XRPLib.defaults

In addition to you being able to construct any of the classes in XRPLib by themselves, you are also able to import all of the default objects needed for normal robot operations, using just one line.

By running from XRPLib.defaults import *, you import all of the pre-constructed objects, as specified and named below:

../XRPLib/defaults.py

from .board import Board
from .differential_drive import DifferentialDrive
from .motor import Motor
from .encoder import Encoder
from .encoded_motor import EncodedMotor
from .rangefinder import Rangefinder
from .imu import IMU
from .reflectance import Reflectance
from .servo import Servo
from .webserver import Webserver

"""
A simple file that constructs all of the default objects for the XRP robot
Run "from XRPLib.defaults import *" to use
"""

left_motor = EncodedMotor.get_default_encoded_motor(index=1)
right_motor = EncodedMotor.get_default_encoded_motor(index=2)
imu = IMU.get_default_imu()
drivetrain = DifferentialDrive.get_default_differential_drive()
rangefinder = Rangefinder.get_default_rangefinder()
reflectance = Reflectance.get_default_reflectance()
servo_one = Servo.get_default_servo(index=1)
servo_two = Servo.get_default_servo(index=2)
webserver = Webserver.get_default_webserver()
board = Board.get_default_board()

We use this import in most of the curriculum and example programs, which is why you will often see the DifferentialDrive class refered to as just “drivetrain”.

Here’s an example of that from drive_examples.py:

>>> from XRPLib.defaults import *
>>> # Follow the perimeter of a square with variable sidelength
>>> def square(sidelength):
>>> for sides in range(4):
>>>        drivetrain.straight(sidelength, 80)
>>>        drivetrain.turn(90)``