I/Os

This file presents the different I/Os - Command functions, I/Os - Enums, I/Os - Niryo Topics & I/Os - Objects available with the Arm API

I/Os - Command functions

check_ned2_version(func)

Decorator that check the robot version

check_ned_one_version(func)

Decorator that check the robot version

This section reference all existing functions to control your robot, which include

• Getting IOs status

• Setting IOs mode

• Setting IOs value

All functions to control the robot are accessible via an instance of the class NiryoRobot

robot = NiryoRobot(<robot_ip_address>)

robot.io.set_pin_mode(PinID.GPIO_1A, PinMode.INPUT)
robot.io.digital_write(PinID.GPIO_1A, PinState.HIGH)
...

See examples on Examples Section

List of functions subsections:

class IO(client)

IO robot functions

Example:

ros_instance = NiryoRos("10.10.10.10") # Hotspot
io_interface = IO(ros_instance)

Parameters

client (NiryoRos) – Niryo ROS client

State functions

property IO.digital_io_states

Return the value of digital ios.

Returns

State, Name, Mode of the pin

Return type

DigitalPinObject

property IO.get_digital_io_states

Returns the io state client which can be used synchronously or asynchronously to obtain the io states. The io state client returns a list of DigitalPinObject.

Examples:

# Get last value
io.get_digital_io_states()
io.get_digital_io_states.value

# Subscribe a callback
def io_callback(io_state):
    print io_state

io.get_digital_io_states.subscribe(io_callback)
io.get_digital_io_states.unsubscribe()

Returns

io state topic instance

Return type

NiryoTopic

IO.get_digital_io_state(pin_id)

Return the value of a digital io.

Returns

digital io object

Return type

DigitalPinObject

Read & Write functions

IO.set_pin_mode(**kwargs)

IO.digital_write(pin_id, digital_state)

Set pin_id state to digital_state

Examples:

io.digital_write(PinID.GPIO_1A, PinState.HIGH)
io.digital_write('1A', PinState.LOW)

Parameters

• pin_id (PinID or String) –

• digital_state (PinState or bool) –

Return type

None

IO.digital_read(pin_id)

Return the value of a digital pin.

Examples:

io.set_pin_mode(PinID.GPIO_1A, PinMode.OUTPUT)
io.digital_read(PinID.GPIO_1A)

Parameters

pin_id (PinID or str) –

Return type

bool

I/Os - Niryo Topics

The use of these functions is explained in the NiryoTopic section. They allow the acquisition of data in real time by callbacks or by direct call.

I/O’s Niryo Topics

Name	Function	Return type
/niryo_robot_rpi/digital_io_state	get_digital_io_states	list [ DigitalPinObject ]

I/Os - Enums

List of enums:

• PinMode

• PinState

• PinID

class PinMode(value)

Enumeration of Pin Modes

OUTPUT = 0

INPUT = 1

class PinState(value)

Pin State is either LOW or HIGH

LOW = False

HIGH = True

class PinID(value)

Enumeration of Robot Pins

GPIO_1A = '1A'

GPIO_1B = '1B'

GPIO_1C = '1C'

GPIO_2A = '2A'

GPIO_2B = '2B'

GPIO_2C = '2C'

SW_1 = 'SW1'

SW_2 = 'SW2'

DO1 = 'DO1'

DO2 = 'DO2'

DO3 = 'DO3'

DO4 = 'DO4'

DI1 = 'DI1'

DI2 = 'DI2'

DI3 = 'DI3'

DI4 = 'DI4'

DI5 = 'DI5'

AI1 = 'AI1'

AI2 = 'AI2'

AO1 = 'AO1'

AO2 = 'AO2'

I/Os - Objects

class DigitalPinObject(name, mode, value)

Object used to store information on digital pins

class AnalogPinObject(name, mode, value)

Object used to store information on digital pins