ftprci

FTPRCI

Fast Time Python Robot Controller Interface

Description

This library is a collection of classes and functions to help with the development of robot controllers in Python. It is designed to be fast and easy to use, with a focus on real-time control. Works on CPython and MicroPython. But the support for MicroPython is currently broken, because of the numpy dependancy.

Installation

To install the library, simply run:

```sh
pip install ftprci
```

Usage

The library is divided into several modules, each with a specific purpose:

• interface: Contains the Interface class, which is an abstract base class for all interfaces.
• actuators: Contains the Actuator class, which is an abstract base class for all actuators.
• estimator: Contains the Estimator class, which is an abstract base class for all estimators.
• controller: Contains the Controller class, which is an abstract base class for all controllers.
• sensor: Contains the Sensor class, which is an abstract base class for all sensors.
• logger: Contains the Logger class, which is used for logging.
• main: Contains the RunnerThread class, which is used to run the controller with precise timings.

Here is an example of how to use the library:

```python
import ftprci as fci

th = fci.RunnerThread()

sensor = fci.LSM6()
estimator = fci.KalmanFilter()
controller = fci.PIDController(1, 10, 0.1)
actuator = fci.DCMotor()

th.callback | sensor.read | estimator.estimate | controller.steer | actuator.command
th.run()
```

Contributing

Do not hesitate to contribute to the project if you create a new sensor, estimator, or anything! You can open a pull request or an issue on the GitHub repository.