Robot¶

raspbot.robot.Robot

The Robot class is the single entry-point for the entire library. It owns a shared I2CBus instance and wires all hardware subsystems together so you never have to manage bus references manually.

Class signature¶

class Robot:
    def __init__(
        self,
        i2c_address: int = 0x2B,
        i2c_bus: int = 1,
        camera_device: int | str = 0,
    ) -> None: ...

Parameters¶

Parameter	Type	Default	Description
`i2c_address`	`int`	`0x2B`	I2C address of the Raspbot V2 microcontroller
`i2c_bus`	`int`	`1`	Linux I2C bus number
`camera_device`	`int` or `str`	`0`	Camera device index or path (e.g. `"/dev/video0"`)

Attributes¶

All subsystems are created during __init__ but hardware is only touched when you call a method on them.

Attribute	Type	Description
`motors`	`Motors`	Four-wheel drive motor controller
`servos`	`ServoPair`	Pan/tilt servo pair
`button`	`Button`	KEY1 tactile user button
`buzzer`	`Buzzer`	Piezo buzzer
`leds`	`LedBar`	14-LED WS2812 RGB light bar
`ultrasonic`	`UltrasonicSensor`	HC-SR04 distance sensor
`line_tracker`	`LineTracker`	4-channel IR line-tracking array
`ir`	`IRReceiver`	IR remote-control receiver
`light_effects`	`LightEffects`	Animated LED effect engine
`camera`	`Camera`	OpenCV VideoCapture wrapper

Methods¶

`close()`¶

def close(self) -> None

Safely stops all actuators and releases the I2C bus.

Calls motors.stop()
Calls leds.off_all()
Calls buzzer.off()
Calls camera.close()
Closes the I2C bus

Each step is wrapped in contextlib.suppress(Exception) so a single failing subsystem does not prevent the others from shutting down cleanly.

Context manager¶

Robot implements the context manager protocol. Using with Robot() as bot: is the recommended pattern -- it guarantees close() is called even if an exception is raised.

from raspbot import Robot

with Robot() as bot:
    bot.motors.forward(speed=150)
    # ... do work ...
# close() called automatically here

Examples¶

Basic usage¶

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")

Custom I2C address¶

# If your board is at a non-default address:
with Robot(i2c_address=0x2C) as bot:
    ...

With camera¶

from raspbot import Robot

with Robot(camera_device=0) as bot:
    if bot.camera.open():
        frame = bot.camera.read_frame()
        print("Frame shape:", frame.shape if frame is not None else "none")