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Buildhat库简介(Build-hat-python-library).pdf
Build HAT Python Library
Colophon
Legal Disclaimer Notice
License
Introduction
Installation
Usage
Programming Bootloader
Library
ColorSensor
ColorDistanceSensor
DistanceSensor
ForceSensor
Matrix
Motor
MotorPair
Build HAT Python Library
Colophon
© 2020 Raspberry Pi (Trading) Ltd.
This documentation is licensed under a Creative Commons Attribution-NoDerivatives 4.0 International (CC BY-ND).
build-date: 2021-10-22
build-version: githash: 91fd59e-dirty
Legal Disclaimer Notice
TECHNICAL AND RELIABILITY DATA FOR RASPBERRY PI PRODUCTS (INCLUDING DATASHEETS) AS MODIFIED FROM
TIME TO TIME (“RESOURCES”) ARE PROVIDED BY RASPBERRY PI (TRADING) LTD (“RPTL) "AS IS" AND ANY EXPRESS OR
IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE
LAW IN NO EVENT SHALL RPTL BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THE RESOURCES, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
DAMAGE.
RPTL reserves the right to make any enhancements, improvements, corrections or any other modifications to the
RESOURCES or any products described in them at any time and without further notice.
The RESOURCES are intended for skilled users with suitable levels of design knowledge. Users are solely responsible for
their selection and use of the RESOURCES and any application of the products described in them. User agrees to
indemnify and hold RPTL harmless against all liabilities, costs, damages or other losses arising out of their use of the
RESOURCES.
RPTL grants users permission to use the RESOURCES solely in conjunction with the Raspberry Pi products. All other use
of the RESOURCES is prohibited. No licence is granted to any other RPTL or other third party intellectual property right.
HIGH RISK ACTIVITIES. Raspberry Pi products are not designed, manufactured or intended for use in hazardous
environments requiring fail safe performance, such as in the operation of nuclear facilities, aircraft navigation or
communication systems, air traffic control, weapons systems or safety-critical applications (including life support
systems and other medical devices), in which the failure of the products could lead directly to death, personal injury or
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warranty of fitness for High Risk Activities and accepts no liability for use or inclusions of Raspberry Pi products in High
Risk Activities.
Raspberry Pi products are provided subject to RPTL’s Standard Terms. RPTL’s provision of the RESOURCES does not
expand or otherwise modify RPTL’s Standard Terms including but not limited to the disclaimers and warranties expressed
in them.
License
The Build HAT Python library is released under the MIT License.
Copyright (c) 2020-2021 Raspberry Pi Foundation
Copyright (c) 2017-2021 LEGO System A/S - Aastvej 1, 7190 Billund, DK
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated
documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to
whom the Software is furnished to do so, subject to the following conditions:
Legal Disclaimer Notice
1
Build HAT Python Library
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the
Software.
THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT
OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
License
2
Build HAT Python Library
Introduction
The Build HAT library has been created to support the Raspberry Pi Build HAT, an add-on board for the Raspberry Pi
computer which allows control of up to 4 LEGO® Technic™ motors and sensors included in the SPIKE™ Portfolio.
Figure 1. The
Raspberry Pi Build
HAT
Figure 2. The LEGO®
LPF2 connector
Other LEGO® devices may be supported if they use the LPF2 connector:
In order to drive motors, your Raspberry Pi and Build HAT will need an external 8V power supply. For best results, use the
official Raspberry Pi Build HAT power supply.
WARNING
The API for the Build HAT is undergoing active development and is subject to change. An online version of this
documentation can be found at https://buildhat.readthedocs.io/.
Introduction
3
Build HAT Python Library
Installation
The Python library can be installed using pip,
$ pip3 install buildhat-*.whl
Alternatively it can be cloned from its Github repositry,
$ git clone https://github.com/RaspberryPiFoundation/python-build-hat.git
$ cd python-build-hat
and installed. If using asdf first by,
$ asdf install
and then,
$ pip3 install . --user
Building the library,
$ ./build.sh
Installation
4
Build HAT Python Library
Usage
See the Library section for detailed documentation for the available Python objects.
import time
from signal import pause
from buildhat import Motor
motor = Motor('A')
motor.set_default_speed(30)
print("Position", motor.get_aposition())
def handle_motor(speed, pos, apos):
print("Motor", speed, pos, apos)
motor.when_rotated = handle_motor
print("Run for degrees")
motor.run_for_degrees(360)
print("Run for seconds")
motor.run_for_seconds(5)
print("Run for rotations")
motor.run_for_rotations(2)
print("Start motor")
motor.start()
time.sleep(3)
print("Stop motor")
motor.stop()
pause()
Usage
5
Build HAT Python Library
Programming Bootloader
You can use openocd to program the bootloader. This can be installed by,
$ sudo apt install automake autoconf build-essential texinfo libtool libftdi-dev
libusb-1.0-0-dev
$ git clone https://github.com/raspberrypi/openocd.git --recursive --branch rp2040
--depth=1
$ cd openocd
$ ./bootstrap
$ ./configure --enable-ftdi --enable-sysfsgpio --enable-bcm2835gpio
$ make -j4
$ sudo make install
Then use the folloing command to program the bootloader
$ openocd -s /usr/local/share/openocd/scripts -f interface/raspberrypi-swd.cfg -f
target/rp2040.cfg -c "program bootloader.elf verify reset exit"
Programming Bootloader
6
Build HAT Python Library
Library
ColorSensor
The LEGO® Education SPIKE™ Colour Sensor (LEGO® Colour Sensor 45605) can sort between 8 different colours and can
measure reflected and ambient or natural light.
1 from buildhat import ColorSensor
2
3 color = ColorSensor('C')
4
5 print("HSV", color.get_color_hsv())
6 print("RGBI", color.get_color_rgbi())
7 print("Ambient", color.get_ambient_light())
8 print("Reflected", color.get_reflected_light())
9 print("Color", color.get_color())
10
11 print("Waiting for color black")
12 color.wait_until_color("black")
13 print("Found color black")
14
15 print("Waiting for color white")
16 color.wait_until_color("white")
17 print("Found color white")
18
19 while True:
20 c = color.wait_for_new_color()
21 print("Found new color", c)
ColorDistanceSensor
The LEGO® Color and Distance Sensor 88007 can sort between six different colors and objects within 5 to 10 cm range
WARNING
Support for this device is experimental and not all features are available yet.
1 from buildhat import ColorDistanceSensor
2
3 color = ColorDistanceSensor('C')
4
5 print("RGBI", color.get_color_rgb())
6 print("Ambient", color.get_ambient_light())
7 print("Reflected", color.get_reflected_light())
8 print("Color", color.get_color())
9
10 print("Waiting for color black")
ColorSensor
7
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