API¶

Receive IP Broadcast¶

Robomaster broadcast its IP address under router mode.

robomasterpy.get_broadcast_ip(timeout: float = None) → str¶

接收广播以获取机甲IP

Parameters: timeout – 等待超时（秒）
Returns: 机甲IP地址

Commander¶

Commander is a client for Robomaster TCP API.

class robomasterpy.Commander(ip: str = '', timeout: float = 30)¶

armor_event(attr: str, switch: bool) → str¶

控制装甲板检测事件上报

Parameters

attr – 事件属性名称，范围见 ARMOR_ENUMS
switch – 是否开启上报

Returns

ok，否则raise

armor_sensitivity(value: int) → str¶

设置装甲板打击检测灵敏度

Parameters: value – 装甲板灵敏度，数值越大，越容易检测到打击。默认灵敏度值为 5.
Returns: ok，否则raise

audio(switch: bool) → str¶

音频流开关控制

Parameters: switch – 打开/关闭
Returns: ok，否则raise

blaster_fire() → str¶

控制水弹枪发射一次

Returns: ok，否则raise

chassis_move(x: float = 0, y: float = 0, z: float = 0, speed_xy: float = None, speed_z: float = None) → str¶

控制底盘运动当指定位置，坐标轴原点为当前位置

Parameters

x – x 轴向运动距离，单位 m
y – y 轴向运动距离，单位 m
z – z 轴向旋转角度，单位 °
speed_xy – xy 轴向运动速度，单位 m/s
speed_z – z 轴向旋转速度，单位 °/s

Return ok

ok，否则raise

chassis_push_off(position: bool = False, attitude: bool = False, status: bool = False, all: bool = False) → str¶

关闭底盘中相应属性的信息推送。

Parameters

position – 是否关闭位置推送
attitude – 是否关闭姿态推送
status – 是否关闭状态推送
all – 关闭所有推送

Returns

ok，否则raise

chassis_push_on(position_freq: int = None, attitude_freq: int = None, status_freq: int = None, all_freq: int = None) → str¶

打开底盘中相应属性的信息推送，支持的频率 1, 5, 10, 20, 30, 50

Parameters

position_freq – 位置推送频率，不开启则设为None
attitude_freq – 姿态推送频率，不开启则设为None
status_freq – 状态推送频率，不开启则设为None
all_freq – 统一设置所有推送频率，设置则开启所有推送

Returns

ok，否则raise

chassis_speed(x: float = 0, y: float = 0, z: float = 0) → str¶

控制底盘运动速度

Parameters

x – x 轴向运动速度，单位 m/s
y – y 轴向运动速度，单位 m/s
z – z 轴向旋转速度，单位 °/s

Returns

ok，否则raise

chassis_wheel(w1: int = 0, w2: int = 0, w3: int = 0, w4: int = 0) → str¶

底盘轮子速度控制

Parameters

w1 – 右前麦轮速度，单位 rpm
w2 – 左前麦轮速度，单位 rpm
w3 – 右后麦轮速度，单位 rpm
w4 – 左后麦轮速度，单位 rpm

Return ok

ok，否则raise

close()¶

do(*args) → str¶

执行任意命令

Parameters: args – 命令内容，list
Returns: 命令返回

get_armor_sensitivity() → int¶: 获取装甲板打击检测灵敏度 :return: 装甲板灵敏度

get_chassis_attitude() → robomasterpy.client.ChassisAttitude¶

获取底盘姿态信息

Returns: pitch 轴角度(°)，roll 轴角度(°)，yaw 轴角度(°)

get_chassis_position() → robomasterpy.client.ChassisPosition¶

获取底盘当前的位置(以上电时刻位置为原点)

Returns: x 轴位置(m)，y 轴位置(m)，偏航角度(°)

get_chassis_speed() → robomasterpy.client.ChassisSpeed¶

获取底盘速度信息

Returns: x 轴向运动速度(m/s)，y 轴向运动速度(m/s)，z 轴向旋转速度(°/s)，w1 右前麦轮速度(rpm)，w2 左前麦轮速速(rpm)，w3 右后麦轮速度(rpm)，w4 左后麦轮速度(rpm)

get_chassis_status() → robomasterpy.client.ChassisStatus¶

获取底盘状态信息

Returns: 底盘状态，详见 ChassisStatus

get_gimbal_attitude() → robomasterpy.client.GimbalAttitude¶: 获取云台姿态信息 :return: pitch 轴角度(°)，yaw 轴角度(°)

get_ip() → str¶

返回机甲IP

Returns: 机甲IP

get_ir_sensor_distance(id: int) → int¶

获取指定 ID 的红外深度传感器距离

Parameters: id – 红外传感器的 ID
Returns: 指定 ID 的红外传感器测得的距离值，单位 mm

get_robot_mode() → str¶

查询当前机器人运动模式

Returns: 三种模式之一，见enum MODE_*

gimbal_move(pitch: float = 0, yaw: float = 0, pitch_speed: float = None, yaw_speed: float = None) → str¶

控制云台运动到指定位置，坐标轴原点为当前位置

Parameters

pitch – pitch 轴角度，单位 °
yaw – yaw 轴角度，单位 °
pitch_speed – pitch 轴运动速速，单位 °/s
yaw_speed – yaw 轴运动速速，单位 °/s

Returns

ok，否则raise

gimbal_moveto(pitch: float = 0, yaw: float = 0, pitch_speed: float = None, yaw_speed: float = None) → str¶

控制云台运动到指定位置，坐标轴原点为上电位置

Parameters

pitch – pitch 轴角度，单位 °
yaw – yaw 轴角度，单位 °
pitch_speed – pitch 轴运动速速，单位 °/s
yaw_speed – yaw 轴运动速速，单位 °/s

Returns

ok，否则raise

gimbal_push_off(attitude: bool = True) → str¶

关闭云台中相应属性的信息推送

Parameters: attitude – 关闭姿态推送
Returns: ok，否则raise

gimbal_push_on(attitude_freq: int = 5) → str¶

打开云台中相应属性的信息推送，支持的频率 1, 5, 10, 20, 30, 50

Parameters: attitude_freq – 姿态推送频率
Returns: ok，否则raise

gimbal_recenter()¶: 控制云台回中 :return: ok，否则raise

gimbal_resume()¶: 控制云台从休眠状态中恢复 :return: ok，否则raise

gimbal_speed(pitch: float, yaw: float) → str¶

控制云台运动速度

Parameters

pitch – pitch 轴速度，单位 °/s
yaw – yaw 轴速度，单位 °/s

Returns

ok，否则raise

gimbal_suspend()¶: 使云台进入休眠状态 :return: ok，否则raise

ir_sensor_measure(switch: bool = True)¶

打开/关闭所有红外传感器开关

Parameters: switch – 打开/关闭
Returns: ok，否则raise

led_control(comp: str, effect: str, r: int, g: int, b: int) → str¶

控制 LED 灯效。跑马灯效果仅可作用于云台两侧 LED。

Parameters

comp – LED 编号，见 LED_ENUMS
effect – 灯效类型，见 LED_EFFECT_ENUMS
r – RGB 红色分量值
g – RGB 绿色分量值
b – RGB 蓝色分量值

Returns

ok，否则raise

robot_mode(mode: str) → str¶

机器人运动模式控制

Parameters: mode – 三种模式之一，见enum MODE_*
Returns: ok，否则raise

sound_event(attr: str, switch: bool) → str¶

声音识别事件上报控制

Parameters

attr – 事件属性名称，范围见 SOUND_ENUMS
switch – 是否开启上报

Returns

ok，否则raise

stream(switch: bool) → str¶

视频流开关控制

Parameters: switch – 打开/关闭
Returns: ok，否则raise

version() → str¶

query robomaster SDK version

Returns: version string

Framework¶

The framework deals with video streaming, push and event, you can build your controlling logic basing on it, for example(TODO: add links):

Drive your robomaster using keyboard;
Make your robomaster a goalkeeper.

class robomasterpy.framework.Hub¶

TERMINATION_TIMEOUT = 10¶

close()¶

run()¶

Start workers and block the main process until all workers terminate.

Mind tries to shutdown itself gracefully when receiving SIGTERM or SIGINT.

worker(worker_class, name: str, args: Tuple = (), kwargs=None)¶

Register worker to process sensor data fetching, calculation, inference,controlling, communication and more. All workers run in their own operating system process.

Parameters

worker_class –
name –
args – args to func
kwargs – kwargs to func

class robomasterpy.framework.Worker(name: str, out: Optional[multiprocessing.context.BaseContext.Queue], protocol: Optional[str], address: Tuple[str, int], timeout: Optional[float], loop: bool = True)¶

QUEUE_TIMEOUT: float = 0.05¶

close()¶

property closed¶

get_address() → Tuple[str, int]¶

property logger¶

property name¶

work() → None¶

class robomasterpy.framework.Vision(name: str, out: Optional[multiprocessing.context.BaseContext.Queue], ip: str, processing: Callable[[…], None], none_is_valid=False)¶

QUEUE_TIMEOUT = 0.05¶

TIMEOUT: float = 5.0¶

close()¶

property closed¶

get_address() → Tuple[str, int]¶

property logger¶

property name¶

work() → None¶

class robomasterpy.framework.PushListener(name: str, out: multiprocessing.context.BaseContext.Queue)¶

PUSH_TYPES: Tuple[str] = ('chassis', 'gimbal')¶

PUSH_TYPE_CHASSIS: str = 'chassis'¶

PUSH_TYPE_GIMBAL: str = 'gimbal'¶

QUEUE_TIMEOUT = 0.05¶

close()¶

property closed¶

get_address() → Tuple[str, int]¶

property logger¶

property name¶

work() → None¶

class robomasterpy.framework.EventListener(name: str, out: multiprocessing.context.BaseContext.Queue, ip: str)¶

EVENT_TYPES: Tuple[str] = ('armor', 'sound')¶

EVENT_TYPE_ARMOR: str = 'armor'¶

EVENT_TYPE_SOUND: str = 'sound'¶

QUEUE_TIMEOUT = 0.05¶

close()¶

property closed¶

get_address() → Tuple[str, int]¶

property logger¶

property name¶

work() → None¶

class robomasterpy.framework.Mind(name: str, queues: Tuple[multiprocessing.context.BaseContext.Queue, …], ip: str, processing: Callable[[…], None], timeout: float = 30, loop: bool = True)¶

QUEUE_TIMEOUT: float = 0.05¶

close()¶

property closed¶

get_address() → Tuple[str, int]¶

property logger¶

property name¶

work() → None¶

Helpers for Measure¶

Some helpers for measure and analyze distance from video stream.

robomasterpy.measure.pinhole_distance(actual_size: float, pixel_size: float, focal_length: float = 710) → float¶

使用针孔相机模型估测物体到相机的距离。

Estimate distance between camera and object using pinhole camera model.

Parameters

actual_size – 实际大小，单位米。 Actual object size in meters.
pixel_size – 像素大小，单位像素。 Object size in pixels.
focal_length – （可选）当前分辨率下的等效焦距，和分辨率相关。默认使用1280*720分辨率。Perceived focal length at specified image resolution, default to 1280*720.

Returns

物体到相机的距离，单位米。 Distance between camera and object, in meters.

robomasterpy.measure.distance_decomposition(pixel_x: float, distance: float, horizontal_pixels: float = 1280, horizontal_degrees: float = 96) → Tuple[float, float, float]¶

将距离分解为前进分量（前为正）和侧向分量（右为正）。本函数要求线段的两端在相同海拔高度。

Decomposition distance into forward vector(forward as positive) and lateral vector(right as positive). This function requires that both ends of the line segment are at the same altitude.

Parameters

pixel_x – 物体在图像上的x坐标，单位像素。 the x coordinate of the object on the image, in pixels.
distance – 距离，单位米。 Distance in meter.
horizontal_pixels – 图像横向的像素数目，默认1280. The number of pixels in the horizontal direction of the image, the default is 1280.
horizontal_degrees – 图像横向的视角大小，默认96. The horizontal viewing angle of the image, the default is 96.

Returns

前进分量和侧向分量，单位米；水平偏转角度，单位度。 forward vector and lateral vector in meters; horizontal angle in degrees.

API¶

Receive IP Broadcast¶

Commander¶

Framework¶

Helpers for Measure¶

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