Class Robot

Known Subclasses:

AiboRobot, KheperaRobot, PlayerRobot, RobocupRobot, TCPRobot

The object with which to interact with motors and sensors.

The base robot class. This class is the basis of all robots.

Primary attributes:
    .x                   robot's computed global position
    .y                   robot's computed global position
    .thr                 theta, in radians
    .stall               true, if the robot is bumping into something
    .brain               a reference to the brain, if loaded
    .timestamp           time of last update
    .builtinDevices      list of built-in devices
    .supportedFeatures   features that this robot requires
    .devices             devices that are currently loaded

Units of measure for range sensors:
    'ROBOTS' - in terms of the robot's diameter
    'METERS' - meters
    'CM'     - centimeters
    'MM'     - millimeters
    'SCALED' - scaled [-1,1]
    'RAW'    - right from the sensor

Robot object holds the devices and moves the actual robot.

The main robot object. Access the devices here, plus all of
the robot-specific fields (such as x, y, and th). Use
robot.move(translate, rotate) to move the robot. If you need
to initialize things, put them in setup().

Connects the robot object to the server or simulator.

This method removes all of the devices. Called by the system.

Disconnects the robot object from the server or simulator.

Returns the first device of a type.

Returns the list of device types that have ben loaded.

Returns the list of builtin device types.

Returns 1 if robot has a device of type dtype, else 0.

Set the x,y,thr pose of where the robot thinks it is.

Move function that takes desired motor values
and converts to trans and rotate.

Moves the robot by sending an amount of power.

translate - value between -1 and 1; -1 is reverse
rotate    - value between -1 and 1; -1 is to the right

A printable representation of the robot's attribute tree.

Removes a device (or all of them) of a particular type.

>>> robot.removedDevice("sonar")
Removes all of of the sonar devices.
>>> robot.removedDevice("sonar", 0)
Removes the first sonar device.

Takes a list/feature name and raises and exception if not supported.

>>> robot.requires(["continuous-movement", "odometry", "range-sensor"])
1 or raises ImportError exception

Moves the robot to the left or right.

val - value between -1 and 1; -1 is to the right.

Change the default range sensor. By default the range sensor
is set to be sonar, if a robot has it, or laser, if it has it,
or IR if a robot has it. Otherwise, it is not set.

Takes the name of a range sensor, and an optional index identifier.
An index of 0 is used if not given.

Examples:

>>> robot.setRangeSensor("sonar")
Ok
>>> robot.setRangeSensor("laser", 1)
Ok

returns "Ok" on success, otherwise raises an exception.

Is called from __init__ so users don't have to call parent
constructor and all the gory details.

Loads and starts a device.

item - can be a builtin or a filename. Filenames should start
       with an uppercase letter.

Returns a pointer to the device object.

>>> robot.startDevice("camera")
<Object>
>>> robot.startDevice("FilenameDevice")
<Object>

Calls back to a subclass to start a device from there.

Load devices can take a dict, list, builtin name, or filename

Short for robot.move(0,0). Stop the robot's movement.

Stop a device from updating.

See if this robot interface supports a particular feature.

Some robot interfaces/simulators don't support continuous-movement,
for example.

Moves the robot forward or backwards.

val - value between -1 and 1; -1 is reverse

Updates the robot.

Updates all of the robot's devices.