https://github.com/mryslab/pymata_rh
Python API Library for RoboHat MM1
https://github.com/mryslab/pymata_rh
Last synced: 2 months ago
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Python API Library for RoboHat MM1
- Host: GitHub
- URL: https://github.com/mryslab/pymata_rh
- Owner: MrYsLab
- License: agpl-3.0
- Created: 2020-06-02T17:57:24.000Z (about 6 years ago)
- Default Branch: master
- Last Pushed: 2021-04-29T15:35:10.000Z (about 5 years ago)
- Last Synced: 2024-10-18T20:49:53.064Z (over 1 year ago)
- Language: Python
- Size: 5.38 MB
- Stars: 4
- Watchers: 4
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: license.txt
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README
# What is pymata_rh?
[Pymata_rh](https://github.com/MrYsLab/pymata_rh) is a Python 3 (Version 3.7 or above) [Application Programming
Interface (API).](https://htmlpreview.github.io/?https://github.com/MrYsLab/pymata_rh/blob/master/html/pymata_rh/index.html)
It is Windows, macOS and, Linux compatible, allowing you to easily create Python scripts to control and monitor the
[Robo HAT MM1.](https://www.roboticsmasters.co/pages/robo-hat-mm1/)
## Robot HAT MM1 Pin Names To Pin Number Map And Supported Pin Modes
**MM1 Pin Name**|**Digital / Analog Pin #**|**Digital Input**|**Digital Output**|**PWM**|**Analog Input**
:-----:|:-----:|:-----:|:-----:|:-----:|:-----:
Servo1|2|Yes|Yes|Yes|No
Servo2|3|Yes|Yes|Yes|No
Servo3|4|Yes|Yes|No|No
Servo4|5|Yes|Yes|No|No
Servo5|6|Yes|Yes|Yes|No
Servo6|7|Yes|Yes|Yes|No
Servo7|8|Yes|Yes|Yes|No
Servo8|9|Yes|Yes|Yes|No
NeoPixel |11|Yes|Yes|Yes|No
LED | 13|No|Yes|No|No
RCC1 | 14 / A0 |Yes|Yes|No|Yes
RCC2 | 15 / A1 |Yes|Yes|No|Yes
RCC3 | 16 / A2 |Yes|Yes|No|Yes
RCC4 | 17 / A3 |Yes|Yes|No|Yes
### NOTES:
* All digital pins support digital input pull-up mode.
* All analog input pins may be configured as digital inputs or outputs as well.
* Currently, there is no library support provided within pymata_rh to control NeoPixels. However, the pin may be used as a digital pin.
## API Support
The API not only supports the pins and modes listed above, but the pymata_rh API also
provides support for:
* Servo motors.
* The onboard INA219 current, shunt, and power monitor.
* The onboard MPU9250 nine-axis motion tracking device.
* External i2c devices.
* DHT 11 and 22 temperature sensors.
* HC-SR04 sonar distance sensors.
**NOTE: ** You may need to connect a power supply that provides adequate current capacity for your application.
**A Demo GUI is included**. After installing pymata-rh, open a terminal window and type: rhdemo
Use the GUI to control the RoboHAT without writing one line of code!
## Implemented Using The Firmata Protocol
The API is implemented using the
[Firmata protocol](https://github.com/firmata/protocol) in conjunction with FirmataExpress,
custom firmware you install on the Robo HAT MM1.
Communication between the Python script and the Robo HAT MM1 is accomplished over a serial link at 115200 baud.
### A [User's Guide is available,](https://mryslab.github.io/pymata_rh/index.html) containing an annotated API as well as links to working examples.
## Major features
* **Fully documented intuitive API**
* **Python 3.7+ compatible.**
* **Set the pin mode and go!**
* **Data change events may be associated with a callback function, or each pin can be polled for its last event change.**
* **Each data change event is time-stamped and logged.**
Here is an example that demonstrates receiving asynchronous digital pin state data change notifications for pin 2 using
callback notifications.
The API is quite simple to use. Here are the steps involved in creating a simple application.
1. Set a pin mode for the pin and register a callback function.
2. Have your application sit in a loop waiting for notifications.
When pymata_rh executes the callback method you specified, the data parameter is populated with
a list of items that describe the change event, including a time-stamp.
```python
from pymata_rh import pymata_rh
import time
class DigitalInput:
"""
Set a pin for digital input and received all data changes
in the callback method
"""
def __init__(self, pin):
"""
Set a pin as a digital input
:param pin: digital pin number
"""
# Indices into the callback report data
self.CB_PIN_MODE = 0
self.CB_PIN = 1
self.CB_VALUE = 2
self.CB_TIME = 3
# Instantiate this class with the pymata_rh API
self.device = pymata_rh.PymataRh()
# Set the pin mode and specify the callback method.
self.device.set_pin_mode_digital_input(pin, callback=self.the_callback)
# Keep the program running and wait for callback events.
while True:
try:
time.sleep(1)
# If user hits Control-C, exit cleanly.
except KeyboardInterrupt:
self.device.shutdown()
def the_callback(self, data):
"""
A callback function to report data changes.
This will print the pin number, its reported value
the pin type (digital, analog, etc.) and
the date and time when the change occurred
:param data: [pin, current reported value, pin_mode, timestamp]
"""
# Convert the date stamp to readable format
date = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime(data[self.CB_TIME]))
# Print the pin, current value and time and date of the pin change event.
print(f'Pin: {data[self.CB_PIN]} Value: {data[self.CB_VALUE]} Time Stamp: {date}')
if __name__ == '__main__':
# Monitor Pin 2 For Digital Input changes
DigitalInput(2)
```
Sample console output as input change events occur:
```bash
Pin: 2 Value: 0 Time Stamp: 2020-03-10 13:26:22
Pin: 2 Value: 1 Time Stamp: 2020-03-10 13:26:27
```
This project was developed with [Pycharm](https://www.jetbrains.com/pycharm/?from=pymata4) 