spike package

Subpackages

Submodules

spike.button module

Hub button mock API

class spike.button.Button(side)

Bases: object

Hub button mocking class.

Class is accessed simultaneously by the user side thread and the ground truth update thread. It is therefore protected by a mutex

s_sides = ['left', 'right']
s_shared_scenario = <spike.scenario.scenario.Scenario object>
__init__(side)

Contructor

Parameters:

side (string) – button side (left or right)

wait_until_pressed()

Wait until the button is pressed

wait_until_released()

Wait until the button is released

was_pressed()

Tests to see whether the button has been pressed since the last time this method called. Once this method returns “true,” the button must be released and pressed again before it will return “true” again.

Returns:

True if the button was pressed, false otherwise

Return type:

boolean

is_pressed()

Tests whether the button is pressed.

Returns:

True if the button is pressed, otherwise false

Return type:

boolean

c_reset()

Reset function

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

c_read(is_pressed)

Button status setting function

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Parameters:

is_pressed (boolean) – True if button is pressed, false otherwise

spike.colorsensor module

Color sensor mock API

class spike.colorsensor.ColorSensor(port)

Bases: object

Color sensor mocking class

Class is accessed simultaneously by the user side thread and the ground truth update thread. It is therefore protected by a mutex

s_css3_to_spike_colormap = {'aliceblue': 'white', 'antiquewhite': 'white', 'aqua': 'cyan', 'aquamarine': 'cyan', 'beige': 'white', 'black': 'black', 'blue': 'blue', 'blueviolet': 'violet', 'brown': 'red', 'burlywood': 'yellow', 'cadetblue': 'cyan', 'chartreuse': 'green', 'chocolate': 'red', 'coral': 'red', 'cornflowerblue': 'blue', 'crimson': 'red', 'darkblue': 'blue', 'darkcyan': 'cyan', 'darkgray': 'black', 'darkgreen': 'green', 'darkkhaki': 'yellow', 'darkmagenta': 'violet', 'darkorchid': 'violet', 'darkred': 'red', 'darksalmon': 'red', 'darkseagreen': 'green', 'darkslateblue': 'blue', 'darkslategray': 'black', 'darkturquoise': 'cyan', 'darkviolet': 'violet', 'deeppink': 'red', 'deepskyblue': 'blue', 'dimgray': 'black', 'dodgerblue': 'blue', 'firebrick': 'red', 'floralwhite': 'white', 'forestgreen': 'green', 'fuschia': 'violet', 'ghostwhite': 'white', 'gold': 'yellow', 'goldenrod': 'yellow', 'gray': 'black', 'green': 'green', 'greenyellow': 'green', 'honeydew': 'white', 'hotpink': 'red', 'indianred': 'red', 'indigo': 'violet', 'ivory': 'white', 'khaki': 'yellow', 'lavender': 'violet', 'lavenderblush': 'white', 'lawngreen': 'green', 'lemonchiffon': 'yellow', 'lightblue': 'blue', 'lightcoral': 'red', 'lightcyan': 'cyan', 'lightgoldenrodyellow': 'yellow', 'lightgray': 'white', 'lightgreen': 'green', 'lightpink': 'red', 'lightsalmon': 'red', 'lightseagreen': 'cyan', 'lightskyblue': 'blue', 'lightslategray': 'white', 'lightsteelblue': 'blue', 'lightyellow': 'yellow', 'lime': 'green', 'limegreen': 'green', 'linen': 'white', 'magenta': 'violet', 'maroon': 'red', 'mediumaquamarine': 'cyan', 'mediumblue': 'blue', 'mediumorchid': 'violet', 'mediumpurple': 'violet', 'mediumseagreen': 'green', 'mediumslateblue': 'blue', 'mediumspringgreen': 'green', 'mediumturquoise': 'cyan', 'mediumvioletred': 'red', 'midnightblue': 'blue', 'mintcream': 'white', 'mistyrose': 'white', 'moccasin': 'yellow', 'navajowhite': 'white', 'navy': 'blue', 'oldlace': 'white', 'olive': 'green', 'olivedrab': 'green', 'orange': 'yellow', 'orangered': 'red', 'orchid': 'violet', 'palegoldenrod': 'yellow', 'palegreen': 'green', 'paleturquoise': 'cyan', 'palevioletred': 'red', 'papayawhip': 'yellow', 'peachpuff': 'yellow', 'peru': 'yellow', 'pink': 'red', 'plum': 'violet', 'powderblue': 'blue', 'purple': 'violet', 'red': 'red', 'royalblue': 'blue', 'saddlebrown': 'red', 'salmon': 'red', 'seagreen': 'green', 'seashell': 'white', 'sienna': 'red', 'silver': 'black', 'skyblue': 'blue', 'slateblue': 'blue', 'slategray': 'black', 'snow': 'white', 'springgreen': 'green', 'steelblue': 'blue', 'tan': 'yellow', 'teal': 'cyan', 'thistle': 'violet', 'tomato': 'red', 'turquoise': 'cyan', 'violet': 'violet', 'white': 'white', 'whitesmoke': 'white', 'yellow': 'yellow', 'yellowgreen': 'green'}
s_allowed_colors = {'black', 'blue', 'cyan', 'green', 'red', 'violet', 'white', 'yellow'}
s_shared_scenario = <spike.scenario.scenario.Scenario object>
s_shared_timer = <spike.scenario.timer.ScenarioTimer object>
__init__(port)

Contructor

Parameters:

port (string ('A','B','C','D','E' or 'F')) – the hub port to which the sensor is connected

get_color()

Retrieves the detected color of a surface

Returns:

name of the color sensed

Return type:

string

get_ambiant_light()

Retrieves the intensity of the ambient light.

This causes the Color Sensor to change modes, which can affect your program in unexpected ways. For example, the Color Sensor can’t read colors when it’s in ambient light mode.

Returns:

The ambient light intensity.

Return type:

int [0,100]

get_reflected_light()

Retrieves the intensity of the reflected light.

Returns:

The reflected light intensity

Return type:

int [0,100]

get_rgb_intensity()

Retrieves the overall color intensity, and intensity of red, green, and blue

Returns:

red, green, blue and overall intensity

Return type:

tuple ([0,1024],[0,1024],[0,1024],[0,1024])

get_red()

Retrieves the color intensity of red.

Returns:

red intensity

Return type:

integer [0,1024]

get_green()

Retrieves the color intensity of green.

Returns:

green intensity

Return type:

integer [0,1024]

get_blue()

Retrieves the color intensity of blue.

Returns:

blue intensity

Return type:

integer [0,1024]

wait_until_color(color)

Waits until the Color Sensor detects the specified color.

Parameters:

color (string ("black","violet","blue","cyan","green","yellow","red","white")) – the name of the color

wait_for_new_color()

Waits until the Color Sensor detects a new color.

The first time this method is called, it immediately returns the detected color. After that, it waits until the Color Sensor detects a color that’s different from the color that was detected the last time this method was used.

Returns:

the name of the new color

Return type:

string (“black”,”violet”,”blue”,”cyan”,”green”,”yellow”,”red”,”white”)

light_up_all(brightness=100)

Lights up all of the lights on the Color Sensor at the specified brightness.

This causes the Color Sensor to change modes, which can affect your program in unexpected ways. For example, the Color Sensor can’t read colors when it’s in light up mode.

Parameters:

brightness (integer ([0,100%] - "0" is off, and "100" is full brightness.)) – the desired brightness of the lights on the Color Sensor, default = 100

Raises:

TypeError – brightness is not an integer

light_up(light_1, light_2, light_3)

Sets the brightness of the individual lights on the Color Sensor. This causes the Color Sensor to change modes, which can affect your program in unexpected ways. For example, the Color Sensor can’t read colors when it’s in light up mode.

Parameters:

  • light_1 (integer ([0,100%] - "0" is off, and "100" is full brightness.)) – the desired brightness of light 1.

  • light_2 (integer ([0,100%] - "0" is off, and "100" is full brightness.)) – the desired brightness of light 2.

  • light_3 (integer ([0,100%] - "0" is off, and "100" is full brightness.)) – the desired brightness of light 3.

Raises:

TypeError – light_1, light_2, or light_3 is not an integer.

__process_command(command)

Process command until over

Parameters:

command (generator function) – command to process

c_reset()

Reset function

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

c_read(red, green, blue, ambiant, reflected)

Reads color from external source

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Parameters:

  • red (integer [0,1024]) – red intensity

  • green (integer [0,1024]) – green intensity

  • blue (integer [0,1024]) – blue intensity

  • ambiant (integer [0,1024]) – ambiant intensity

  • reflected (integer [0,1024]) – reflected intensity

c_set_lights(light1, light2, light3)

Lights intensity setter

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Parameters:

  • light1 (integer [0,100]) – light1 brightness

  • light2 (integer [0,100]) – light2 brightness

  • light3 (integer [0,100]) – light3 brightness

property port

Sets the component connection port

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Returns:

the component port

Return type:

string

spike.control module

High resolution timer with a milliseconds resolution emulating spike timer interfaces on standard python

spike.control.equal_to(a, b)

Default function for wait_until function :meta private:

class spike.control.Timer

Bases: object

Timer mocking class

s_shared_scenario = <spike.scenario.scenario.Scenario object>
s_shared_timer = <spike.scenario.timer.ScenarioTimer object>
__init__()

Contructor

now()

Retrieves the “right now” time of the Timer.

Returns:

the current time, specified in seconds.

Return type:

integer

reset()

Sets the Timer to “0.”

spike.control.wait_for_seconds(seconds)

Waits for a specified number of seconds before continuing the program.

Parameters:

seconds (float) – time to wait in seconds

Raises:

  • TypeError – seconds is not a number

  • ValueError – seconds is not at least 0

spike.control.wait_until(get_value_function, operator_function=<function equal_to>, target_value=True)

Waits until the condition is true before continuing with the program.

Parameters:

  • get_value_function (callable) – a function that returns the current value to be compared to the target value.

  • operator_function (callable) – a function that compares two arguments. The first argument will be the result of get_value_function(), and the second argument will be target_value. The function will compare both values and return the result.

  • target_value (any type) – any object that can be compared by operator_function.

Raises:

TypeError – get_value_function or operator_function is not callable or operator_function does not compare two arguments.

spike.distancesensor module

Distance sensor mock API

class spike.distancesensor.DistanceSensor(port)

Bases: object

Distance sensor mocking class

Class is accessed simultaneously by the user side thread and the ground truth update thread. It is therefore protected by a mutex

s_cm_to_inches = 0.39370079
s_max_distance = 200
s_max_distance_short_range = 50
s_shared_scenario = <spike.scenario.scenario.Scenario object>
s_shared_timer = <spike.scenario.timer.ScenarioTimer object>
__init__(port)

Contructor

Parameters:

port (string ('A','B','C','D','E' or 'F')) – the hub port to which the sensor is connected

get_distance_cm(short_range=False)

Retrieves the measured distance in centimeters.

Parameters:

short_range (boolean) – whether or not to use short range mode. Short range mode increases accuracy, but it can only detect nearby objects.

Raises:

TypeError – short_range is not a boolean

Returns:

The measured distance or “none” if the distance can’t be measured.

Return type:

float

get_distance_inches(short_range=False)

Retrieves the measured distance in inches.

Parameters:

short_range (boolean) – whether or not to use short range mode. Short range mode increases accuracy, but it can only detect nearby objects.

Raises:

TypeError – short_range is not a boolean

Returns:

The measured distance or “none” if the distance can’t be measured.

Return type:

float

get_distance_percentage(short_range=False)

Retrieves the measured distance as a percentage.

Parameters:

short_range (boolean) – whether or not to use short range mode. Short range mode increases accuracy, but it can only detect nearby objects.

Raises:

TypeError – short_range is not a boolean

Returns:

The measured distance or “none” if the distance can’t be measured.

Return type:

integer [0,100]

wait_for_distance_farther_than(distance, unit='cm', short_range=False)

Waits until the measured distance is greater than the specified distance.

Parameters:

  • distance (float) – the target distance to be detected from the sensor to an object.

  • unit (string (cm, in, %)) – the unit in which the distance is measured.

  • short_range (boolean) – whether or not to use short range mode. Short range mode increases accuracy, but it can only detect nearby objects.

Raises:

  • TypeError – distance is not a number or unit is not a string or short_range is not a boolean.

  • ValueError – unit is not one of the allowed values.

wait_for_distance_closer_than(distance, unit='cm', short_range=False)

Waits until the measured distance is less than the specified distance.

Parameters:

  • distance (float) – the target distance to be detected from the sensor to an object.

  • unit (string (cm, in, %)) – the unit in which the distance is measured.

  • short_range (boolean) – whether or not to use short range mode. Short range mode increases accuracy, but it can only detect nearby objects.

Raises:

  • TypeError – distance is not a number or unit is not a string or short_range is not a boolean.

  • ValueError – unit is not one of the allowed values.

light_up_all(brightness=100)

Lights up all of the lights on the Distance Sensor at the specified brightness.

Parameters:

brightness (integer [0,100]) – the specified brightness of all of the lights.

Raises:

TypeError – brightness is not an integer

light_up(right_top, left_top, right_bottom, left_bottom)

Sets the brightness of the individual lights on the Distance Sensor.

Parameters:

  • right_top (integer [0,100]) – the brightness of the light that’s above the right part of the Distance Sensor.

  • left_top (integer [0,100]) – the brightness of the light that’s above the left part of the Distance Sensor.

  • right_bottom (integer [0,100]) – the brightness of the light that’s below the right part of the Distance Sensor.

  • left_bottom (integer [0,100]) – the brightness of the light that’s below the left part of the Distance Sensor.

Raises:

TypeError – brightness is not an integer

__get_distance()

Returns current distance in cm

Returns:

distance in centimeters

Return type:

float

__process_command(command)

Process command until over

Parameters:

command (generator function) – command to process

c_reset()

Reset function

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

c_read(distance)

Update the distance from scenario data

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Parameters:

distance (float) – distance in centimeters

c_set_lights(right_top, left_top, right_bottom, left_bottom)

Light distance sensor LEDs

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Parameters:

  • right_top (integer [0,100]) – the brightness of the light that’s above the right part of the Distance Sensor.

  • left_top (integer [0,100]) – the brightness of the light that’s above the left part of the Distance Sensor.

  • right_bottom (integer [0,100]) – the brightness of the light that’s below the right part of the Distance Sensor.

  • left_bottom (integer [0,100]) – the brightness of the light that’s below the left part of the Distance Sensor.

property port

Sets the component connection port

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Returns:

the component port

Return type:

string

spike.forcesensor module

Force sensor mock APi

class spike.forcesensor.ForceSensor(port)

Bases: object

Force sensor mocking class

Class is accessed simultaneously by the user side thread and the ground truth update thread. It is therefore protected by a mutex

s_force_for_being_pressed = 2
s_max_force = 10
s_shared_scenario = <spike.scenario.scenario.Scenario object>
__init__(port)

Contructor

Parameters:

port (string ('A','B','C','D','E' or 'F')) – the hub port to which the sensor is connected

wait_until_pressed()

Waits until the Force Sensor is pressed.

wait_until_released()

Waits until the Force Sensor is released.

is_pressed()

Tests whether the button on the sensor is pressed.

Returns:

True if the sensor is pressed, False otherwise

Return type:

boolean

get_force_newton()

Retrieves the measured force, in newtons.

Returns:

the measured force, specified in newtons

Return type:

float

get_force_percentage()

Retrieves the measured force as a percentage of the maximum force.

Returns:

the measured force, given as a percentage.

Return type:

integer [0,100]

c_reset()

Reset function

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

c_read(force)

Update the force from scenario data

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Parameters:

force (integer) – force in newton

property port

Sets the component connection port

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Parameters:

port (string) – the component port

spike.hub module

Hub mock API

class spike.hub.PrimeHub

Bases: object

Hub mocking class

__init__()

Contructor

spike.lightmatrix module

Hub light matrix mock API

class spike.lightmatrix.LightMatrix

Bases: object

Hub light matrix mocking class

Class is accessed simultaneously by the user side thread and the ground truth update thread. It is therefore protected by a mutex

s_lightmatrix_images = {'A': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'ANGRY': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'ARROW_E': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'ARROW_N': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'ARROW_NE': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'ARROW_NW': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'ARROW_S': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'ARROW_SE': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'ARROW_SW': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'ARROW_W': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'ASLEEP': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'B': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'BUTTERFLY': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'C': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'CHESSBOARD': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'CLOCK1': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'CLOCK10': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'CLOCK11': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'CLOCK12': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'CLOCK2': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'CLOCK3': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'CLOCK4': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'CLOCK5': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'CLOCK6': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'CLOCK7': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'CLOCK8': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'CLOCK9': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'CONFUSED': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'COW': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'D': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'DIAMOND': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'DIAMOND_SMALL': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'DUCK': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'E': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'F': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'FABULOUS': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'G': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'GHOST': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'GIRAFFE': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'GO_DOWN': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'GO_LEFT': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'GO_RIGHT': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'GO_UP': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'H': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'HAPPY': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'HEART': [0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 0, 0], 'HEART_SMALL': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'HOUSE': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'I': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'J': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'K': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'L': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'M': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'MEH': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'MUSIC_CROTCHET': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'MUSIC_QUAVER': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'MUSIC_QUAVERS': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'N': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'NO': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'O': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'P': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'PACMAN': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'PITCHFORK': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'Q': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'R': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'RABBIT': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'ROLLERSKATE': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'S': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'SAD': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'SILLY': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'SKULL': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'SMILE': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'SNAKE': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'SQUARE': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'SQUARE_SMALL': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'STICKFIGURE': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'SURPRISED': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'SWORD': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'T': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'TARGET': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'TORTOISE': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'TRIANGLE': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'TRIANGLE_LEFT': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'TSHIRT': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'U': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'UMBRELLA': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'V': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'W': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'X': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'XMAS': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'Y': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'YES': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 'Z': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}
s_shared_scenario = <spike.scenario.scenario.Scenario object>
s_shared_timer = <spike.scenario.timer.ScenarioTimer object>
__init__()

Contructor

show_image(image, brightness=100)

Shows an image on the Light Matrix.

Parameters:

  • image (string (ANGRY, ARROW_E, ARROW_N, ARROW_NE, ARROW_NW, ARROW_S, ARROW_SE, ARROW_SW, ARROW_W, ASLEEP, BUTTERFLY, CHESSBOARD, CLOCK1, CLOCK10, CLOCK11, CLOCK12, CLOCK2, CLOCK3, CLOCK4, CLOCK5, CLOCK6, CLOCK7, CLOCK8, CLOCK9, CONFUSED, COW, DIAMOND, DIAMOND_SMALL, DUCK, FABULOUS, GHOST, GIRAFFE, GO_RIGHT, GO_LEFT, GO_UP, GO_DOWN, HAPPY, HEART, HEART_SMALL, HOUSE, MEH, MUSIC_CROTCHET, MUSIC_QUAVER, MUSIC_QUAVERS, NO, PACMAN, PITCHFORK, RABBIT, ROLLERSKATE, SAD, SILLY, SKULL, SMILE, SNAKE, SQUARE, SQUARE_SMALL, STICKFIGURE, SURPRISED, SWORD, TARGET, TORTOISE, TRIANGLE, TRIANGLE_LEFT, TSHIRT, UMBRELLA, XMAS, YES)) – the name of the image to display

  • brightness (integer [0,100]) – brightness of the image

Raises:

  • TypeError – image is not a string or brightness is not an integer

  • ValueError – image is not one of the allowed values.

set_pixel(x, y, brightness=100)

Sets the brightness of one pixel (one of the 25 LEDs) on the Light Matrix.

Parameters:

  • x (integer [0,4]) – pixel position, counting from the left.

  • y (integer [0,4]) – pixel position, counting from the top.

  • brightness (integer [0,100]) – brightness of the pixel

Raises:

  • TypeError – x, y or brightness is not an integer.

  • ValueError – x, y is not within the allowed range of 0-4.

write(text)

Displays text on the Light Matrix, one letter at a time, scrolling from right to left. Your program will not continue until all of the letters have been shown.

Parameters:

text (string) – text to display

off()

Turns off all of the pixels on the Light Matrix.

__process_command(command)

Process command until over

Parameters:

command (generator function) – command to process

c_reset()

Reset function

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

c_set_pixel(x, y, brightness=100)

Pixel lighting function

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Parameters:

  • x (integer [0,4]) – pixel position, counting from the left.

  • y (integer [0,4]) – pixel position, counting from the top.

  • brightness (integer [0,100]) – brightness of the pixel

c_show_image(image, brightness=100)

Image displaying function

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Parameters:

  • image (string (ANGRY, ARROW_E, ARROW_N, ARROW_NE, ARROW_NW, ARROW_S, ARROW_SE, ARROW_SW, ARROW_W, ASLEEP, BUTTERFLY, CHESSBOARD, CLOCK1, CLOCK10, CLOCK11, CLOCK12, CLOCK2, CLOCK3, CLOCK4, CLOCK5, CLOCK6, CLOCK7, CLOCK8, CLOCK9, CONFUSED, COW, DIAMOND, DIAMOND_SMALL, DUCK, FABULOUS, GHOST, GIRAFFE, GO_RIGHT, GO_LEFT, GO_UP, GO_DOWN, HAPPY, HEART, HEART_SMALL, HOUSE, MEH, MUSIC_CROTCHET, MUSIC_QUAVER, MUSIC_QUAVERS, NO, PACMAN, PITCHFORK, RABBIT, ROLLERSKATE, SAD, SILLY, SKULL, SMILE, SNAKE, SQUARE, SQUARE_SMALL, STICKFIGURE, SURPRISED, SWORD, TARGET, TORTOISE, TRIANGLE, TRIANGLE_LEFT, TSHIRT, UMBRELLA, XMAS, YES)) – the name of the image to display

  • brightness (integer [0,100]) – brightness of the image

c_write(text)

Text writing function (letters are displayed one by one)

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Parameters:

text (string) – text to display

c_off()

Shut down all the pixel of the light matrix

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

c_get_matrix()

Return matrix state

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Returns:

5x5 array containing each pixel state

Return type:

list

spike.motionsensor module

Hub motion sensor mock API

class spike.motionsensor.MotionSensor

Bases: object

Motion sensor mocking class

Class is accessed simultaneously by the user side thread and the ground truth update thread. It is therefore protected by a mutex

s_gestures = ['shaken', 'tapped', 'doubletapped', 'falling']
s_shared_scenario = <spike.scenario.scenario.Scenario object>
__init__()

Contructor

get_roll_angle()

Retrieves the Hub’s roll angle. Roll is the rotation around the front-back (longitudinal) axis.

Returns:

the roll angle, specified in degrees.

Return type:

integer [-180,180]

get_pitch_angle()

Retrieves the Hub’s pitch angle. Pitch is the rotation around the left-right (transverse) axis.

Returns:

the pitch angle, specified in degrees.

Return type:

integer [-180,180]

get_yaw_angle()

Retrieves the Hub’s yaw angle. Yaw is the rotation around the front-back (vertical) axis

Returns:

the yaw angle, specified in degrees.

Return type:

integer [-180,180]

reset_yaw_angle()

Sets the yaw angle to “0.”

get_gesture()

Retrieves the most recently-detected gesture.

Returns:

last gesture

Return type:

string

was_gesture(gesture)

Tests whether a gesture has occurred since the last time was_gesture() was used, or since the beginning of the program (for the first use).

Parameters:

gesture (string ("shaken","tapped","double-tapped","falling","none")) – the name of the gesture.

Raises:

  • ValueError – gesture is not one of the allowed values.

  • TypeError – gesture is not a string

Returns:

True if the gesture has occurred since the last time was_gesture() was called, otherwise False.

Return type:

boolean

get_orientation()

Retrieves the Hub’s current orientation.

Returns:

the hub current orientation

Return type:

string (‘front’,’back’,’up’,’down’,’leftside’,’rightside’)

wait_for_new_gesture()

Waits until a new gesture happens.

wait_for_new_orientation()

Waits until the Hub’s orientation changes.

The first time this method is called, it will immediately return the current value. After that, calling this method will block the program until the Hub’s orientation has changed since the previous time this method was called.

Returns:

the hub new orientation

Return type:

string (‘front’,’back’,’up’,’down’,’leftside’,’rightside’)

c_reset()

Reset function

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

c_read(yaw, pitch, roll, gesture)

Update the current orientation from scenario data

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Parameters:

  • yaw (integer [-180,180]) – the yaw angle, specified in degrees.

  • pitch (integer [-180,180]) – the pitch angle, specified in degrees.

  • roll (integer [-180,180]) – the roll angle, specified in degrees.

  • gesture (string ("shaken","tapped","double-tapped","falling","none")) – the name of the gesture.

Raises:

ValueError – Invalid gesture

spike.motor module

Motor mock API

class spike.motor.Motor(port)

Bases: object

Motor mocking class

Class is accessed simultaneously by the user side thread and the ground truth update thread. It is therefore protected by a mutex

s_max_speed = 100
s_max_steering = 100
s_max_power = 100
s_min_position = 0
s_max_position = 359
s_motor_directions = ['shortest path', 'clockwise', 'counterclockwise']
s_motor_stop_actions = ['coast', 'hold', 'brake']
s_shared_scenario = <spike.scenario.scenario.Scenario object>
s_shared_timer = <spike.scenario.timer.ScenarioTimer object>
__init__(port)

Contructor

Parameters:

port (string ('A','B','C','D','E' or 'F')) – the hub port to which the motor is connected

run_to_position(degrees, direction='shortest path', speed=None)

Runs the motor to an absolute position.

The sign of the speed will be ignored (i.e., absolute value), and the motor will always travel in the direction that’s been specified by the “direction” parameter. If the speed is greater than “100,” it will be limited to “100.”

Parameters:

  • degrees (integer [0,359]) – the target position.

  • direction (string ("Shortest path" could run in either direction, depending on the shortest distance to the target. "Clockwise" will make the motor run clockwise until it reaches the target position. "Counterclockwise" will make the motor run counterclockwise until it reaches the target position.)) – the direction to use to reach the target position.

  • speed (integer [0,100]. If no value is specified, it will use the default speed that’s been set by set_default_speed().) – the motor’s speed

Raises:

  • TypeError – degrees or speed is not an integer or direction is not a string.

  • ValueError – direction is not one of the allowed values or degrees is not within the range of 0-359 (both inclusive).

run_to_degrees_counted(degrees, speed=None)

Runs the motor until the number of degrees counted is equal to the value that has been specified by the “degrees” parameter.

The sign of the speed will be ignored (i.e., absolute value), and the motor will always travel in the direction that’s been specified by the “direction” parameter. If the speed is greater than “100,” it will be limited to “100.”

Parameters:

  • degrees (integer) – the target degrees counted.

  • speed (integer [0,100]. If no value is specified, it will use the default speed that’s been set by set_default_speed().) – the motor’s speed

Raises:

TypeError – degrees or speed is not an integer.

run_for_degrees(degrees, speed=None)

Runs the motor for a specified number of degrees.

Parameters:

  • degrees (integer) – the number of degrees that the motor should run.

  • speed (integer [-100,100]. If no value is specified, it will use the default speed that’s been set by set_default_speed().) – the motor’s speed

Raises:

TypeError – degrees or speed is not an integer.

run_for_rotations(rotations, speed=None)

Runs the motor for a specified number of rotations.

Parameters:

  • degrees (float) – the number of rotations that the motor should run.

  • speed (int [-100,100]. If no value is specified, it will use the default speed that’s been set by set_default_speed().) – the motor’s speed

Raises:

TypeError – rotations is not a number or speed is not an integer.

run_for_seconds(seconds, speed=None)

The number of seconds for which the motor should run.

Parameters:

  • seconds (float) – the number of rotations that the motor should run.

  • speed (int [-100,100]. If no value is specified, it will use the default speed that’s been set by set_default_speed().) – the motor’s speed

Raises:

TypeError – seconds is not a number or speed is not an integer.

start(speed=None)

Starts running the motor at a specified speed.

The motor will keep moving at this speed until you give it another motor command or when your program ends.

Parameters:

speed (integer [-100,100]. If no value is specified, it will use the default speed that’s been set by set_default_speed().) – the motor’s speed

Raises:

TypeError – speed is not an integer.

stop()

Stops the motor.

What the motor does after it stops depends on the action that’s been set in set_stop_action(). The default value of set_stop_action() is “coast.”

start_at_power(power)

Starts running the motor at a specified power level.

The motor will keep moving at this speed until you give it another motor command or when your program ends.

Parameters:

power (int [-100,100].) – power of the motor

Raises:

TypeError – power is not an integer.

get_speed()

Retrieves the motor speed.

Returns:

current motor speed

Return type:

int [-100,100]

get_default_speed()

Retrieves the motor default speed.

Returns:

current motor default speed value

Return type:

int [-100,100]

get_position()

Retrieves the motor position. This is the clockwise angle between the moving marker and the zero-point marker on the motor.

Returns:

the motor’s position.

Return type:

integer [0,359]

was_stalled()

Tests whether the motor was stalled.

Returns:

True if the motor has stalled since the last time was_stalled() was called, otherwise false.

Return type:

boolean

was_interrupted()

Tests whether the motor was interrupted.

Returns:

True if the motor was interrupted since the last time was_interrupted() was called, otherwise false.

Return type:

boolean

get_degrees_counted()

Retrieves the number of degrees that have been counted by the motor.

Returns:

Current counted degrees

Return type:

integer

set_default_speed(speed)

Sets the default motor speed. This speed will be used when you omit the speed argument in one of the other methods, such as run_for_degrees. Setting the default speed does not affect any motors that are currently running. It will only have an effect when another motor method is called after this method. If the value of default_speed is outside of the allowed range, the default speed will be set to “-100” or “100” depending on whether the value is negative or positive.

Parameters:

speed (integer [-100,100]) – the default speed value.

Raises:

TypeError – default_speed is not an integer

set_degrees_counted(degrees_counted)

Sets the “number of degrees counted” to the desired value.

Parameters:

degrees_counted (integer) – new degrees value

Raises:

TypeError – degrees_counted is not an integer

set_stall_detection(stop_when_stalled)

Turns stall detection on or off.

Stall detection senses when a motor has been blocked and can t move. If stall detection has been enabled and a motor is blocked, the motor will be powered off after two seconds and the current motor command will be interrupted. If stall detection has been disabled, the motor will keep trying to run and programs will “get stuck” until the motor is no longer blocked.

Stall detection is enabled by default.

Parameters:

stop_when_stalled (boolean) – choose “true” to enable stall detection or “false” to disable it.

set_stop_action(action)

Sets the default behavior when a motor stops.

Parameters:

action (string (coast,brake,hold)) – the desired motor behavior when the motor stops.

__process_command(command)

Process command until over

Parameters:

command (generator function) – command to process

c_reset()

Reset function

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

c_read(value)

Update the motor from scenario data

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Parameters:

value (float) – current motor degrees value

c_set_stall_detection(stop_when_stalled)

Turns stall detection on or off.

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Parameters:

stop_when_stalled (boolean) – True to enable stall detection or False to disable it.

c_set_stop_action(action)

Sets the default behavior when a motor stops.

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Parameters:

action (string (coast,brake,hold)) – the desired motor behavior when the motor stops.

property port

Sets the component connection port

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Returns:

the component port

Return type:

string

spike.motorpair module

Motor pair mock API

class spike.motorpair.MotorPair(left_port, right_port)

Bases: object

MotorPair mocking class

Class is accessed simultaneously by the user side thread and the ground truth update thread. It is therefore protected by a mutex

s_cm_to_inches = 0.39370079
s_max_speed = 100
s_max_steering = 100
s_max_power = 100
s_motorpair_units = ['cm', 'in', 'rotations', 'degrees', 'seconds']
s_motor_stop_actions = ['hold', 'coast', 'brake']
s_shared_scenario = <spike.scenario.scenario.Scenario object>
s_shared_timer = <spike.scenario.timer.ScenarioTimer object>
__init__(left_port, right_port)

Contructor

Parameters:

  • left_port (string ('A','B','C','D','E' or 'F')) – The port on which the left motor is located

  • right_port (string ('A','B','C','D','E' or 'F')) – The port on which the right motor is located

move(amount, unit='cm', steering=0, speed=None)

Start both motors simultaneously to move a Driving Base.

Steering = “0” makes the Driving Base go straight. Negative numbers make the Driving Base turn left. Positive numbers make the Driving Base turn right.

The program will not continue until the specified value is reached.

If the value of steering is equal to “-100” or “100,” the Driving Base will perform a rotation on itself (i.e., “tank move”) at the default speed of each motor.

If the value of steering is outside of the allowed range, the value will be set to “-100” or “100,” depending on whether the value is positive or negative.

If speed is outside of the allowed range, the value will be set to “-100” or “100,” depending on whether the value is positive or negative.

If the speed is negative, the Driving Base will move backward instead of forward. Likewise, if the “amount” is negative, the Driving Base will move backward instead of forward. If both the speed and the “amount” are negative, the Driving Base will move forward.

When the specified unit is “cm” or “in,” the “amount” of the unit parameter is equal to the horizontal distance that the Driving Base will travel before stopping. The relationship between the motor rotations and distance traveled can be adjusted by calling set_motor_rotation().

When the “unit” is “rotations” or “degrees,” the “amount” parameter value specifies how much the motor axle will turn before stopping.

When the “unit” is “seconds,” the “amount” parameter value specifies the duration that the motors will run before stopping.

Parameters:

  • amount (float) – The quantity to move in relation to the specified unit of measurement.

  • unit (string (cm,in,rotations,degrees,seconds)) – The unit of measurement specified for the “amount” parameter.

  • speed (int [-100,100]) – The speed at which the Driving Base will move while performing a curve.

  • steering (int [-100,100]) – The steering direction (-100 to 100). “0” makes the Driving Base move straight. Negative numbers make the Driving Base turn left. Positive numbers make the Driving Base turn right.

Raises:

  • TypeError – amount, left_speed or right_speed is not a number or unit is not a string.

  • ValueError – unit is not one of the allowed values.

start(steering=0, speed=None)

Start both motors simultaneously to move a Driving Base.

Steering = “0” makes the Driving Base go straight. Negative numbers make the Driving Base turn left. Positive numbers make the Driving Base turn right.

The program flow is not interrupted. This is most likely interrupted by sensor input and a condition.

If the value of steering is equal to “-100” or “100,” the Driving Base will perform a rotation on itself (i.e., “tank move”) at the default speed of each motor.

If the value of “steering” is outside of the allowed range, the value will be set to “-100” or “100,” depending on whether the value is positive or negative.

If speed is outside of the allowed range, the value will be set to “-100” or “100,” depending on whether the value is positive or negative.

If the speed is negative, the Driving Base will move backward instead of forward. Likewise, if the “amount” is negative, the Driving Base will move backward instead of forward. If both the speed and the “amount” are negative, the Driving Base will move forward.

Parameters:

  • speed (int [-100,100]) – The speed at which the Driving Base will move while performing a curve.

  • steering (int [-100,100]) – The steering direction (-100 to 100). “0” makes the Driving Base move straight. Negative numbers make the Driving Base turn left. Positive numbers make the Driving Base turn right.

Raises:

TypeError – steering or speed is not an integer

stop()

Stops both motors simultaneously, which will stop a Driving Base.

The motors will either actively hold their current position or coast freely depending on the option that’s been selected by set_stop_action().

move_tank(amount, unit='cm', left_speed=None, right_speed=None)

Moves the Driving Base using differential (tank) steering.

The speed of each motor can be controlled independently for differential (tank) drive Driving Bases.

When the specified unit is “cm” or “in,” the “amount” of the unit parameter is equal to the horizontal distance that the Driving Base will travel before stopping. The relationship between the motor rotations and distance traveled can be adjusted by calling set_motor_rotation().

When the “unit” is “rotations” or “degrees,” the “amount” parameter value specifies how much the motor axle will turn before stopping.

When the “unit” is “seconds,” the “amount” parameter value specifies the duration that the motors will run before stopping.

If left_speed or right_speed is outside of the allowed range, the value will be set to “-100” or “100” depending on whether the value is positive or negative.

If one of the speeds (i.e., left_speed or right_speed) is negative, the negative-speed motor will run backward instead of forward. If the “amount” parameter value is negative, both motors will rotate backward instead of forward. If both of the speed values (i.e., left_speed and right_speed) are negative and the “amount” parameter value is negative, both motors will rotate forward.

The program will not continue until the specified value is reached.

Parameters:

  • amount (float) – The quantity to move in relation to the specified unit of measurement.

  • unit (string (cm,in,rotations,degrees,seconds)) – The unit of measurement specified for the “amount” parameter.

  • left_speed (int [-100,100]) – The speed of the left motor.

  • right_speed (int [-100,100]) – The speed of the right motor.

Raises:

  • TypeError – amount, left_speed or right_speed is not a number or unit is not a string.

  • ValueError – unit is not one of the allowed values.

start_tank(left_speed=None, right_speed=None)

Starts moving the Driving Base using differential (tank) steering.

The speed of each motor can be controlled independently for differential (tank) drive Driving Bases.

If left_speed or right_speed is outside of the allowed range, the value will be set to “-100” or “100” depending on whether the value is positive or negative.

If the speed is negative, the motors will move backward instead of forward.

The program flow is not interrupted. This is most likely interrupted by sensor input and a condition.

Parameters:

  • left_speed (int [-100,100]) – The speed of the left motor.

  • right_speed (int [-100,100]) – The speed of the right motor.

Raises:

TypeError – left_speed or right_speed is not an integer

start_at_power(power, steering=0)

Starts moving the Driving Base without speed control.

The motors can also be driven without speed control. This is useful when using your own control algorithm (e.g., a proportional line-follower).

If the steering is outside of the allowed range, the value will be set to “-100” or “100” depending on whether the value is positive or negative.

If the power is outside of the allowed range, the value will be set to “-100” or “100” depending on whether the value is positive or negative.

If the power is negative, the Driving Base will move backward instead of forward.

The program flow is not interrupted. This can most likely be interrupted by sensor input and a condition.

Parameters:

  • power (int [-100,100]) – The amount of power to send to the motors.

  • steering (int [-100,100]) – The steering direction (-100 to 100). “0” makes the Driving Base move straight. Negative numbers make the Driving Base turn left. Positive numbers make the Driving Base turn right.

Raises:

TypeError – steering or power is not an integer

start_tank_at_power(left_power, right_power)

Starts moving the Driving Base using differential (tank) steering without speed control.

The motors can also be driven without speed control. This is useful when using your own control algorithm (e.g., a proportional line-follower).

If the left_power or right_power is outside of the allowed range, the value will be rounded to “-100” or “100” depending on whether the value is positive or negative.

If the power is a negative value, the corresponding motor will move backward instead of forward.

The program flow is not interrupted. This can most likely be interrupted by sensor input and a condition.

Parameters:

  • left_power (int [-100,100]) – The power of the left motor.

  • right_power (int [-100,100]) – The power of the right motor.

Raises:

TypeError – left_power or right_power is not an integer

get_default_speed()

Retrieves the default motor speed. — :return: The motors default speed :rtype: int [-100,100]

set_motor_rotation(amount, unit='cm')

Sets the ratio of one motor rotation to the distance traveled.

If there are no gears used between the motors and the wheels of the Driving Base, the “amount” is the circumference of one wheel.

Calling this method does not affect the Driving Base if it’s already running. It will only have an effect the next time one of the move or start methods is used.

Parameters:

  • amount (float) – The distance that the Driving Base moves when both motors move one rotation each, 17.6 default (5.6 diameter wheel)

  • unit (string (cm,in)) – The unit of measurement specified for the “amount” parameter.

Raises:

  • TypeError – amount is not a number or unit is not a string.

  • ValueError – unit is not one of the allowed values.

set_default_speed(speed)

Sets the default motor speed.

If speed is outside of the allowed range, the value will be set to “-100” or “100” depending on whether the value is positive or negative.

Setting the speed will not have any effect until one of the move or start methods is called, even if the Driving Base is already moving.

Parameters:

speed (int(-100,100)) – The default motor speed.

Raises:

TypeError – speed is not a number

set_stop_action(action)

Sets the motor action that will be used when the Driving Base stops.

If the action is “brake,” the motors will stop quickly and be allowed to turn freely.

If the action is “hold,” the motors will actively hold their current position and cannot be turned manually.

If the action is set to “coast,” the motors will stop slowly and can be turned freely.

Setting the “stop” action does not take immediate effect on the motors. The setting will be saved and used whenever stop() is called or when one of the move methods has completed without being interrupted.

Parameters:

action (string (coast, hold, brake)) – The desired action of the motors when the Driving Base stops.

Raises:

  • TypeError – action is not a string

  • ValueError – action is not one of the allowed values

__process_command(command)

Process command until over

Parameters:

command (generator function) – command to process

c_reset()

Reset function

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

c_set_stop_action(action)

Sets the action to be performed on stop

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Parameters:

action (string (coast, hold, brake)) – The desired motor behavior when the motor stops.

property left

Returns left motor

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Returns:

Left motor port, None if not set

Return type:

Motor

property right

Returns right port

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Returns:

Right motor, None if not set

Return type:

Motor

spike.speaker module

Hub speaker mock API

class spike.speaker.Speaker

Bases: object

Hub speaker mocking class

Class is accessed simultaneously by the user side thread and the ground truth update thread. It is therefore protected by a mutex

s_max_volume = 100
s_min_note = 44
s_max_note = 123
s_shared_scenario = <spike.scenario.scenario.Scenario object>
s_shared_timer = <spike.scenario.timer.ScenarioTimer object>
__init__()

Contructor

beep(note=60, seconds=0.2)

Plays a beep on the Hub.

Parameters:

  • note (float) – The MIDI note number

  • seconds (float) – Beep duration in seconds

Raises:

  • TypeError – note is not a number or seconds is not a number.

  • ValueError – note is not within the allowed range of 44-123

start_beep(note=60)

Starts playing a beep.

The beep will play indefinitely until stop() or another beep method is called.

Parameters:

note (float) – The MIDI note number

Raises:

  • TypeError – note is not a number.

  • ValueError – note is not within the allowed range of 44-123

stop()

Stops any sound that is playing.

get_volume()

Retrieves the value of the speaker volume.

This only retrieves the volume of the Hub, not the programming app.

Returns:

The speaker volume

Return type:

int [0,100]

set_volume(volume)

Sets the speaker volume. If the assigned volume is out of range, the nearest volume (i.e., 0 or 100) will be used instead. This only sets the volume of the Hub, not the programming app.

Parameters:

volume (int [0,100]) – The new volume percentage.

Raises:

TypeError – volume is not a number.

__process_command(command)

Process command until over

Parameters:

command (generator function) – command to process

c_reset()

Reset function

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

c_beep(note=60, seconds=0.2)

Plays a beep on the Hub.

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Parameters:

  • note (float) – The MIDI note number

  • seconds (float) – Beep duration in seconds

c_start_beep(note=60)

Plays a beep on the Hub.

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Parameters:

note (float) – The MIDI note number

c_stop()

Stops the beep

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

c_set_volume(volume)

Sets the speaker volume.

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Parameters:

volume (int [0,100]) – The new volume percentage.

spike.statuslight module

Hub status light mock API

class spike.statuslight.StatusLight

Bases: object

Hub status light mocking class

Class is accessed simultaneously by the user side thread and the ground truth update thread. It is therefore protected by a mutex

s_status_light_colors = ['azure', 'black', 'blue', 'cyan', 'green', 'orange', 'pink', 'red', 'violet', 'yellow', 'white']
s_shared_scenario = <spike.scenario.scenario.Scenario object>
s_shared_timer = <spike.scenario.timer.ScenarioTimer object>
__init__()

Contructor

on(color='white')

Sets the color of the light

Parameters:

color (string) – the light color

Raises:

  • TypeError – color is not a string

  • ValueError – color is not one of the allowed values

off()

Turns off the light

__process_command(command)

Process command until over

Parameters:

command (generator function) – command to process

c_reset()

Reset function

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

c_on(color)

Switch on function

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Parameters:

color (string) – The light color

c_off()

Switch off function

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

c_get_color()

Returns current color

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Returns:

the light current color

Return type:

string

c_get_status()

Returns current status

Warning

This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.

Returns:

True if light is on, false otherwise

Return type:

string

Module contents

spike API mocking import