whillpy

Unofficial python package for WHILL Model CK control

Dependencies

1. Python 2 or 3
2. pyserial
   • It can easily be installed using pip i.e., pip install pyserial (it will be installed automatically)

Installation Steps

There are many ways to install whillpy. Please choose an option from below-

1. Install using pip
   • pip install whillpy
2. Install using conda
   • conda install -c ravijoshi whillpy
3. Install from source
   1. Clone or download the repository
   2. Use the following command python setup.py install
      • Alternatively the package can be installed to a user directory using the following command

python setup.py install --user

Connection Diagram

In order to control WHILL Model CK, we propose to use Raspberry Pi 3 module. This module can easily be powered up by the provided USB socket in WHILL. Below are the connection diagrams -

Power

Connections

Usage

Below is an example-

import whillpy

# initialize Whill by providing the name of the serial port
whill = whillpy.connect(port='/dev/ttyUSB0')

# control the power
whill.set_power(whillpy.power.on)

# move straight while turning left
whill.move(straight=10, turn=-50)

Examples can be found in examples directory of this package.

Issues

Please check here and create issues.

Errors

While executing whillpy, if the following error is encountered:

[ERROR] could not open port /dev/ttyUSB0: [Errno 13] Permission denied: '/dev/ttyUSB0'

Please execute the following:

sudo chmod 666 /dev/ttyUSB0

Author

Ravi Prakash Joshi