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JetBot

Inherits from: WheeledRobot

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JetBot

JetBot(ip, locomotion_port, camera_port)

Initialize a JetBot robot instance.

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Arguments
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ip (str)
required

IP address of the JetBot.

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locomotion_port (str), optional

defaults to “8040”. Port number for locomotion control. Defaults to “8040”.

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camera_port (str), optional

defaults to “8050”. Port number for camera access. Defaults to “8050”.

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Returns

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getPosition

JetBot.getPosition()

getPosition is not implemented for JetBot

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getOrientation

JetBot.getOrientation()

getOrientation is not implemented for JetBot

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getImage

JetBot.getImage(camera_name: Union[str, None], image_type: Union[str, None])

Return the image of camera. JetBot only has one camera so the arguments are ignored.

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Arguments
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camera_name (optional, Union[str, None])
required

unused, jetbot only has one camera

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image_type (optional, Union[str, None])
required

unused, jetbot only has rgb images

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Returns

Image

requested image and it capture parameters

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setMotors

JetBot.setMotors(left_speed: float, right_speed: float)

Sets the speed of the motors for the JetBot. These values should be [-1.0, 1.0]

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Arguments
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left_speed (float)
required

Speed of the left motor [-1, 1]

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right_speed (float)
required

Speed of the right motor [-1, 1]

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Returns

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stop

JetBot.stop()

Stops the motors of the JetBot

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setCarControls

JetBot.setCarControls(steering: float, throttle: float, brake: float)

Control the JetBot using ackermann steering. Does not adjust speed, only steering

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Arguments
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steering (float)
required

yaw [-1, 1] radians

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throttle (float), optional

None

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brake (float), optional

None

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Returns

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setCarTargetSpeed

JetBot.setCarTargetSpeed(velocity: float, scaling_factor: float)

Set the speed of the JetBot for Ackermann control. Does not adjust steering

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Arguments
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velocity (float)
required

speed [0, 1]

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scaling_factor (float), optional

Reduce the speed of the jetbot since 1.0 for jetbot is considerably faster than AirGenCar

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Returns

None

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rotate

JetBot.rotate(rate: float, duration: Union[float, None], scaling_factor: float)

Rotate the JetBot in place

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Arguments
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rate (float)
required

Throttle rate to apply during rotation. Positive rotates right, negative rotates left

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duration (optional, Union[float, None])
required

How long to rotate in seconds

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scaling_factor (float), optional

defaults to 8. Scaling factor for the rate to make it behave similar to simulation. Defaults to 8.0

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Returns

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