hackerbot 0.2.0__tar.gz

hackerbot-0.2.0/LICENSE

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+MIT License
+
+Copyright (c) 2025 Hackerbot Industries LLC
+
+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:
+
+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.

hackerbot-0.2.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: hackerbot
+Version: 0.2.0
+Summary: This module contains the setup for the hackerbot python package.
+Author-email: Allen Chien <allen71090@gmail.com>
+License-Expression: MIT
+Project-URL: Homepage, https://github.com/hackerbotindustries/hackerbot-python-package
+Requires-Python: >=3.11
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: pyserial
+Requires-Dist: pytest
+Dynamic: license-file
+
+
+# Hackerbot Python Package
+
+Hackerbot python package (`hackerbot-python-package`) is a project that includes modules for controlling and managing the Hackerbot system.
+
+## Installation
+
+Follow these steps to clone the repository and set up the required dependencies.
+
+### 1. Clone the Repository
+Use SSH to clone the repository:
+```bash
+https://github.com/hackerbotindustries/hackerbot-python-package.git
+```
+This will create a directory named `hackerbot-python-package` and download all necessary files.
+
+### 2. Navigate to the Modules Directory
+Move into the `hackerbot_modules` directory:
+```bash
+cd hackerbot-python-package/
+```
+
+### 3. Install Dependencies
+Install the `hackerbot` package using `pip`:
+```bash
+pip install .
+```
+This will install the package locally for your Python environment.
+
+## Usage
+Once installed, you can import `hackerbot` in your Python scripts:
+```python
+import hackerbot
+```
+
+### 4. Testing
+To run the unit tests run:
+```bash
+cd tests/unit_tests
+pytest
+```
+
+## Troubleshooting
+If you run into issues with the installation, try the following:
+- Ensure you're using a virtual environment:  
+  ```bash
+  python3 -m venv venv
+  source venv/bin/activate
+  ```
+- Upgrade `pip` before installation:  
+  ```bash
+  pip install --upgrade pip
+  ```

hackerbot-0.2.0/README.md

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+
+# Hackerbot Python Package
+
+Hackerbot python package (`hackerbot-python-package`) is a project that includes modules for controlling and managing the Hackerbot system.
+
+## Installation
+
+Follow these steps to clone the repository and set up the required dependencies.
+
+### 1. Clone the Repository
+Use SSH to clone the repository:
+```bash
+https://github.com/hackerbotindustries/hackerbot-python-package.git
+```
+This will create a directory named `hackerbot-python-package` and download all necessary files.
+
+### 2. Navigate to the Modules Directory
+Move into the `hackerbot_modules` directory:
+```bash
+cd hackerbot-python-package/
+```
+
+### 3. Install Dependencies
+Install the `hackerbot` package using `pip`:
+```bash
+pip install .
+```
+This will install the package locally for your Python environment.
+
+## Usage
+Once installed, you can import `hackerbot` in your Python scripts:
+```python
+import hackerbot
+```
+
+### 4. Testing
+To run the unit tests run:
+```bash
+cd tests/unit_tests
+pytest
+```
+
+## Troubleshooting
+If you run into issues with the installation, try the following:
+- Ensure you're using a virtual environment:  
+  ```bash
+  python3 -m venv venv
+  source venv/bin/activate
+  ```
+- Upgrade `pip` before installation:  
+  ```bash
+  pip install --upgrade pip
+  ```

hackerbot-0.2.0/pyproject.toml

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+################################################################################
+# Copyright (c) 2025 Hackerbot Industries LLC
+#
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+#
+# Created By: Allen Chien
+# Created:    April 2025
+# Updated:    2025.04.01
+#
+# This module contains the setup details for the hackerbot python package.
+#
+# Special thanks to the following for their code contributions to this codebase:
+# Allen Chien - https://github.com/AllenChienXXX
+################################################################################
+
+
+[project]
+name = "hackerbot"
+version = "0.2.0"
+description = "This module contains the setup for the hackerbot python package."
+authors = [
+  { name = "Allen Chien", email = "allen71090@gmail.com" }
+]
+license = "MIT"
+readme = "README.md"
+requires-python = ">=3.11"
+dependencies = [
+  "pyserial",
+  "pytest",
+]
+
+[project.urls]
+Homepage = "https://github.com/hackerbotindustries/hackerbot-python-package"
+
+[build-system]
+requires = ["setuptools>=61.0"]
+build-backend = "setuptools.build_meta"
+
+[tool.setuptools]
+package-dir = {"" = "src"}
+
+[tool.setuptools.packages.find]
+where = ["src"]

hackerbot-0.2.0/setup.cfg

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+[egg_info]
+tag_build = 
+tag_date = 0
+

hackerbot-0.2.0/src/hackerbot/__init__.py

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+################################################################################
+# Copyright (c) 2025 Hackerbot Industries LLC
+#
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+#
+# Created By: Allen Chien
+# Created:    April 2025
+# Updated:    2025.04.08
+#
+# This is the file for the hackerbot package. It imports
+# and initialized the sub components
+#
+# Special thanks to the following for their code contributions to this codebase:
+# Allen Chien - https://github.com/AllenChienXXX
+################################################################################
+
+
+from .core import Core
+from .base import Base
+from .head import Head
+from .arm import Arm
+from .utils.hackerbot_helper import HackerbotHelper
+
+class Hackerbot(HackerbotHelper):
+    def __init__(self, port=None, board=None, model=None,verbose_mode=False):
+        super().__init__(port, board, verbose_mode)
+        # Share self (which is a HackerbotHelper) with subsystems
+        self.core = Core(controller=self)
+        self.base = Base(controller=self)
+        self.head = Head(controller=self)
+        self.arm = Arm(controller=self)
+        # TODO based on model decide which subsystems to initialize

hackerbot-0.2.0/src/hackerbot/arm/__init__.py

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+################################################################################
+# Copyright (c) 2025 Hackerbot Industries LLC
+#
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+#
+# Created By: Allen Chien
+# Created:    April 2025
+# Updated:    2025.04.07
+#
+# This module contains the Arm component of the hackerbot
+#
+# Special thanks to the following for their code contributions to this codebase:
+# Allen Chien - https://github.com/AllenChienXXX
+################################################################################
+
+
+from hackerbot.utils.hackerbot_helper import HackerbotHelper
+from .gripper import Gripper
+
+class Arm():
+    def __init__(self, controller: HackerbotHelper):
+        self._controller = controller
+        self.idle_mode = True
+
+        self.setup()
+        self.gripper = Gripper(self._controller)
+
+    def setup(self):
+       if not self._controller._arm_attached:
+            self._controller.log_warning("Arm not attached, can't control arm.")
+
+    def move_joint(self, joint_id, angle, speed):
+        """
+        Moves a single joint of the robotic arm to a specified angle at a given speed.
+
+        Args:
+            joint_id (int): Joint number from 1 to 6. Joint 1 is the base and is in order moving up the arm.
+            angle (float): Angle for the specified joint. Valid range is -165.0 to 165.0 degrees for joints 1 to 5 and -175.0 to 175.0 for joint 6.
+            speed (int): Speed at which the arm moves to the new position. Valid range is 0 to 100.
+
+        Returns:
+            bool: True if the movement command was successfully sent, False if an error occurred.
+        """
+        try:
+            self._controller.send_raw_command(f"A_ANGLE,{joint_id},{angle},{speed}")
+            # Not fetching json response since machine mode not implemented
+            return True
+        except Exception as e:
+            self._controller.log_error(f"Error in arm:move_joint: {e}")
+            return False
+    
+    def move_joints(self, j_agl_1, j_agl_2, j_agl_3, j_agl_4, j_agl_5, j_agl_6, speed):
+        """
+        Moves all six joints of the robotic arm to specified angles at a given speed.
+
+        Args:
+            j_agl_1 (float): Angle for joint 1, base joint. Valid range is -165.0 to 165.0 degrees.
+            j_agl_2 (float): Angle for joint 2. Valid range is -165.0 to 165.0 degrees.
+            j_agl_3 (float): Angle for joint 3. Valid range is -165.0 to 165.0 degrees.
+            j_agl_4 (float): Angle for joint 4. Valid range is -165.0 to 165.0 degrees.
+            j_agl_5 (float): Angle for joint 5. Valid range is -165.0 to 165.0 degrees.
+            j_agl_6 (float): Angle for joint 6. Valid range is -175.0 to 175.0 degrees.
+            speed (int): Speed at which the arm moves to the new positions. Valid range is 0 to 100.
+
+        Returns:
+            bool: True if the movement command was successfully sent, False if an error occurred.
+        """
+        try:
+            self._controller.send_raw_command(f"A_ANGLES,{j_agl_1},{j_agl_2},{j_agl_3},{j_agl_4},{j_agl_5},{j_agl_6},{speed}")
+            # Not fetching json response since machine mode not implemented
+            return True
+        except Exception as e:
+            self._controller.log_error(f"Error in arm:move_joints: {e}")
+            return False    
+            
+            

hackerbot-0.2.0/src/hackerbot/arm/gripper.py

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+################################################################################
+# Copyright (c) 2025 Hackerbot Industries LLC
+#
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+#
+# Created By: Allen Chien
+# Created:    April 2025
+# Updated:    2025.04.07
+#
+# This module contains the Gripper component of the hackerbot
+#
+# Special thanks to the following for their code contributions to this codebase:
+# Allen Chien - https://github.com/AllenChienXXX
+################################################################################
+
+
+from hackerbot.utils.hackerbot_helper import HackerbotHelper
+
+class Gripper(HackerbotHelper):
+    def __init__(self, controller: HackerbotHelper):
+        self._controller = controller
+
+    def calibrate(self):
+        """
+        Calibrates the gripper by sending a raw calibration command.
+
+        Returns:
+            bool: True if the calibration command was successfully sent, False if an error occurred.
+        """
+        try:
+            self._controller.send_raw_command("A_CAL")
+            # Not fetching json response since machine mode not implemented
+            return True
+        except Exception as e:
+            self._controller.log_error(f"Error in gripper:calibrate: {e}")
+            return False
+        
+    def open(self):
+        try:
+            self._controller.send_raw_command("A_OPEN")
+            # Not fetching json response since machine mode not implemented
+            return True
+        except Exception as e:
+            self._controller.log_error(f"Error in gripper:open: {e}")
+            return False
+            
+    def close(self):
+        try:
+            self._controller.send_raw_command("A_CLOSE")
+            # Not fetching json response since machine mode not implemented
+            return True
+        except Exception as e:
+            self._controller.log_error(f"Error in gripper:close: {e}")
+            return False

hackerbot-0.2.0/src/hackerbot/base/__init__.py

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+################################################################################
+# Copyright (c) 2025 Hackerbot Industries LLC
+#
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+#
+# Created By: Allen Chien
+# Created:    April 2025
+# Updated:    2025.04.08
+#
+# This module contains the Base component of the hackerbot
+#
+# Special thanks to the following for their code contributions to this codebase:
+# Allen Chien - https://github.com/AllenChienXXX
+################################################################################
+
+
+from hackerbot.utils.hackerbot_helper import HackerbotHelper
+from .maps import Maps
+import time
+
+class Base():    
+    def __init__(self, controller: HackerbotHelper):
+        """
+        Initialize Core component with HackerbotHelper object
+        
+        :param controller: HackerbotHelper object
+        """
+        self._controller = controller
+        self.initialize() # Call before any action is done on the base
+
+        self.maps = Maps(controller)
+
+        self._future_completed = False
+        self._docked = True # Default to true, assume always start from charger
+
+      
+    def initialize(self):
+        try:
+            self._controller.send_raw_command("B_INIT")
+            self._controller._base_init = True
+            # Not fetching json response since machine mode not implemented
+            return True
+        except Exception as e:
+            self._controller.log_error(f"Error in base:initialize: {e}")
+            raise Exception(f"Error in initialize: {e}")
+        
+    def set_mode(self, mode):
+        try:
+            self._controller.send_raw_command(f"B_MODE,{mode}")
+            # Not fetching json response since machine mode not implemented
+            return True
+        except Exception as e:
+            self._controller.log_error(f"Error in base:set_mode: {e}")
+            return False
+        
+    def status(self):
+        try:
+            self._controller.send_raw_command("B_STATUS")
+            time.sleep(0.1)
+            response = self._controller.get_json_from_command("status")
+            if response is None:
+                raise Exception("Status command failed")
+            
+            if response.get("left_set_speed") == 0 and response.get("right_set_speed") == 0:
+                self._future_completed = True
+            else:
+                self._future_completed = False
+
+                        # Parse and return relevant fields
+            parsed_data = {
+                "timestamp": response.get("timestamp"),
+                "left_encoder": response.get("left_encoder"),
+                "right_encoder": response.get("right_encoder"),
+                "left_speed": response.get("left_speed"),
+                "right_speed": response.get("right_speed"),
+                "left_set_speed": response.get("left_set_speed"),
+                "right_set_speed": response.get("right_set_speed"),
+                "wall_tof": response.get("wall_tof"),
+            }
+            return parsed_data
+        except Exception as e:
+            self._controller.log_error(f"Error in base:status: {e}")
+            return None
+        
+    def start(self, block=True):
+        try:
+            self._controller.send_raw_command("B_START")
+            # Not fetching json response since machine mode not implemented
+            self._controller._driver_mode = True
+            if self._docked:
+                time.sleep(2)
+                self._docked = False
+            self._wait_until_completed(block=block)
+
+            return True
+        except Exception as e:
+            self._controller.log_error(f"Error in base:start: {e}")
+            return False
+        
+    def quickmap(self, block=True):
+        """
+        Start the quick mapping process.
+
+        This function sends a command to the base to initiate the quick mapping process.
+        It first checks the system status to ensure all components are ready. If
+        the quick mapping command is successfully sent, the function returns True.
+        In case of any errors, it logs the error message and returns False.
+
+        :return: True if the quick mapping command is successful, False otherwise.
+        """
+        try:
+            self._controller.send_raw_command("B_QUICKMAP")
+            time.sleep(0.1)
+            # Not fetching json response since machine mode not implemented
+            self._wait_until_completed(block=block)
+            return True
+        except Exception as e:
+            self._controller.log_error(f"Error in base:quickmap: {e}")
+            return False
+        
+    def dock(self, block=True):
+        """
+        Dock the base to the docking station.
+
+        This function sends a command to the base to initiate the docking process.
+        It first checks the system status to ensure all components are ready. If
+        the docking command is successfully sent, the function returns True.
+        In case of any errors, it logs the error message and returns False.
+
+        :return: True if the docking command is successful, False otherwise.
+        """
+        try:
+            self._controller.send_raw_command("B_DOCK")
+            time.sleep(3)
+            # Not fetching json response since machine mode not implemented
+            self._wait_until_completed(block=block)
+            self._docked = True
+            self._controller._driver_mode = False
+            return True
+        except Exception as e:
+            self._controller.log_error(f"Error in base:dock: {e}")
+            return False
+
+
+    def kill(self):
+        """
+        Kill the base's movement. This is a blocking call and will not return until the base is stopped.
+        After calling this method, the base will not be able to move until start() is called again.
+        :return: True if successful, False otherwise.
+        """
+        try:
+            self._controller.send_raw_command("B_KILL")
+            self._controller._base_init = False
+            # Not fetching json response since machine mode not implemented
+            return True
+        except Exception as e:
+            self._controller.log_error(f"Error in base:kill: {e}")
+            return False
+        
+    def trigger_bump(self, left, right):
+        """
+        Trigger the bump sensors on the base.
+
+        :param left: 0 or 1 to disable or enable the left bump sensor.
+        :param right: 0 or 1 to disable or enable the right bump sensor.
+        :return: True if the command is successful, False if it fails.
+        """
+        left = 1 if True else 0
+        right = 1 if True else 0
+        try:
+            self._controller.send_raw_command("B_BUMP, {0}, {1}".format(left, right))
+            # Not fetching json response since machine mode not implemented
+            return True
+        except Exception as e:
+            self._controller.log_error(f"Error in base:trigger_bump: {e}")
+            return False
+        
+    def drive(self, l_vel, a_vel, block=True):
+        """
+        Set the base velocity.
+
+        :param l_vel: Linear velocity in mm/s. Positive is forward, negative is backward.
+        :param a_vel: Angular velocity in degrees/s. Positive is counterclockwise, negative is clockwise.
+        :return: True if the command is successful, False if it fails.
+        """
+        try:
+            if not self._controller._driver_mode:
+                self.start()
+            self._controller.send_raw_command(f"B_DRIVE,{l_vel},{a_vel}")
+            time.sleep(0.1)
+            response = self._controller.get_json_from_command("drive")
+            if response is None:
+                raise Exception("Drive command failed")
+            self._wait_until_completed(block=block)
+            return True
+        except Exception as e:
+            self._controller.log_error(f"Error in base:drive: {e}")
+            return False
+        
+    def _wait_until_completed(self, block=True):
+        if not block:
+            return
+        while not self._future_completed:
+            self.status()
+            # print(self.status())
+        self._future_completed = False
+        
+    def destroy(self, auto_dock=False):
+        """
+        Clean up and shut down the base.
+
+        This method kills the base's movement and optionally docks it before 
+        destroying the controller. If `auto_dock` is set to True, the base will 
+        dock before the destruction process.
+
+        :param auto_dock: If True, the base will dock before being destroyed. Defaults to False.
+        """
+        self.kill()
+        if auto_dock:
+            time.sleep(3.0)
+            self.dock(block=False)
+        self._controller.destroy()