN_POS', 1024: 'IS_ANIM_BUFFER_FULL', 2048: 'IS_ANIMATING_IDLE', 4096: 'IS_ON_CHARGER', 8192: 'IS_CHARGING', 16384: 'CLIFF_DETECTED', 32768: 'ARE_WHEELS_MOVING', 65536: 'IS_CHARGER_OOS'}¶ Robot status flag names.
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class
pycozmo.robot.
LiftPosition
(height=None, ratio=None, angle=None)¶ Bases:
object
Represents the position of Cozmo’s lift.
The class allows the position to be referred to as either absolute height above the ground, as a ratio from 0.0 to 1.0, or as the angle of the lift arm relative to the ground.
- Args:
- height (
cozmo.util.Distance
): The height of the lift above the ground. ratio (float): The ratio from 0.0 to 1.0 that the lift is raised from the ground. angle (cozmo.util.Angle
): The angle of the lift arm relative to the ground.
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angle
¶ The angle of the lift arm relative to the ground.
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height
¶ Height above the ground.
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ratio
¶ The ratio from 0 to 1 that the lift is raised, 0 at the bottom, 1 at the top.