RobotBrain

RobotBrain is a framework that makes it easy to work with sensors and actuators on the Raspberry Pi.

Actuators

All Actuator objects implement a set_normalized() method which takes a value between 0 and 1 as input.

Currently Implemented Actuators:

• Motor (Software PWM controlled DC motor)
• ServoActuator
• PWMActuator

The following code is all that is needed to set an attached servo to it's center postion:

>>> from robot_brain.actuators import ServoAcuator
>>> s = ServoActuator(servod_path='</path/to/servod-executable>')
>>> s.set_normalized(0.5)

Sensors

All Sensor objects implement a read_normalized() method which returns the sensor's current reading normalized to be between 0 and 1.

Currently Implemented Sensors:

• PingSensor (HC-SR04)
• MCP3008AnalogSensor (ADC chip for reading analog sensors)

Dependencies

• RPi.GPIO

  • (Most OSs come preinstalled with this)

• spidev

  git clone git://github.com/doceme/py-spidev                                       
  sudo python setup.py install  
  

• PiBits

  • PiBits is used to drive servos

  git clone https://github.com/richardghirst/PiBits                                 
  cd PiBits/ServoBlaster/user                                                              
  # edit out pins that are not needed in servod.c
  make servod  
  

• ZMQ

  sudo apt-get install python-zmq
  

Installation

sudo python setup.py install

TODO

• [x] Make Motor confirm to the Actuator Interface
• [ ] Update Pin tests
• [ ] Add more tests!