davidfrisch/UNIFR_API_EPUCK

e-puck e-puck-robot python3 education webots

First Steps

Welcome to the UNIFR API e-puck's documentation.

unifr_api_epuck is a simple API wrapper that lets you control a real or simulated e-puck robot. Please find below the instructions to get started with the API for Python3.

Submitted by: David Roman Frischer

Object detection section by: Vincent Carrel

Supervisor: Dr. Julien Nembrini

documentation : https://unifr-api-epuck.readthedocs.io/en/latest/

Requirements

Python3.x on your computer.
Webots or a real e-puck.

How To Start

With Real Robots

How to install the package from your terminal.
```
$ pip install unifr_api_epuck
```

How to implement

To import the package:

from unifr_api_epuck import wrapper

To create an instance of the robot:

#Put the IP address of your robot.
MY_IP = '192.168.43.125'
r = wrapper.get_robot(MY_IP)

To control the robot by calling its actions:

r.init_sensors() #initiates the sensors
r.set_speed(-2, 2) #makes it turn around itself

#infinite loop
while r.go_on():
    prox_values = r.get_prox() #gets the values of the proximity sensors
    print(prox_values)

r.clean_up() #makes a reset

To run the file
```
$ python3 my_controller_file.py
```

With Webots

How to install the package from your terminal.
```
$ pip install unifr_api_epuck
```

How to implement your Python controller

To import the wrapper from the package:

from unifr_api_epuck import wrapper

To create an instance of the robot:

r = wrapper.get_robot()

To control the robot by calling its actions:

r.init_sensors() #initiates the sensors
r.set_speed(-2, 2) #makes it turn around itself

#infinite loop
while r.go_on():
    prox_values = r.get_prox() #gets the values of the proximity sensors
    print(prox_values)

r.clean_up() #makes a reset

To run the file:
- ⏯ press play on Webots

Simple Example Code

Q: What does it do ?

A: The robot goes forward at a speed of 2 and prints its proximitiy sensor values.

from unifr_api_epuck import wrapper

ip_addr = '192.168.43.125'
r = wrapper.get_robot(ip_addr)

r.set_speed(2)        #sets the speed of the wheels
r.init_sensors()      #initiates the proximity sensor

#infinite loop
while r.go_on():
    print(r.get_prox()) #prints the proximity sensor values on the terminal

    #inserts some more code here to control your robot

r.clean_up()