AlphaBot2-Pi API

Friendly API implementation for AlphaBot2-Pi KIT

• Motors power control with frequency width modulation
• Line sensors analog to digital converter TLC1543 control
• Led strip WS2812B control
• Beeper control
• GPIO wrapper for PC environment development and unit testing

Usage

Motor control

from alphabot.hardware.motor_module import LeftMotor, RightMotor
# power from 0 to 100
power = 50
left_motor = LeftMotor(gpio)
right_motor = RightMotor(gpio)
left_motor.forward(power)
right_motor.forward(power)
# ..some logic
left_motor.stop()
right_motor.stop()

Truck control

from alphabot.hardware.motor_module import LeftMotor, RightMotor
from alphabot.truck_module import Truck
# power from -100 to 100
power = 50
truck = Truck(LeftMotor(gpio), RightMotor(gpio))
truck.setSpeedPower(power)
truck.setTurnPower(0)

Sensors

from alphabot.hardware.line_sensor_module import LineSensorsAdc
sensors_adc = LineSensorsAdc(gpio)
all_sensors_values = sensors_adc.readSensors()

Beeper

from alphabot.hardware.beeper_module import Beeper
beeper = Beeper(gpio)
beeper.beepOn()
beeper.beepOff()

or

from alphabot.hardware.beeper_module import Beeper
beeper = Beeper(gpio)
time_in_milliseconds = 1000
beeper.beepOn(time_in_milliseconds)

Led strip

from alphabot.hardware.ledstrip_module import LedStrip
strip = LedStrip()
strip.setPixelColourRgb(0, 255, 0, 0)