API Documentation

Triangula’s code is intended to be useful, both directly for cases where you may have similar requirements, and indirectly as an example of how to solve the kinds of problems I’ve encountered while building her. As such the code is very heavily commented - you should hopefully find it largely self explanatory although you’ll need at least a reasonable level of Python knowledge.

• Module Index

• triangula.arduino: Controlling the Arduino
  • Python Code
  • Arduino Code
• triangula.chassis: Kinematics
  • Basics
  • Defining the Chassis
  • Location Awareness
• triangula.dynamics: High Level Dynamics
  • Per-Wheel Acceleration Limiting
  • Motion Limiting
• triangula.input: PlayStation3 Controller Support
  • Handling Buttons
• triangula.lcd: Serial LCD Display Support
• triangula.navigation: Navigation and Routing
  • Waypoints
• triangula.task: Task Management
• triangula.tasks.*: Task Implementations
  • triangula.tasks.main_menu: Main Menu
  • triangula.tasks.manual_control: Manual Control
  • triangula.tasks.patrol: Patrol
  • triangula.tasks.network_info: Network Info
  • triangula.tasks.compass_test: Compass Test
• triangula.util: Helpful Things
  • Using IntervalCheck