IOKit Device Driver Design Guidelines describes the general steps required to design, code, debug, and build a device driver that will be resident in the kernel. Accessing Hardware From Applications discusses how to use the I/O Kit’s “device interface” feature; it also includes information on serial and storage I/O via BSD device files.
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Latest versionReleased:
v2.x Python language bindings for ev3dev
Project description
A Python3 library implementing an interface for ev3dev devices,letting you control motors, sensors, hardware buttons, LCDdisplays and more from Python code.
If you haven’t written code in Python before, you can certainly use thislibrary to help you learn the language!
Getting Started
This library runs on ev3dev. Before continuing, make sure that you have set upyour EV3 or other ev3dev device as explained in theev3dev Getting Started guide. Make sure you have an ev3dev-stretch versiongreater than 2.2.0. You can check the kernel version by selecting“About” in Brickman and scrolling down to the “kernel version”.If you don’t have a compatible version,upgrade the kernel before continuing.
Usage
To start out, you’ll need a way to work with Python. We recommend theev3dev Visual Studio Code extension. If you’re interested in using that,check out our Python + VSCode introduction tutorial and then come backonce you have that set up.
Otherwise, you can can work with files via an SSH connection with an editorsuch as nano, use the Python interactive REPL (type python3), or rollyour own solution. If you don’t know how to do that, you are probablybetter off choosing the recommended option above.
The template for a Python script
Every Python program should have a few basic parts. Use this templateto get started:
The first line should be included in every Python program you writefor ev3dev. It allows you to run this program from Brickman, the graphicalmenu that you see on the device screen. The other lines are import statementswhich give you access to the library functionality. You will need to addadditional classes to the import list if you want to use other types of devicesor additional utilities.
You should use the .py extension for your file, e.g. my-file.py.
If you encounter an error such as/usr/bin/env: 'python3r': No such file or directory,you must switch your editor’s “line endings” setting for the file from“CRLF” to just “LF”. This is usually in the status bar at the bottom.For help, see our FAQ page.
Important: Make your script executable (non-Visual Studio Code only)
To be able to run your Python file, your program must be executable. Ifyou are using the ev3dev Visual Studio Code extension, you can skip thisstep, as it will be automatically performed when you download your code to thebrick.
To mark a program as executable from the command line (often an SSH session),runchmod +x my-file.py.
You can now run my-file.py via the Brickman File Browser or you can run itfrom the command line by preceding the file name with ./: ./my-file.py
Controlling the LEDs with a touch sensor
This code will turn the LEDs red whenever the touch sensor is pressed, andback to green when it’s released. Plug a touch sensor into any sensor portbefore trying this out.
If you’d like to use a sensor on a specific port, specify the port like this:
Heads-up: If you are using a BrickPi instead of an EV3, you will need to manually configure the sensor. See the example here: https://github.com/ev3dev/ev3dev-lang-python-demo/blob/stretch/platform/brickpi3-motor-and-sensor.py
Running a single motor
This will run a LEGO Large Motor at 75% of maximum speed for 5 rotations.
You can also run a motor for a number of degrees, an amount of time, or simplystart it and let it run until you tell it to stop. Additionally, other unitsare also available. See the following pages for more information:
Driving with two motors
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The simplest drive control style is with the MoveTank class:
There are also MoveSteering and MoveJoystick classes which providedifferent styles of control. See the following pages for more information:
Using text-to-speech
If you want to make your robot speak, you can use the Sound.speak method:
More Demo Code
There are several demo programs that you can run to get acquainted withthis language binding. The programs are availableat this GitHub site.
You can also copy and run the programs in the utils directory tounderstand some of the code constructs to use the EV3 motors, sensors,LCD console, buttons, sound, and LEDs.
We also highly recommend ev3python.com where one of our communitymembers, @ndward, has put together a great website with detailed guideson using this library which are targeted at beginners. If you are justgetting started with programming, we highly recommend that you checkit out at ev3python.com!
Using Micropython
Normal Python too slow? Review Micropython to see if it supports thefeatures your project needs.
Library Documentation
Class documentation for this library can be found onour Read the Docs page. You can always go there to getinformation on how you can use this library’s functionality.
Frequently-Asked Questions
Experiencing an odd error or unsure of how to do something that seemssimple? Check our our FAQ to see if there’s an existing answer.
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| Filename, size | File type | Python version | Upload date | Hashes |
|---|---|---|---|---|
| Filename, size python-ev3dev2-2.1.0.post1.tar.gz (77.8 kB) | File type Source | Python version None | Upload date | Hashes |
Download Lego Input Devices Driver Windows 10
CloseHashes for python-ev3dev2-2.1.0.post1.tar.gz
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|---|---|
| SHA256 | 0cfd69b0e8b6ae2ac8f300d7faea602032d961cc526417554d7da35cd9730949 |
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This document explains the terminology, concepts, architecture, and basic mechanisms of the I/O Kit, Apple’s object-oriented framework for developing device drivers for OS X. It contains essential background information for anyone wanting to create device drivers for this platform.
Who Should Read This Document?
There are two general types of I/O Kit developers, and this document tries to be useful to both. The first type is the developer creating a device driver that is to be resident in the kernel; the second type is the application developer who is using an I/O Kit device interface to communicate with hardware. Some chapters contain information useful to both types of developers, and others contain information that is of interest only to writers of kernel-resident drivers.
Obviously there are things I/O Kit Fundamentals does not cover. It does not, for example, describe the use of the development tools or the use of specific driver programming interfaces. But it does help you to understand the hows and whys of the I/O Kit, enabling you to obtain the most value from the more specific documentation and examples.
Organization of This Document
I/O Kit Fundamentals gives a broad, conceptual description of the I/O Kit and device-driver development on OS X. It contains the following chapters:
Describes the features and benefits of the I/O Kit, and also discusses the philosophy and decisions informing its design.
Gives a high-level description of the I/O Kit’s architecture, essential concepts, and basic mechanisms.
Describes the I/O Registry, a dynamic database capturing the client/provider relationships among active driver objects.
Explains the matching process by which the most appropriate client drivers are found for registered providers. It also summarizes the procedure processes in user space follow to find suitable devices and their drivers.
Describes the base classes that each driver object directly or indirectly inherits from. It includes discussions of object construction and disposal, driver objects as I/O Registry entries, and the driver life cycle.
Explains the architecture and usage of work loops and event sources, mechanisms that the I/O Kit uses to process events such as interrupts and I/O requests in a protected single-threaded environment.
Describes how to use memory cursors, memory descriptors, and related objects to handle I/O transfers. It also discusses how drivers should deal with hardware constraints, such as those imposed by DMA engines.
Explains the concepts of OS X power management and describes different ways drivers can power-manage their devices.
Explains how to respond to device removal (hot-swapping).
Displays a class hierarchy chart for each family and provides family-specific information that might differ from generic I/O Kit information.
Provides a class hierarchy chart for all I/O Kit classes that are not members of a specific family.
Lists changes to this document.
Lists additional sources for information on OS X and related topics.
Defines key terms used in this document.
See Also
Once you’ve absorbed the information in I/O Kit Fundamentals, you should be able to forge ahead and actually create a device driver. Apple provides several documents and other sources of information to help you with your efforts:
IOKit Device Driver Design Guidelines describes the general steps required to design, code, debug, and build a device driver that will be resident in the kernel.
Accessing Hardware From Applications discusses how to use the I/O Kit’s “device interface” feature; it also includes information on serial and storage I/O via BSD device files.
Kernel Extension Programming Topics contains a collection of tutorials that introduce you to the development tools and take you through the steps required to create, debug, and package kernel extensions and I/O Kit drivers (a type of kernel extension). It also includes information on other aspects of kernel extensions.
Kernel Programming Guide provides an overview of the architecture and components of the OS X kernel environment (Mach, BSD, networking, file systems, I/O Kit). All developers who intend to program in the kernel (including device-driver writers) should read this document.
Mac Technology Overview provides an introduction to OS X as a whole, which is useful for developers new to the platform.
Of course, you can always browse the header files shipped with the I/O Kit, which are installed in Kernel.framework/Headers/iokit (kernel-resident) and IOKit.framework/Headers (device interface).)
You can also view developer documentation in Xcode. To do this, select Help from the Xcode menu and then click Show Documentation Window.
You can browse the BSD man pages for more information on BSD and POSIX APIs in two ways: You can type manfunction_name in a Terminal window (for example, man gdb) or you can view an HTML version at OS X Man Pages.
Input Devices Of Computer
If you're ready to develop a universal binary version of a device driver to run in an Intel-based Macintosh, first read Universal Binary Programming Guidelines, Second Edition. Then, see IOKit Device Driver Design Guidelines for an overview of issues of particular interest to device driver developers. Related information that is specific to a particular device type is available in the documents listed at Hardware & Drivers Documentation.
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Apple maintains several websites where developers can go for general and technical information on OS X.
Apple Developer Connection Reference Library (http://developer.apple.com/referencelibrary/index.html) contains a comprehensive collection of technical resources, including documentation, sample code, and Technical Notes.
Apple Developer Connection: OS X (http://developer.apple.com/devcenter/macosx) offers SDKs, release notes, product notes and news, and other resources and information related to OS X.
The AppleCare Support site (http://www.apple.com/support) provides a search feature that enables you to locate technical articles, manuals, specifications, and discussions on OS X and other areas.
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