Class EasyGoPiGo3

Software/Python/easygopigo3.py:77–1193

This class is used for controlling a `GoPiGo3`_ robot. With this class you can do the following things with your `GoPiGo3`_: * Drive your robot in any number of directions. * Have precise control over the direction of the robot. * Set the speed of the robot. * Turn *on

class EasyGoPiGo3(gopigo3.GoPiGo3):
    """
    This class is used for controlling a `GoPiGo3`_ robot.

    With this class you can do the following things with your `GoPiGo3`_:

     * Drive your robot in any number of directions.
     * Have precise control over the direction of the robot.
     * Set the speed of the robot.
     * Turn *on* or *off* the blinker LEDs.
     * Control the `GoPiGo3`_' Dex's *eyes*, *color* and so on ...

     .. needs revisiting

     .. warning::

         Without a battery pack connected to the `GoPiGo3`_, the robot won't move.

    """

    def __init__(self, config_file_path="/home/pi/Dexter/gpg3_config.json", use_mutex=False):
        """
        This constructor sets the variables to the following values:

        :param str config_file_path = "/home/pi/Dexter/gpg3_config.json": Path to JSON config file that stores the wheel diameter and wheel base width for the GoPiGo3.
        :param bool use_mutex = False: When using multiple threads/processes that access the same resource/device, mutex has to be enabled.
        :var int speed = 300: The speed of the motors should go between **0-1000** DPS.
        :var tuple(int,int,int) left_eye_color = (0,255,255): Set Dex's left eye color to **turqoise**.
        :var tuple(int,int,int) right_eye_color = (0,255,255): Set Dex's right eye color to **turqoise**.
        :var int DEFAULT_SPEED = 300: Starting speed value: not too fast, not too slow.
        :raises IOError: When the GoPiGo3 is not detected. It also debugs a message in the terminal.
        :raises gopigo3.FirmwareVersionError: If the GoPiGo3 firmware needs to be updated. It also debugs a message in the terminal.
        :raises Exception: For any other kind of exceptions.

        The ``config_file_path`` parameter represents the path to a JSON file. The presence of this configuration file is optional and is only required in cases where
        the GoPiGo3 has a skewed trajectory due to minor differences in these two constants: the **wheel diameter** and the **wheel base width**. In most cases, this won't be the case.

        By-default, the constructor tries to read the ``config_file_path`` file and silently fails if something goes wrong: wrong permissions, non-existent file, improper key values and so on.
        To set custom values to these 2 constants, use :py:meth:`~easygopigo3.EasyGoPiGo3.set_robot_constants` method and for saving the constants to a file call 
        :py:meth:`~easygopigo3.EasyGoPiGo3.save_robot_constants` method.

        """
        try:
            super(self.__class__, self).__init__()
        except IOError as e:
            print("FATAL ERROR:\nGoPiGo3 is not detected.")
            raise e
        except gopigo3.FirmwareVersionError as e:
            print("FATAL ERROR:\nTo update the firmware on Raspbian for Robots you need to run DI Software Update and choose Update Robot")
            raise e
        except Exception as e:
            raise e

        # load wheel diameter & wheel base width
        # should there be a problem doing that then save the current default configuration
        try:
            self.load_robot_constants()
        except Exception: