Arduino

Programming
in Python
Sergio Paniego Blanco
 Artificial Intelligence MSc - UPM
Who am I?
Informatic Engineering and Software
Enginnering - URJC

Student Developer GSoC - JdeRobot

sergiopaniego sergiopaniego sergiopaniego

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Summary
Google Summer of Code

Problematic

State of the art

PyOnArduino

Demo

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 Google Global program
Timeline
Summer of § February - Organizations announced
Bring students into open source § March - Student applications
Code development § April – Student Projects announced

Remote work + meetings § April & May – Community Boarding

§ May to August – Coding
JdeRobot – 6 students § June, July & August - Evaluations

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Problematic Arduino programming language complexity

Need of easy to use tools for newbies

Code Arduino boards using Python

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State of the
art
Current solution for the Possible approaches
problematic § Pyxie
Continuous communication between § Cython
the robot and the PC. § LLVM

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PyOnArduino
JdeRobot Robot Programming tool
People:
José María Cañas
Gorka Guardiola Translate Python-like code to Arduino code
Luis Roberto Morales
Sergio Paniego Blanco
Translate, compile and upload the code directly

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Supported MBOT COMPLUBOT

robots

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PyOnArduino’s
structure
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Translator Abstract Syntax Tree

Each node – Statement in the code

Information for analyzing the code

Inessential puntuation and delimiters

Python library

NodeTransformer and NodeVisitor

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Abstract Syntax Tree
Greatest Common Divisor

while b ≠ 0
if a > b
a := a − b
else
b := b − a
return a

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Translator Abstract Syntax Tree

Each node – Statement in the code

Information for analyzing the code

Python library

NodeTransformer and NodeVisitor

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NodeVisitor & NodeTransformer
import ast

class MyVisitor(ast.NodeVisitor):
def visit_Str(self, node):
print('String Node: "' + node.s + '"')

class MyTransformer(ast.NodeTransformer):
def visit_Str(self, node):
return ast.Str('str: ' + node.s)

parsed = ast.parse("print('Hello World’)”)

MyTransformer().visit(parsed)
MyVisitor().visit(parsed)

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HALduino
Hadware Abstraction Layer

halduino.py

Specific halduino for each robot

Get rid of Arduino’s complexity

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 Python

setSpeedEngines(leftSpeed: int, rightSpeed: int)

HALduino
example

Arduino

MeDCMotor leftMotor(9);
MeDCMotor rightMotor(10);
void setSpeedEngines(int speedLeft, int speedRight) {
leftMotor.run(speedLeft);
rightMotor.run(speedRight);
}

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 Complubot

Sensors Sensor/Actuator Supported functions

and DC Engines setSpeedEngines (left,right)

actuators Ultrasonic sensors getUS()

supported Infrared sensors getIR[1,2,3,4,5]()

Beep emitter playBeep(type)

Sound emitter playMelody(melody)

Screen write setScreenText(text), cleanScreen()

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 mBot

Sensor/Actuator Supported functions

Sensors
DC Engines setSpeedEngines (speed)
and
Ultrasonic sensors getUS()
actuators
LEDs setLeds(ledNumber, red, green, blue)
supported
Infrared sensors getMessage(), sendMessage(message)

Light sensor getLightSensor()

Button isButtonPressed(), isButtonReleased()

Buzzer playBuzzer(tone, length)

External screen drawString(name), showClock(hour, min)

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 Feature Limitations/Comments

Variable declaration SUPPORTED

Function declaration With/without return statement

Python
Operators +-/*^%
features
Comparators < <= >= == !=
supported
Logic operators And or is not

pass SUPPORTED

loops While, for(limited)

Sleep() SUPPORTED

if If/elif/else

Boolean operations and or

print SUPPORTED
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 import HALduino.halduino as halduino
Stop and go
code example def set_engine(direction: int):
if direction == 0:

Mbot
halduino.setSpeedEngines(0, 0)
print('STOP!')
elif direction == 1:
halduino.setSpeedEngines(100, 100)
print('Forward')

def loop():
if halduino.getUS() < 10:
set_engine(0)
else:
set_engine(1)

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Stop and go
import HALduino.halduino as halduino

code def set_engine(direction: int):

if direction == 0:
example halduino.setSpeedEngines(0, 0)
print('STOP!')
Complubot elif direction == 1:
halduino.setSpeedEngines(100, 100)
print('Forward')

def loop():
if halduino.getUS() < 30:
set_engine(0)
else:
set_engine(1)

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 Managing
Versatility
robot’s
architecture Configure robot’s ports

# Example of an mBot setup

leftMotor = 9
rightMotor = 10
ultrasonicSensor = 3
rgbled = 7
lightSensor = 6
ledMtx = 3
lineFollower = 2

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 Executing
PyOnArduino Python 3.x
Arduino IDE
Arduino Makefile

python3 translator/Translator.py [input-file] [robot]

python3 translator/Translator.py [input-file] [robot] [architecture-file]

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Make &
Arduino Build automation

Makefile Directives used by make

make upload

# mBot Makefile

ARDUINO_LIBS= Makeblock-Libraries-master Wire SPI

MONITOR_PORT= /dev/cu.wchusbserial1420
BOARD_TAG = uno
ARDUINO_DIR = /Applications/Arduino.app/Contents/Java
include /usr/local/opt/arduino-mk/Arduino.mk

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 Problems
during Dynamic typing in Python vs Arduino

development Architectural Stop

Variables’ type in function declaration

Lost parentheses

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DEMO TIME!
Lets see how PyOnArduino tool works!

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Thanks!
Any questions?
You can find me at
@sergiopaniego

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