TXTControl

A pythonic implementation of ftrobopy using asyncio.

Warning!

Even when I think this program should work, I didn't test it duo to my broken accu. If you want to use it now, do it at your own risk. If you find any error, please open a new GitHub Issue. I will try to test the program as fast as possible.

What is TXTControl?

TXTControl is an asynchronous high-level alternative to ftrobopy. It allows easy integration into modern existing applications.

Motivation

When I started programming my TXT robot, I had to use ftrobopy as there were no alternatives. After a lot of frustrations about this very unpythonic library, which looked as if it was the first Python program by a C programmer, I finally brought by robot to life. But my code looked like C, not Python. Then, a few years later, I wrote this program to help people with the same problem.

New to asyncio? Check out the official Python asyncio tutorial: https://docs.python.org/3/library/asyncio.html

Example

The following example will play a sound if the button is pressed otherwise, the motor will run. The program ends when the terminator button is hit.

from txtcontrol import TXT, Motor, Button, Speaker, Sound


async def main():
    with TXT() as txt:
        motor = await Motor.create(txt, 0)
        button = await Button.create(txt, 0)
        terminator_button = await Button.create(txt, 1)
        speaker = Speaker(txt)

        while not terminator_button.state:
            if button.state:
                motor.speed = 512
                speaker.stop_sound()
            else:
                motor.speed = 0
                if speaker.finished:
                    speaker.play_sound(Sound.CAR_HORN_SHORT)

            await txt.wait()  # Wait for the next update intervall

API-Reference

TXTError

Base class for TXT-related errors.

TXTConnectionError (base: TXTError)

TXT-related ConnectionError.

TXT(host: str | None = None, port=65000)

The class representing the TXT connection.

If host is not given, TXTControl tries to find a TXT using the following ports:

1. 192.168.7.2 USB (Ethernet)
2. 192.168.8.2 WLAN
3. 192.168.9.2 Bluetooth

Example

from txtcontrol import TXT

async with TXT() as txt:
    print("TXT connected!")

async query_status()

Query the current status of the TXT.

Returns: device name, device version

async update_config()

Transfer the current configuration to the TXT.

This function is automatically called when using the create method to create inputs or outputs.

async wait()

Wait until the next time the TXT sends new input values.

async sync_data()

Contextmanager that syncs multiple commands without sending the current state to the TXT.

Warnings: This method just blocks the connection. Long-running operations will result in a deadlock or in a TXTConnectionError!

Motor(txt: TXT, port: int)

Class representing a TXT motor.

async create(txt: TXT, port: int)

Create a new Motor class. Automatically updates the config of the TXT.

Args:

• txt: The base TXT class object.
• port: the port of the motor. 0–3 for M1–M4

property speed: int

The current motor speed.

property distance: int

The current target distance.

property current_distance: int

The current value of the motor counter (C1-C4).

property finished: bool

If the motor reached its goal position.

stop()

Stop the motor.

SyncedMotor(m1: Motor, m2: Motor)

Class for running two synced motors.

property speed: int

The current motor speed.

property distance: int

The current target distance.

property current_distance: int

The current value of the motor counter (C1-C4).

property finished: bool

If the motors reached their goal position.

stop()

Stop the motors.

Output(txt: TXT, port: int)

Class representing a simple output like a LED.

async create(txt: TXT, port: int)

Create a new Output class. Automatically updates the config of the TXT.

Args:

• txt: The base TXT class object.
• port: The output port. 0-7 for port 1-8.

property level: int

The current output level (0–512)

_Input(txt: TXT, port: int)

Base class for input. Should not be used directly!

async create(txt: TXT, port: int)

Create a new input class instance. Automatically updates the TXT config.

Args:

• txt: the base TXT class.
• port: the input port. 0–7 for port I1-I8

property state: int

The current input value.

Button (base: _Input)

property state: bool

The current input value (pressed or not).

Resistor (base: _Input)

Resistor input.

property ntc_temperature: int

Converts the current input to a temperature

Ultrasonic (base: _Input)

Ultrasonic input.

Voltage (base: _Input)

Voltage input.

enum Color

Values:

• WHITE = 0
• RED = 1
• BLUE = 2

ColorSensor (base: Voltage)

Color sensor input.

property color: Color

The current color.

TrailFollower (base: Voltage)

Trail follower input.

property state: bool

If a trail is recognized or not.

property voltage: int

The raw input value.

enum Sound

The sounds that the TXT can play. The sound names are not the original ones!

Values:

• EMPTY = 0
• AIRPLANE = 1
• ALARM = 2
• BELL = 3
• BRAKES = 4
• CAR_HORN_SHORT = 5
• CAR_HORN_LONG = 6
• BREAKING_WOOD = 7
• EXCAVATOR = 8
• FANTASY_1 = 9
• FANTASY_2 = 10
• FANTASY_3 = 11
• FANTASY_4 = 12
• FARM = 13
• FIRE_SIREN = 14
• CAMPFIRE = 15
• FORMULA1_CAR = 16
• HELICOPTER = 17
• HYDRAULIC = 18
• RUNNING_ENGINE = 19
• STARTING_ENGINE = 20
• PROPELLER_PLANE = 21
• ROLLER_COASTER = 22
• SHIP_HORN = 23
• TRACTOR = 24
• TRUCK = 25
• WINK = 26
• DRIVING_NOISE = 27
• RAISE_HEAD = 28
• TILT_HEAD = 29

Speaker(txt: TXT)

Class for playing sounds on the TXT.

play_sound(sound: Sound, repeat: int = 1)

Play the given sound on the TXT.

stop_sound()

Stop the current playing sound.

property finished: bool

If the current sound has finished playing.

async wait_finished()

Wait for the current sound to finish playing.

Camera(txt: TXT)

async start()

Start the camera.

async stop()

Stop the camera.

property last_frame: bytes

The last frame the camera took.

property frame_size: tuple[int, int]

The current frame size.