https://github.com/sourcebots/sbot
SourceBots Robot API
https://github.com/sourcebots/sbot
python-api robotics robotics-competition
Last synced: about 1 month ago
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SourceBots Robot API
- Host: GitHub
- URL: https://github.com/sourcebots/sbot
- Owner: sourcebots
- License: mit
- Created: 2019-04-18T19:49:20.000Z (about 7 years ago)
- Default Branch: main
- Last Pushed: 2025-12-12T12:03:00.000Z (4 months ago)
- Last Synced: 2025-12-16T18:47:29.462Z (4 months ago)
- Topics: python-api, robotics, robotics-competition
- Language: Python
- Homepage: https://docs.sourcebots.co.uk/
- Size: 13.6 MB
- Stars: 4
- Watchers: 4
- Forks: 3
- Open Issues: 7
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# sbot
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[](https://badge.fury.io/py/sbot)
[](https://docs.sourcebots.co.uk)
[](https://opensource.org/licenses/MIT)
`sbot` - SourceBots Robot API
This is the API for Southampton Robotics Outreach robotics competitions.
## Installation
If you wish to install openCV from your package manager, you can install the base package with:
```bash
pip install sbot
```
To install the full package, including openCV, you can install with:
```bash
pip install sbot[vision]
```
## Usage
Importing the module will, by default, trigger board discovery and wait for the start button to be pressed.
```python
import sbot
```
Unlike previous versions, robot functionality is accessed directly from the `sbot` library instead of instantiating a class.
```python
from sbot import *
motors.set_power(0, 0.3)
motors.set_power(1, 0.3)
power.get_output_current(PowerOutputPosition.H0)
utils.sound_buzzer(880, 0.5)
servos.set_position(0, 45/90)
print(arduino.measure_ultrasound_distance(8, 9))
if comp.is_competition:
markers = vision.detect_markers()
leds.set_colour(0, Colour.MAGENTA)
```
### Startup behaviour
You can configure the startup behaviour of `sbot` with an `override.env` file in the same directory as your project.
Example `override.env` file:
```sh
ENABLE_DEBUG_LOGGING=1
SKIP_WAIT_START=1
NO_POWERBOARD=1
```
If `SKIP_WAIT_START` is set, you will have to manually trigger board discovery and wait for the start button:
```python
from sbot import utils
utils.load_boards()
utils.wait_start()
```
The currently supported override keys are:
Override | Description
--- | ---
ENABLE_DEBUG_LOGGING | Enable debug logging
ENABLE_TRACE_LOGGING | Enable trace level logging
SKIP_WAIT_START | Don't block for the start signal automatically
NO_POWERBOARD | Allow running without a power board
MANUAL_POWER_PORTS | Specify additional serial ports for power boards
MANUAL_MOTOR_PORTS | Specify additional serial ports for motor boards
MANUAL_SERVO_PORTS | Specify additional serial ports for servo boards
MANUAL_ARDUINO_PORTS | Specify additional serial ports for arduino boards
MANUAL_LED_PORTS | Specify additional serial ports for led boards, only used in the simulator
MANUAL_TIME_PORTS | Specify additional serial ports for the time interface, only used in the simulator
SORT_POWER_ORDER | Override the sort order of the power boards, unused
SORT_MOTOR_ORDER | Override the sort order of the motor boards
SORT_SERVO_ORDER | Override the sort order of the servo boards
SORT_ARDUINO_ORDER | Override the sort order of the arduino boards, unused
SORT_LED_ORDER | Override the sort order of the led boards, unused
SORT_TIME_ORDER | Override the sort order of the time interface, unused
You can also configure these settings as environment variables, by prepending the prefix `SBOT_`. For example, `ENABLE_DEBUG_LOGGING` can be set as `SBOT_ENABLE_DEBUG_LOGGING`.
Some settings can only be configured as environment variables. These are:
Environment Variable | Description
--- | ---
OPENCV_CALIBRATIONS | Override the location to look for additional camera calibrations, defaults to the working directory
SBOT_METADATA_PATH | Override the location to look for metadata files, normally configured by the runner
SBOT_PYTEST | Set to `1` when running unit tests, to disable automatic discovery on import
SBOT_MQTT_URL | The URI to use for the MQTT broker, normally configured by the runner
run_uuid | The UUID to include in all MQTT messages, normally configured by the runner
WEBOTS_SIMULATOR | Set to `1` when running in the Webots simulator, used to detect the simulator environment
WEBOTS_ROBOT | List of socket URIs to connect to for the simulated boards, configured by the runner
WEBOTS_DEVICE_LOGGING | Set to the log level name to use for logging of the simulated boards, defaults to `WARNING`
## Developer Notes
There are a number of considerations that have been made in the design of this API.
Some of these may not be immediately obvious, so they are documented below.
- `tuple` is used to prevent the user from adding, removing or overwriting items in any parts of the API that would return a list.
- `__slots__` is used to prevent the user from adding, removing or overwriting attributes in any parts of the API.
- `sbot.serial_wrapper.SerialWrapper` handles automatic reconnection to the serial port if the connection is lost and impleents 3 retries on any serial operation before raising a `BoardDisconnectionError`.
- The old API is still available under `sbot.historic`, though this might change.