nanmu42 / robomasterpy

DJI RoboMaster Python SDK and programing framework | 大疆机甲大师的Python SDK和编程框架

RoboMasterPy

English | 中文

RoboMasterPy is a RoboMaster Python SDK and framework:

• Python SDK: inspect and control your Robomaster, remotely;
• framework: development framework providing and regularising control flow and data flow, resolving common needs like pulling and parsing on video stream, events and pushes, decoupling boilerplate codes like controlling loop, logging, graceful shutdown. You may rely on the framework, implement your business logic with ease of mind and less manual labor.

The SDK(client) is straightforward to use:

>>> import robomasterpy as rm

# IP of RoboMaster is detected under router mode
>>> cmd = rm.Commander()

# check RoboMaster's API version
>>> cmd.version()
'version 00.00.00.60'

>>> cmd.get_robot_mode()
'chassis_lead'

# ensure your Robomaster has enough room to move
>>> cmd.chassis_move(x=-1, z=30)
'ok'

# activate video streaming,
# which can be handled by the framework.
>>> cmd.stream(rm.SWITCH_ON)
'ok'

# activate gimbal attitude push at 5Hz,
# which can be handled by the framework.
>>> cmd.gimbal_push_on(attitude_freq=5)
'ok'

# Watch out!
>>> cmd.blaster_fire()
'ok'

The framework lets you create complicated application easier, e.g.:

• Drive your robomaster using keyboard;
• Make your robomaster a goalkeeper;
• More examples

Installation

RoboMasterPy requires Python 3.6 and above.

Install Dependencies First

If you are using Python 3.6.x, you need to install dataclasses, which is already included in Python 3.7 and better:

pip install dataclasses

Install OpenCV of your flavor, suggestion::

# if you are using conda
conda install -c conda-forge opencv

# if you are using pip only
pip install opencv-contrib-python

Install RoboMasterPy

pip install robomasterpy

User Guide

• English: https://robomasterpy.nanmu.me/en/latest/
• 中文文档（Chinese）：https://robomasterpy.nanmu.me/zh_CN/latest/

Documentation is generously hosted by Read the Docs.

Health and Safety Notice

• Your Robomaster may hurt people or pet, break stuffs or itself;
• Make sure your RoboMaster has enough room to move; make sure the ground is clear;
• Start slowly, avoid using high speed for debugging;
• Use cushion;
• Stay safe and have fun!

Paperwork

RoboMasterPy is a fan work, and it has no concern with DJI.

DJI, RoboMaster are trademarks of SZ DJI Technology Co., Ltd.

Acknowledgement

RoboMasterPy was incubated during a RoboMaster EP developing contest. The author would like to thank DJI for hardware and technical support.

License

MIT License

Copyright (c) 2020 LI Zhennan

robomasterpy's Issues

希望增加对机械臂的支持 / add support for robotic arm

官方的 SDK 不支持 ARM，没办法在 Jetson Nano 上跑，看了你的框架感觉非常不错，希望可以增加对机械臂/爪的支持 : )

是否支持最新版本的机甲大师固件？

大概在 2022 年三月初，我的 RoboMaster EP 使用手机控制时，收到了一个固件更新，于是我更新了。
稍后我发现我之前写的代码都失效了（写了一些块方便我的学生去控制 RoboMaster 的底盘、云台运动）。
我大概是 2021 年初写的代码，那些代码一直可以正常使用，也没有修改过，直到那次固件更新后的几日。
之后我更换了不同的计算机，WiFi 环境去测试，结果都一样（我没有更新固件的 RobotMaster EP，可以正常使用，那一台更新过的无法正常使用）。

系统依赖

请问大佬，robomasterpy在windows系统下可以运行吗

Asset Holder

Does not work with Robomaster S1

got

ConnectionRefusedError: [Errno 61] Connection refused

与官方robomaster的区别

请问大佬写的robomasterpy和官方提供的robomaster包有什么区别呢

Sigwait is only supported on UNIX

https://github.com/nanmu42/robomasterpy/blob/master/robomasterpy/framework.py, Line 318
signal.sigwait((signal.SIGINT, signal.SIGTERM))

As per docs (https://docs.python.org/3/library/signal.html), sigwait is supported on Unix systems only. Therefor the library does not work on windows.

关于S1中opencv安装的询问

请问一开始的pip安装opencv要在哪里输入，终端吗？如果是，该如何打开终端呢？

请问下这个界面是怎么打开吗？
万分感谢

关于socket通信问题

通过commander自动获取IP地址会time out
使用固定IP地址进行连接会出现计算机积极拒绝，连接失败
附图


IP地址没有错，ping得通，telnet常用端口不通。