制御ECU Python API

Installation

python -m pip install -U git+https://github.com/TriOrb-Inc/triorb-core.git

Quickstart

After connecting to the robot and starting up, the robot moves forward at a speed of 0.1 m/s for 5 seconds and then stops (sleeps).

import time
import triorb_core
r = triorb_core.robot("/dev/ttyACM0")
r.wakeup()
time.sleep(1.0) # Wait for excitation
r.set_vel_relative(0.0, 0.1, 0.0, acc=1000)
time.sleep(5.0)
r.brake() # Stops after moving forward for 5 second at a speed of 0.1 m/s.
r.sleep()

API Reference

triorb_core.robot(port=None, node=None)

Connects to the robot (control ECU).

Parameters:

port - (optional) Set the URL of the USB serial device.
node - (optional) Set ROS2 Node instance.

Returns: Robot object

Return type: triorb_core.robot

Usage:

import triorb_core
r = triorb_core.robot()

triorb_core.robot.close_serial()

Close the connection to the robot (control ECU)

Usage:

import triorb_core
r = triorb_core.robot()
r.close_serial()

triorb_core.robot.wakeup()

Excites all motors on the robot.

Returns:

Return type: list of response

Usage:

import triorb_core
r = triorb_core.robot()
r.wakeup()

triorb_core.robot.sleep()

Turns off the excitation of all motors on the robot.

Returns:

Return type: list of response

Usage:

import triorb_core
r = triorb_core.robot()
r.wakeup()
#---<Control the robot>---
r.sleep()

triorb_core.robot.set_vel_relative(vx, vy, vw, acc=None, dec=None, life_time=None, drive_mode=None)

Sets the movement speed based on the current robot posture. Note that the robot starts moving immediately after the setting.

Parameters:

vx - Velocity in X-axis direction [m/s]
vy - Velocity in Y-axis direction [m/s]
vw - Rotation speed around Z-axis (Yaw rate) [rad/s]
acc - (optional) Acceleration time [ms]
dec - (optional) Deceleration time [ms]
life_time - (optional) Life time of this command [ms]
drive_mode - (optional) Motor's drive mode

Returns:

Return type: list of response

Usage:

import time
import triorb_core
r = triorb_core.robot()
r.wakeup()
time.sleep(1.0)
r.set_vel_relative(0.0, 0.1, 0.0, acc=1000) # The robot moves forward at a speed of 0.1m/s while accelerating for 1000ms.
time.sleep(5.0)
r.set_vel_relative(0.0, -0.1, 0.0, life_time=5000) # The robot will move backward for 5 seconds and then stop.
time.sleep(10.0)

triorb_core.robot.set_pos_relative(x, y, w, acc=None, dec=None, vel_xy=None, vel_w=None)

Set the amount of movement based on the current robot posture. Note that the movement starts immediately after the setting.

Parameters:

x - Amount of movement in X-axis direction [m]
y - Amount of movement in Y-axis direction [m]
w - Amount of rotation around Z-axis [deg]
acc - (optional) Acceleration time [ms]
dec - (optional) Deceleration time [ms]
vel_xy - (optional) Velocity in XY-axis direction [m/s]
vel_w - (optional) Rotation speed around Z-axis (Yaw rate) [rad/s]

Returns:

Return type: list of response

Usage:

import time
import triorb_core
r = triorb_core.robot()
r.wakeup()
time.sleep(1.0)
r.set_pos_absolute(-1.0, 0.5, 0.0, vel_xy=0.2) # Moves sideways -1m, forward 0.5m, at a speed of 0.2m/s.
time.sleep(3.0)

triorb_core.robot.set_vel_absolute(vx, vy, vw, acc=None, dec=None)

Set the movement speed with respect to the odometry origin. Note that the movement starts immediately after the setting.

Parameters:

vx - Velocity in X-axis direction [m/s]
vy - Velocity in Y-axis direction [m/s]
vw - Rotation speed around Z-axis (Yaw rate) [rad/s]
acc - (optional) Acceleration time [ms]
dec - (optional) Deceleration time [ms]

Returns:

Return type: list of response

Usage:

triorb_core.robot.set_pos_absolute(x, y, w, acc=None, dec=None, vel_xy=None, vel_w=None)

Set the amount of movement with respect to the odometry origin. Note that the movement starts immediately after the setting.

Parameters:

x - Amount of movement in X-axis direction [m]
y - Amount of movement in Y-axis direction [m]
w - Amount of rotation around Z-axis [deg]
acc - (optional) Acceleration time [ms]
dec - (optional) Deceleration time [ms]
vel_xy - (optional) Velocity in XY-axis direction [m/s]
vel_w - (optional) Rotation speed around Z-axis (Yaw rate) [rad/s]

Returns:

Return type: list of response

Usage:

triorb_core.robot.join()

Wait until the robot movement is completed. Note that this function only works after the set_pos function is executed.

Usage:

import time
import triorb_core
r = triorb_core.robot()
r.wakeup()
time.sleep(1.0)
r.set_pos_relative(0.0, 0.5, 0.0)
r.join()
print("Done.") # "Done." is displayed when the forward movement of 0.5m is completed.

triorb_core.robot.brake()

Sets the robot's movement speed to 0 (≒braking is applied).

Returns:

Return type: list of response

Usage:

import time
import triorb_core
r = triorb_core.robot()
r.wakeup()
time.sleep(1.0)
r.set_vel_relative(0.0, 0.1, 0.0)
time.sleep(1.0)
r.brake() # Stops after moving forward for 1 second at a speed of 0.1 m/s.

triorb_core.robot.get_pos()

Obtains the current robot posture with respect to the odometry origin.

Returns:

Return type: list of response

Usage:

import triorb_core
r = triorb_core.robot()
r.wakeup()
print(r.get_pos())

triorb_core.robot.get_motor_status(params=["error","state","voltage","power"], _id=[1,2,3])

Obtains the status of each motor mounted on the robot.

Parameters:

params - (optional) Set the parameters to be acquired:
error: motor alarm
state: motor state
voltage: main power supply voltage
power: electric power
_id - (optional) Set the motor IDs for which parameters are to be acquired.

Returns:

Return type: list of response

Usage:

import triorb_core
r = triorb_core.robot()
r.wakeup()
print(r.get_motor_status(params=["power"], _id=[1])) # Obtains and displays the main power supply voltage.

triorb_core.robot.reset_origin()

Sets the current robot posture as the odometry origin.

Returns:

Return type: list of response

Usage:

import triorb_core
r = triorb_core.robot()
r.wakeup()
r.reset_origin()

triorb_core.robot.set_odometry(x, y, w)

Modify the odometry origin so that the current robot posture is (x, y, w).

Parameters:

x - X-axis coordinates [m].
y - Y-axis coordinates [m].
w - Angle around Z-axis [deg].

Returns:

Return type: list of response

Usage:

import triorb_core
r = triorb_core.robot()
r.wakeup()
r.set_odometry(0,0,90) # Sets the current posture as the odometry origin +90deg.

triorb_core.robot.set_lifter_move(pos)

Set the position of the lifter.

Parameters:

pos - The lifter position will be set as follows: 1 for up, -1 for down, and 0 for a stop.

Returns:

0: Timeout (approximately 150 ms elapsed)
1: Lift enabled → Lift up/down operation is possible
2: One or more lifter motors are not energized.
3: One or more lifter motors have encountered an error. (Generally, a robot restart or turning off and on the excitation is required to resolve this.)
4: Failed to acquire motor status. → Please execute set_lifter_move again.

import triorb_core
r = triorb_core.robot()
r.wakeup()
if r.set_lifter_move(1)[0] == 1:
  print("The lifter is starting to go up.")

triorb_core.robot.get_lifter_pos()

Get the position of the lifter.

Parameters:

None

Returns:

0: Unknow (Lifter has never been operated since it was turned on OR lifter stops due to any error)
1: Lift stop.
2: Lift is upper limit. (It will take a few seconds for the value to change.)
3: Lift is lower limit. (It will take a few seconds for the value to change.)
4: Lift is moving up.
5: Lift is moving down.

import triorb_core
import time
r = triorb_core.robot()
r.wakeup()
time.sleep(2)
r.set_lifter_move(1) # lift up start
time.sleep(1)

limit_sec = 30
for i in range(limit_sec):
  ret = r.get_lifter_pos()[0]
  if ret == 2:
    print("lift up is done.")
    break
  elif ret == 4:
    print("lift is moving up.")
  else:
    print("lift up is failed.")
    break
  time.sleep(1)

triorb_core.robot.get_error_history()

The robot periodically(every 2 seconds) checks for errors and resets them if any are found.
Up to five errors will be retained.

Parameters:

None

Returns:

A combination of the error ID and the time(Counting from start-up) it occurred.

example:

import triorb_core
r = triorb_core.robot()
print(r.get_error_history())