Method __init__

Software/Python/easysensors.py:88–132

Constructor for creating a connection to one of the available grove ports on the `GoPIGo3`_. :param str port: Specifies the port with which we want to communicate / interact with. The string literals we can use for identifying a port are found in the following graphical drawing : :

(self, port, pinmode, gpg, use_mutex=False)

    PORTS = {}

    def __init__(self, port, pinmode, gpg, use_mutex=False):
        """
        Constructor for creating a connection to one of the available grove ports on the `GoPIGo3`_.

        :param str port: Specifies the port with which we want to communicate / interact with. The string literals we can use for identifying a port are found in the following graphical drawing : :ref:`hardware-ports-section`.
        :param str pinmode: The mode of operation of the pin we're selecting.
        :param easygopigo3.EasyGoPiGo3 gpg: An instantiated object of the :py:class:`~easygopigo3.EasyGoPiGo3` class. We need this :py:class:`~easygopigo3.EasyGoPiGo3` class for setting up the `GoPiGo3`_ robot's pins.
        :raises TypeError: If the ``gpg`` parameter is not a :py:class:`~easygopigo3.EasyGoPiGo3` object.

        The ``port`` parameter can take the following string values:

             * ``"AD1"`` - for digital and analog ``pinmode``'s.
             * ``"AD2"`` - for digital and analog ``pinmode``'s.
             * ``"SERVO1"`` - for ``"OUTPUT"`` ``pinmode``.
             * ``"SERVO2"`` - for ``"OUTPUT"`` ``pinmode``.
             * ``"I2C"`` - the ``pinmode`` is irrelevant here.
             * ``"SERIAL"`` - the ``pinmode`` is irrelevant here.

        These ports' locations can be seen in the following graphical representation - :ref:`hardware-ports-section`.

        The ``pinmode`` parameter can take the following string values:

             * ``"INPUT"`` - for general purpose inputs. The `GoPiGo3`_ has 12-bit ADCs.
             * ``"DIGITAL_INPUT"`` - for digital inputs. The port can detect either **0** or **1**.
             * ``"OUTPUT"`` - for general purpose outputs.
             * ``"DIGITAL_OUTPUT"`` - for digital outputs. The port can only be set to **0** or **1**.
             * ``"US"`` - that's for the :py:class:`~easysensors.UltraSonicSensor` which can be bought from our `shop`_. Can only be used with ports ``"AD1"`` and ``"AD2"``.
             * ``"IR"`` - that's for the `infrared receiver`_. Can only be used with ports ``"AD1"`` and ``"AD2"``.

        .. warning::

             At the moment, there's no class for interfacing with the `infrared receiver`_.

        """
        debug("Sensor init")

        if not isinstance(gpg, gopigo3.GoPiGo3):
            raise TypeError("Use a GoPiGo3 object for the gpg parameter.")
        self.gpg = gpg
        debug(pinmode)
        self.set_port(port)
        self.set_pin_mode(pinmode)
        self.use_mutex = use_mutex

        self.reconfig_bus()

    def reconfig_bus(self):
        """