I/Os

This file presents the different api_doc/io:I/Os - Command functions, api_doc/io:I/Os - Enums, api_doc/io:I/Os - Niryo Topics & api_doc/io:I/Os - Objects available with the Arm API

I/Os - Command functions

pyniryo2.io.io.check_ned2_version(func)

Decorator that check the robot version

pyniryo2.io.io.check_ned_one_version(func)

Decorator that check the robot version

This section reference all existing functions to control your robot, which include

  • Getting IOs status

  • Setting IOs mode

  • Setting IOs value

All functions to control the robot are accessible via an instance of the class api_doc/niryo_robot:NiryoRobot

robot = NiryoRobot(<robot_ip_address>)

robot.io.set_pin_mode(PinID.GPIO_1A, PinMode.INPUT)
robot.io.digital_write(PinID.GPIO_1A, PinState.HIGH)
...

See examples on Examples Section

List of functions subsections:

class pyniryo2.io.io.IO(client)

IO robot functions

Example:

ros_instance = NiryoRos("10.10.10.10") # Hotspot
io_interface = IO(ros_instance)
Parameters:

client (NiryoRos) – Niryo ROS client

State functions

property IO.digital_io_states

Return the value of digital ios.

Returns:

State, Name, Mode of the pin

Return type:

DigitalPinObject

property IO.get_digital_io_states

Returns the io state client which can be used synchronously or asynchronously to obtain the io states. The io state client returns a list of DigitalPinObject.

Examples:

# Get last value
io.get_digital_io_states()
io.get_digital_io_states.value

# Subscribe a callback
def io_callback(io_state):
    print io_state

io.get_digital_io_states.subscribe(io_callback)
io.get_digital_io_states.unsubscribe()
Returns:

io state topic instance

Return type:

NiryoTopic

IO.get_digital_io_state(pin_id)

Return the value of a digital io.

Returns:

digital io object

Return type:

DigitalPinObject

Read & Write functions

IO.set_pin_mode(**kwargs)
IO.digital_write(pin_id, digital_state)

Set pin_id state to digital_state

Examples:

io.digital_write(PinID.GPIO_1A, PinState.HIGH)
io.digital_write('1A', PinState.LOW)
Parameters:

  • pin_id (PinID or String)

  • digital_state (PinState or bool)

Return type:

None

IO.digital_read(pin_id)

Return the value of a digital pin.

Examples:

io.set_pin_mode(PinID.GPIO_1A, PinMode.OUTPUT)
io.digital_read(PinID.GPIO_1A)
Parameters:

pin_id (PinID or str)

Return type:

bool

I/Os - Niryo Topics

The use of these functions is explained in the api_doc/niryo_topics:NiryoTopic section. They allow the acquisition of data in real time by callbacks or by direct call.

I/O’s Niryo Topics

Name

Function

Return type

/niryo_robot_rpi/digital_io_state

get_digital_io_states

list [ DigitalPinObject ]

I/Os - Enums

List of enums:

  • PinMode

  • PinState

  • PinID

class pyniryo2.io.enums.PinMode(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Enumeration of Pin Modes

OUTPUT = 0
INPUT = 1
class pyniryo2.io.enums.PinState(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Pin State is either LOW or HIGH

LOW = False
HIGH = True
class pyniryo2.io.enums.PinID(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Enumeration of Robot Pins

GPIO_1A = '1A'
GPIO_1B = '1B'
GPIO_1C = '1C'
GPIO_2A = '2A'
GPIO_2B = '2B'
GPIO_2C = '2C'
SW_1 = 'SW1'
SW_2 = 'SW2'
DO1 = 'DO1'
DO2 = 'DO2'
DO3 = 'DO3'
DO4 = 'DO4'
DI1 = 'DI1'
DI2 = 'DI2'
DI3 = 'DI3'
DI4 = 'DI4'
DI5 = 'DI5'
AI1 = 'AI1'
AI2 = 'AI2'
AO1 = 'AO1'
AO2 = 'AO2'

I/Os - Objects

class pyniryo2.io.objects.DigitalPinObject(name, mode, value)

Object used to store information on digital pins

class pyniryo2.io.objects.AnalogPinObject(name, mode, value)

Object used to store information on digital pins