Arduino

Setup

First, install the Python module.

pip install python-arduino

Next, plug in an Arduino board. Locate the device file that corresponds to it:

user@comp:~$ cd /dev

user@comp:/dev$ ll | grep ttyACM
crw-rw----   1 root    dialout 166,    0 Nov  6 00:00 ttyACM0   # This is the device file

user@comp:/dev$ sudo chmod 666 ttyACM0   # Allow all users to control it

Before you can control the board, compile and upload the Firmata program to it. Open the Arduino IDE and open File >> Examples >> Firmata >> StandardFirmata, and compile and upload.

Core

class arduino.Clock(t: float = 0)

Clock based on absolute time rather than relative. Can tick at a constant rate.

reset(t: float = 0)

Reset time (or set to t).

tick(t)

Wait until time is t + last_tick.

time()

Return time since elapse.

waitto(t)

Sleep until time is t.

Motor

class arduino.motor.Stepper(board: pyfirmata.pyfirmata.Board, spr: int)

Base stepper motor class. Extend from this to create a specific motor.

clock: arduino.core.Clock

Motor’s clock. Set at init so no overhead for creating the object.

property pos: float

The current position in degrees.

rotate(deg: float, rpm: float)

Rotate the motor.

Parameters

• deg – The angle to rotate in degrees.

• rpm – Speed in revolutions per minute.

rotate_for(deg: float, t: float)

Rotate deg for t seconds.

rotate_to(deg: float, rpm: float)

Rotate to deg at rpm rotations per minute.

rotate_to_for(deg: float, t: float)

Rotate to deg for t seconds.

spr: int

Steps per revolution.

step(cw: bool, t: float)

Step the motor. Calls self._step(cw, t). Define in a subclass.

Parameters

• cw – True if clockwise, False if counter-clockwise.

• t – Total step time.

This is a Python module which provides an API to controlling Arduino boards. It uses PyFirmata to communicate, and provides functions which implement individual pin controls.