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raspbot

Clean Python library for controlling the Yahboom Raspbot V2 robot car on Raspberry Pi.

raspbot replaces two unmaintained legacy libraries (Raspbot_Lib and yahboom_oled) with a modern, modular, fully-typed package that is installable from PyPI.

Features

Subsystem Class Notes
Motors Motors Four-wheel drive, signed or directional speed
Servos Servo, ServoPair Pan/tilt with angle clamping
Buzzer Buzzer Beep patterns
LEDs LedBar 14 WS2812 NeoPixels, indexed colour + direct RGB
LED effects LightEffects River, breathing, random, starlight, gradient
Ultrasonic UltrasonicSensor Distance in mm / cm, context manager
Line tracker LineTracker 4-channel IR array, frozen LineState dataclass
IR remote IRReceiver Key-code polling, context manager
Button Button KEY1 tactile button, polled
OLED display OLEDDisplay 128x32 SSD1306 via luma.oled (optional extra)
Camera Camera OpenCV VideoCapture wrapper (optional extra)
Cooperative tasks Task Non-blocking rate-gate, decorator factory

Quick install

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pip install raspbot                        # core (I2C hardware)
pip install "raspbot[oled]"                # + OLED display
pip install "raspbot[camera]"              # + OpenCV camera
pip install "raspbot[oled,camera]"         # everything

Quickstart

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import time
from raspbot import Robot

with Robot() as bot:
    bot.motors.forward(speed=150)
    time.sleep(1)
    bot.motors.stop()

    print(bot.ultrasonic.read_cm(), "cm")

Non-blocking loop with cooperative tasks:

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import time
from raspbot import Robot, Task
from raspbot.types import LedColor

with Robot() as bot:
    @Task.every(0.5)
    def blink(ct: float) -> None:
        bot.leds.set_all(LedColor.GREEN)

    @Task.every(2.0)
    def sense(ct: float) -> None:
        print(bot.ultrasonic.read_cm(), "cm")

    end = time.monotonic() + 10.0
    while time.monotonic() < end:
        ct = time.monotonic()
        blink(ct)
        sense(ct)
        time.sleep(0.001)

Requirements

  • Raspberry Pi running Raspberry Pi OS (32-bit or 64-bit)
  • Python 3.10 or later
  • I2C enabled (sudo raspi-config > Interface Options > I2C)
  • User in the i2c group: sudo usermod -aG i2c $USER
  • Yahboom Raspbot V2 powered on and connected via I2C bus 1

Next steps