def __init__(self) -> None:
self._power_boards = BoardGroup.get_board_group(
PowerBoard,
SRV4PowerBoardConsoleBackend,
)
self.power_board = self._power_boards.singular() # Restrict to exactly one board.
self.motor_boards = BoardGroup.get_board_group(
MotorBoard,
SRV4MotorBoardConsoleBackend,
)
def __init__(self) -> None:
self.power_boards = BoardGroup.get_board_group(
PowerBoard,
SRV4PowerBoardHardwareBackend,
)
self.power_board: PowerBoard = self.power_boards.singular()
self.power_board.outputs.power_on()
sleep(0.2) # Give time for servo board to initialise.
self.servo_boards = BoardGroup.get_board_group(
ServoBoard,
SRV4ServoBoardHardwareBackend,
)
self.servo_board: ServoBoard = self.servo_boards.singular()
class Robot(BaseRobot):
"""A basic robot with a power board."""
def __init__(self):
self.power_boards = BoardGroup(
PowerBoard,
HardwareEnvironment.get_backend(PowerBoard),
)
self.power_board: PowerBoard = self.power_boards.singular()
def _init_power_board(self) -> None:
self._power_boards = BoardGroup.get_board_group(
PowerBoard,
self._environment.get_backend(PowerBoard),
)
self.power_board: PowerBoard = self._power_boards.singular()
# Power on robot, so that we can find other boards.
self.power_board.outputs.power_on()
def __init__(self) -> None:
self._power_boards = BoardGroup.get_board_group(
PowerBoard,
SRV4PowerBoardConsoleBackend,
)
self.power_board = self._power_boards.singular(
) # Restrict to exactly one board.
# Expose just a component to the user.
self.big_led = self.power_board.outputs[0]
def _init_auxilliary_boards(self) -> None:
self.motor_boards = self._environment.get_board_group(
MotorBoard,
)
self.servo_boards = self._environment.get_board_group(
ServoBoard,
)
self.arduinos = self._environment.get_board_group(
SBArduinoBoard,
)
if ENABLE_VISION:
self._cameras = BoardGroup.get_board_group(
ZolotoCameraBoard,
SbotCameraBackend,
)
self._camera: Optional[ZolotoCameraBoard] = (
self._get_optional_board(self._cameras)
)
def __init__(self) -> None:
self.power_boards = BoardGroup.get_board_group(
PowerBoard,
SRV4PowerBoardHardwareBackend,
)
self.power_board: PowerBoard = self.power_boards.singular()
def __init__(self) -> None:
self.camera_boards = BoardGroup.get_board_group(
ZolotoCameraBoard,
ZolotoCameraBackend,
)
self.camera_board: ZolotoCameraBoard = self.camera_boards.singular()
def __init__(self) -> None:
self.arduinos = BoardGroup.get_board_group(
Ruggeduino,
SRV4RuggeduinoHardwareBackend,
)
self.arduino: Ruggeduino = self.arduinos.singular()
def __init__(self) -> None:
self.arduinos = BoardGroup.get_board_group(
SBArduinoBoard,
SBArduinoHardwareBackend,
)
self.arduino: SBArduinoBoard = self.arduinos.singular()
def __init__(self):
self.power_boards = BoardGroup(
PowerBoard,
HardwareEnvironment.get_backend(PowerBoard),
)
self.power_board: PowerBoard = self.power_boards.singular()