The BaroboCtx (BaroboContext) is the entity which manages all of the
Linkbots in a computational environment. If loosely represents a ZigBee
dongle which can communicate and with and control all Linkbots within its
communication range.
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connectBaroboBrowser(self)
Connect the dongle to BaroboBrowser |
source code
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connectBaroboLink(self)
Connect the BaroboContext to BaroboLink. |
source code
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connectBluetooth(self,
macaddr)
Connect the BaroboContext to a Bluetooth LinkPod. |
source code
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connectMobotBluetooth(self,
macaddr)
Connect the BaroboContext to a Bluetooth Mobot or legacy Bluetooth
Linkbot. |
source code
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connectDongleTTY(self,
ttyfilename)
Connect the BaroboCtx to a Linkbot that is connected with a USB
cable. |
source code
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connectDongleSFP(self,
ttyfilename)
Connect the BaroboCtx to a Linkbot using libsfp that is connected
with a USB cable. |
source code
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| getLinkbot(self,
serialID=None,
linkbotClass=None) |
source code
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RESP_OK = 16
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RESP_END = 17
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RESP_ERR = 255
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RESP_ALREADY_PAIRED = 254
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EVENT_BUTTON = 32
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EVENT_REPORTADDRESS = 33
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TWI_REGACCESS = 34
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EVENT_DEBUG_MSG = 35
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EVENT_JOINT_MOVED = 36
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EVENT_ACCEL_CHANGED = 37
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CMD_STATUS = 48
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CMD_DEMO = 49
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CMD_SETMOTORDIR = 50
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CMD_GETMOTORDIR = 51
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CMD_SETMOTORSPEED = 52
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CMD_GETMOTORSPEED = 53
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CMD_SETMOTORANGLES = 54
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CMD_SETMOTORANGLESABS = 55
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CMD_SETMOTORANGLESDIRECT = 56
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CMD_SETMOTORANGLESPID = 57
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CMD_GETMOTORANGLES = 58
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CMD_GETMOTORANGLESABS = 59
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CMD_GETMOTORANGLESTIMESTAMP = 60
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CMD_GETMOTORANGLESTIMESTAMPABS = 61
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CMD_SETMOTORANGLE = 62
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CMD_SETMOTORANGLEABS = 63
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CMD_SETMOTORANGLEDIRECT = 64
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CMD_SETMOTORANGLEPID = 65
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CMD_GETMOTORANGLE = 66
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CMD_GETMOTORANGLEABS = 67
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CMD_GETMOTORANGLETIMESTAMP = 68
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CMD_GETMOTORSTATE = 69
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CMD_GETMOTORMAXSPEED = 70
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CMD_GETENCODERVOLTAGE = 71
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CMD_GETBUTTONVOLTAGE = 72
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CMD_GETMOTORSAFETYLIMIT = 73
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CMD_SETMOTORSAFETYLIMIT = 74
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CMD_GETMOTORSAFETYTIMEOUT = 75
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CMD_SETMOTORSAFETYTIMEOUT = 76
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CMD_STOP = 77
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CMD_GETVERSION = 78
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CMD_BLINKLED = 79
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CMD_ENABLEBUTTONHANDLER = 80
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CMD_RESETABSCOUNTER = 81
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CMD_GETHWREV = 82
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CMD_SETHWREV = 83
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CMD_TIMEDACTION = 84
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CMD_GETBIGSTATE = 85
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CMD_SETFOURIERCOEFS = 86
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CMD_STARTFOURIER = 87
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CMD_LOADMELODY = 88
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CMD_PLAYMELODY = 89
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CMD_GETADDRESS = 90
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CMD_QUERYADDRESSES = 91
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CMD_GETQUERIEDADDRESSES = 92
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CMD_CLEARQUERIEDADDRESSES = 93
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CMD_REQUESTADDRESS = 94
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CMD_REPORTADDRESS = 95
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CMD_REBOOT = 96
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CMD_GETSERIALID = 97
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CMD_SETSERIALID = 98
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CMD_SETRFCHANNEL = 99
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CMD_FINDMOBOT = 100
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CMD_PAIRPARENT = 101
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CMD_UNPAIRPARENT = 102
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CMD_RGBLED = 103
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CMD_SETMOTORPOWER = 104
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CMD_GETBATTERYVOLTAGE = 105
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CMD_BUZZERFREQ = 106
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CMD_GETACCEL = 107
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CMD_GETFORMFACTOR = 108
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CMD_GETRGB = 109
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CMD_GETVERSIONS = 110
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CMD_PLACEHOLDER201304121823 = 111
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CMD_PLACEHOLDER201304152311 = 112
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CMD_PLACEHOLDER201304161605 = 113
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CMD_PLACEHOLDER201304181705 = 114
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CMD_PLACEHOLDER201304181425 = 115
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CMD_SET_GRP_MASTER = 116
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CMD_SET_GRP_SLAVE = 117
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CMD_SET_GRP = 118
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CMD_SAVE_POSE = 119
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CMD_MOVE_TO_POSE = 120
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CMD_IS_MOVING = 121
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CMD_GET_MOTOR_ERRORS = 122
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CMD_MOVE_MOTORS = 123
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CMD_TWI_SEND = 124
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CMD_TWI_RECV = 125
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CMD_TWI_SENDRECV = 126
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CMD_SET_ACCEL = 127
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CMD_SMOOTHMOVE = 128
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CMD_SETMOTORSTATES = 129
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CMD_SETGLOBALACCEL = 130
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CMD_PING = 137
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CMD_GET_HW_REV = 138
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CMD_SET_HW_REV = 139
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CMD_SET_JOINT_EVENT_THRESHOLD = 140
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CMD_SET_ENABLE_JOINT_EVENT = 141
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CMD_SET_ACCEL_EVENT_THRESHOLD = 142
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CMD_SET_ENABLE_ACCEL_EVENT = 143
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MOTOR_FORWARD = 1
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MOTOR_BACKWARD = 2
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TWIMSG_HEADER = 34
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TWIMSG_REGACCESS = 1
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TWIMSG_SETPINMODE = 2
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TWIMSG_DIGITALWRITEPIN = 3
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TWIMSG_DIGITALREADPIN = 4
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TWIMSG_ANALOGWRITEPIN = 5
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TWIMSG_ANALOGREADPIN = 6
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TWIMSG_ANALOGREF = 7
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