Python

Python Functions

 

 

In addition to the built-in Python classes (outlined below), ARC includes several classes with methods to control your robot, read sensors, interact with the operating system, and more. To view built-in ARC Python methods…

 

1)    Check the intellisense checkbox.

 

2)    Type one of the following class names, press ‘.’ and scroll through the available methods.

 

ADC – EZB analog to digital converter functions

Audio – streaming audio functions

COM – local serial COM port functions

Digital – EZB digital I/O functions

EZB – EZB specific functions for getting voltage and checking connection, etc.

File – writing and reading local files

I2C – EZB I2C helper functions

Movement – movement panel control of directions

Net – networking functions

Ping – EZB ultrasonic distance sensor functions

PWM – EZB pulse width modulation on digital I/O pins

Servo – EZB servo movement functions

UART – EZB hardware UART and software Serial functions

Utility – various utility functions

 

Supported Python Commands

The Python interpreter has several built-in functions that are available. This will be documented in the future.

 

 

Root Commands

Root commands do not belong to a class and are included for convenience to access global variables and send commands to other controls.

 

 

getVar( variableName )

Retrieves the value from the Arc’s public global variable storage. These are variables that are published by robot skill controls, such as the Camera, Auto Position, Speech Recognition, etc..

 

{variableName} - The name of the global variable as a string

{return} – The value of the global variable

 

Example:

// Get the current direction the robot is moving

var direction = getVar(“$Direction”)

 

 

setVar( variableName, value )

Sets the value from of Arc’s public global variable storage. This allows the variable to be available to other controls or other scripts by using getVar().

 

{variableName} - The name of the global variable as a string

{value} – The value that you wish to store in the global variable

 

Example:

// Set a value of 5 to be accessible by other controls

setVar(“$MyValue”, 5)

 

 

varExists( variableName )

Check if the global variable exists.

 

{variableName} - The name of the global variable as a string

{return} – true/false Boolean if the variable exists

 

Example:

// print if the variable exists

print(varExists(“$MyValue”))

 

 

print( txt )

Writes the value to the console output.

 

{txt} – The value/data to print

 

Example:

// Print a string to the console output

print(“Hello World”)

 

 

sleep( timeMs )

Pauses the execution of the program for the specified time in milliseconds

 

{timeMS} – The time to pause

 

Example:

// Print a string, pause for 5 seconds and print another string

print(“Hello”)

sleep(5000)

print(“ World”)

 

 

sleepRandom( minTimeMS, maxTimeMS )

Pauses the execution of the program for a random milliseconds between the min and max.

 

{minTimeMS} – The minimum time to pause

{maxTimeMS} – The maximum time to pause

 

Example:

// Print a string, pause for random time and print another string

print(“Hello”)

sleepRandom(1000, 5000)

print(“ World”)

 

 

controlCommand( controlName, command, [parameters] )

Sends the command to the control name with the optional parameters. The cheat sheet displays all of the interrogated control commands supported by controls in the project.

 

 

Example:

// Start the camera

controlCommand(“Camera”, “StartCamera”)

print(“Camera has started”)

 

 

showControl( controlName )

Shows the user interface control. This also adds the control to the stack, which can be

 

 

Example:

// Start the camera

controlCommand(“Camera”, “StartCamera”)

print(“Camera has started”)

 

 

closeControl( controlName )

Closes the control on the user interface and displays the previous control in the display stack

 

 

Example:

CloseControl();

 

 

 

Variables

Python variables are private to the namespace of each script engine. That means a variable created in a Python script does not exist in other Python scripts. If you have variables declared in the Python of the Camera control, the variables are not accessible in the Python of the WiiMote control.

 

Public variables use ARC’s variable manager, which is public across all controls (including EZ-Script). Public variables are accessed using the getVar() and setVar() commands.