Class GyroBalancer

Base class for a robot that stands on two wheels and uses a gyro sensor.

Declaration

class GyroBalancer(object)

Robot will keep its balance.

▶ def __init__(self, gain_gyro_angle=1700, gain_gyro_rate=120, gain_motor_angle=7, ...)
Create GyroBalancer.
def __init__(
self,
gain_gyro_angle=1700,
gain_gyro_rate=120,
gain_motor_angle=7,
gain_motor_angular_speed=9,
gain_motor_angle_error_accumulated=3,
power_voltage_nominal=8.0,
pwr_friction_offset_nom=3,
timing_loop_msec=30,
motor_angle_history_length=5,
gyro_drift_compensation_factor=0.05,
left_motor_port=OUTPUT_D,
right_motor_port=OUTPUT_A,
debug=False,
)
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▷ def balance(self)
Run the _balance method as a thread.
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▷ def move_backward(self, seconds=None)
Move robot backward.
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▷ def move_forward(self, seconds=None)
Move robot forward.
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▷ def rotate_left(self, seconds=None)
Rotate robot left.
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▷ def rotate_right(self, seconds=None)
Rotate robot right.
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▷ def shutdown(self)
Close all file handles and stop all motors.
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▷ def signal_int_handler(self, signum, frame)
Signal handler for SIGINT.
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▷ def signal_term_handler(self, signum, frame)
Signal handler for SIGTERM.
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▷ def stop(self)
Stop robot (balancing will continue).
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