Migration Guide¶

This page maps the old Raspbot_Lib / yahboom_oled API to the new raspbot package.

Overview of changes¶

What changed	Old	New
Package name	`Raspbot_Lib`	`raspbot`
Install method	manual copy	`pip install raspbot`
I2C backend	`smbus`	`smbus2`
OLED driver	`Adafruit_SSD1306`	`luma.oled` (optional extra)
Entry point	`Raspbot()`	`Robot()`
Naming	`CamelCase` abbreviated	descriptive Python conventions

Motor control¶

Old	New
`bot = Raspbot()`	`bot = Robot()`
`bot.Ctrl_Car(id, dir, speed)`	`bot.motors.set(id, dir, speed)`
`bot.Ctrl_Muto(id, speed)`	`bot.motors.drive(id, speed)`
`bot.Ctrl_Car(0, 0, 150)` (all forward)	`bot.motors.forward(150)`
`bot.Ctrl_Car(0, 1, 150)` (all reverse)	`bot.motors.backward(150)`

# Old
from Raspbot_Lib import Raspbot
bot = Raspbot()
bot.Ctrl_Car(0, 0, 150)

# New
from raspbot import Robot
with Robot() as bot:
    bot.motors.forward(150)

Servo control¶

Old	New
`bot.Ctrl_Servo(1, angle)`	`bot.servos.pan.set_angle(angle)`
`bot.Ctrl_Servo(2, angle)`	`bot.servos.tilt.set_angle(angle)`

Note: the TILT servo is hardware-limited to 110 degrees. The new library clamps the angle automatically.

Buzzer¶

Old	New
`bot.Ctrl_BEEP_Switch(1)`	`bot.buzzer.on()`
`bot.Ctrl_BEEP_Switch(0)`	`bot.buzzer.off()`

LEDs¶

Old	New
`bot.Ctrl_WQ2812_ALL(1, color)`	`bot.leds.set_all(color)`
`bot.Ctrl_WQ2812_ALL(0, color)`	`bot.leds.off_all()`
`bot.Ctrl_WQ2812_Single(i, 1, color)`	`bot.leds.set_one(i, color)`
`bot.Ctrl_WQ2812_brightness_ALL(r,g,b)`	`bot.leds.set_brightness_all(r,g,b)`
`bot.Ctrl_WQ2812_brightness_Single(i,r,g,b)`	`bot.leds.set_brightness_one(i,r,g,b)`

The new LedColor enum uses the same integer values as the old library:

# Old
bot.Ctrl_WQ2812_ALL(1, 2)   # blue = 2

# New
from raspbot.types import LedColor
bot.leds.set_all(LedColor.BLUE)   # LedColor.BLUE == 2

Ultrasonic sensor¶

Old	New
`bot.Ctrl_Ulatist_Switch(1)`	`bot.ultrasonic.enable()`
`bot.Ctrl_Ulatist_Switch(0)`	`bot.ultrasonic.disable()`
`bot.read_data_array(0x1b, 1)[0]` + `bot.read_data_array(0x1a, 1)[0]`	`bot.ultrasonic.read_mm()`

The new library reads both bytes and assembles the 16-bit value for you.

Line tracker¶

Old	New
`bot.Ctrl_IR_Switch(1)` (note: this was actually ultrasonic in old lib)	n/a
`bot.read_data_array(0x0a, 1)[0]`	`bot.line_tracker.read()`

The new LineTracker.read() returns a LineState dataclass with named attributes (x1-x4, on_line, centered) instead of a raw byte.

IR receiver¶

Old	New
`bot.Ctrl_IR_Switch(1)`	`bot.ir.enable()`
`bot.Ctrl_IR_Switch(0)`	`bot.ir.disable()`
`bot.read_data_array(0x0c, 1)[0]`	`bot.ir.read_keycode()`

read_keycode() returns None instead of 0 when no code is available.

OLED display¶

The new OLEDDisplay replaces yahboom_oled which used the abandoned Adafruit_SSD1306.

Old	New
`from yahboom_oled import OLED`	`from raspbot.display.oled import OLEDDisplay`
`oled = OLED()`	`oled = OLEDDisplay()`
`oled.init_oled()`	`oled.begin()`
`oled.add_line(text, n)`	`oled.add_line(text, line=n)`
`oled.refresh()`	`oled.refresh()` (unchanged)

Install the extra:

pip install "raspbot[oled]"

Context manager (new)¶

The new library uses the context manager pattern to ensure clean shutdown:

# Old (manual cleanup required)
bot = Raspbot()
try:
    bot.Ctrl_Car(0, 0, 150)
finally:
    bot.Ctrl_Car(0, 0, 0)

# New (automatic cleanup)
with Robot() as bot:
    bot.motors.forward(150)
# motors stopped, LEDs off, bus closed automatically