drivers package

Hardware driver package for the Romi robot platform.

Provides device-level abstractions for each hardware peripheral on the Romi, all targeting MicroPython on the STM32 microcontroller.

Drivers included:

• encoder: Quadrature encoder reader for wheel odometry and velocity feedback

• imu: BNO055 IMU driver (accelerometer, gyroscope, magnetometer, heading)

• motor: PWM motor driver with direction and enable control

• reflectance: IR reflectance sensor array for line detection and centroid calculation

• ultrasonic: HC-SR04 ultrasonic distance sensor for obstacle detection

Submodules

• drivers.encoder module
  • Encoder
    • Encoder.get_position()
    • Encoder.get_velocity()
    • Encoder.update()
    • Encoder.zero()
• drivers.imu module
  • BNO055
    • BNO055.acceleration()
    • BNO055.acceleration_raw()
    • BNO055.calibration_status()
    • BNO055.clear_calibration_offsets()
    • BNO055.clear_tare()
    • BNO055.euler()
    • BNO055.euler_raw()
    • BNO055.get_calibration_offsets()
    • BNO055.get_euler_tare()
    • BNO055.get_tare()
    • BNO055.gravity()
    • BNO055.gyro()
    • BNO055.gyro_raw()
    • BNO055.initialize()
    • BNO055.linear_acceleration()
    • BNO055.magnetic()
    • BNO055.quaternion()
    • BNO055.reset()
    • BNO055.set_calibration_offsets()
    • BNO055.set_euler_tare()
    • BNO055.set_mode()
    • BNO055.set_tare()
    • BNO055.tare_accel_gyro()
    • BNO055.tare_euler()
    • BNO055.temperature()
  • cooperative_delay_ms()
• drivers.motor module
  • Motor
    • Motor.disable()
    • Motor.enable()
    • Motor.set_effort()
• drivers.reflectance module
  • Reflectance_Sensor
    • Reflectance_Sensor.calibrate()
    • Reflectance_Sensor.get_centroid()
    • Reflectance_Sensor.get_values()
    • Reflectance_Sensor.load_calibration_from_file()
• drivers.ultrasonic module
  • UltrasonicSensor
    • UltrasonicSensor.disable_filter()
    • UltrasonicSensor.enable_filter()
    • UltrasonicSensor.get_distance()
    • UltrasonicSensor.loop()
    • UltrasonicSensor.set_detection_threshold()