Getting Started

Apart from the Raspbot_Lib library, there also exists a few more pre-written functions to interact with various peripherals of the robot.

The .py files can be found on the official website or directly here.

To use the functions in the file, either put it in the same directory as your python script or use sys.path to link it.

sys.path("/path/to/the/library/")

McLumk_Wheel_Sports.py

This library has pre-built functions to control the movement of the Mechanum wheel.

For convenient's sake, import all functions into the program

from McLumk_Wheel_Sports import *
Function Arguments Details
move_forward(speed) speed ranges from 0 to 255
move_backward(speed) speed ranges from 0 to 255
move_left(speed) speed ranges from 0 to 255
move_right(speed) speed ranges from 0 to 255
move_diagonal_left_front(speed) speed ranges from 0 to 255
move_diagonal_right_front(speed) speed ranges from 0 to 255
move_diagonal_left_back(speed) speed ranges from 0 to 255
move_diagonal_right_back(speed) speed ranges from 0 to 255
rotate_left(speed) speed ranges from 0 to 255
rotate_right(speed) speed ranges from 0 to 255
stop_robot()
stop() does the same thing as stop_robot() but does it 4 times?
drifting(speed, deflection, deflection_rate) Speed: 0 to 255, deflection: 0 to 360, deflection_rate: 117+ 132... not sure when deflection_rate = 0, robot moves in the direction set by the angle. (can definitely be better implmented) 
        90
    180--δΈ¨--0
        270

yahboom_oled

Libraries Requirement

  • Adafruit_SSD1306: library for the OLED module
  • pillow: for image manipulation
pip install Adafruit_SSD1306 pillow

Importing the library:

import sys
sys.path.append("/path/to/the/library/")
from yahboom_oled import *

#Initializing oled object
oled = Yahboom_OLED()
# Begin oled object
oled.begin()

There are two steps to display images onto the OLED display:

  1. Writing images to the buffer
  2. Refreshing the screen and loading that image

Note: writing the images to the buffer won't make it display on the screen. Make sure to refresh the screen afterwards using oled.refresh().

Methods for writing things to the display

Methods Arguments Details
oled.clear(refresh=False) refresh (default to False) Simply clear the display. refresh=True refreshs the screen without the need of oled.refresh()
add_text(self, start_x, start_y, text, refresh=False) start_x, start_y is of type int; text is of type str display a text starting from coordinates (start_x, start_y).Note: x=0, y=0; is positioned at top left corner
add_cntext(self, start_x, start_y, text, refresh=False) \(\vdots\) same as add_text but for chinese characters
add_line(self, text, line=1, refresh=False) text is of type str, line ranges from 1 to 4 formats the text into lines automaticallly
add_cnline(self, text, line=1, refresh=False) \(\vdots\) same as add_line but for chinese characters
main_program() prints information about the raspberry pi including, CPU tempertature, RAM usage, IP address, Disk Usage, System time

This library doesn't implement the display of custom images, or the ability to control each individual pixel. For more control, directly use the Adafruit_SSD1306 library combined with pillow

Useful Links: