9.3 Python API
The following tables describes the Python classes and their methods.
| from controller import Accelerometer |
| class Accelerometer (Device) : |
| def enable(self, ms) |
| def disable(self) |
| def getSamplingPeriod(self) |
| def getValues(self) |
| from controller import Camera |
| class Camera (Device) : |
| COLOR, RANGE_FINDER, BOTH |
| def enable(self, ms) |
| def disable(self) |
| def getSamplingPeriod(self) |
| def getFov(self) |
| def setFov(self, fov) |
| def getWidth(self) |
| def getHeight(self) |
| def getNear(self) |
| def getMaxRange(self) |
| def getType(self) |
| def getImage(self) |
| def getImageArray(self) |
| def imageGetRed(image, width, x, y) |
| imageGetRed = staticmethod(imageGetRed) |
| def imageGetGreen(image, width, x, y) |
| imageGetGreen = staticmethod(imageGetGreen) |
| def imageGetBlue(image, width, x, y) |
| imageGetBlue = staticmethod(imageGetBlue) |
| def imageGetGrey(image, width, x, y) |
| imageGetGrey = staticmethod(imageGetGrey) |
| def getRangeImage(self) |
| def getRangeImageArray(self) |
| def rangeImageGetDepth(image, width, x, y) |
| rangeImageGetDepth = staticmethod(rangeImageGetDepth) |
| def saveImage(self, filename, quality) |
| from controller import Compass |
| class Compass (Device) : |
| def enable(self, ms) |
| def disable(self) |
| def getSamplingPeriod(self) |
| def getValues(self) |
| from controller import Connector |
| class Connector (Device) : |
| def enablePresence(self, ms) |
| def disablePresence(self) |
| def getPresence(self) |
| def lock(self) |
| def unlock(self) |
| from controller import Device |
| class Device : |
| def getName(self) |
| def getType(self) |
| from controller import DifferentialWheels |
| class DifferentialWheels (Robot) : |
| def __init__(self) |
| def __del__(self) |
| def setSpeed(self, left, right) |
| def enableEncoders(self, ms) |
| def disableEncoders(self) |
| def getEncodersSamplingPeriod(self) |
| def getLeftEncoder(self) |
| def getRightEncoder(self) |
| def setEncoders(self, left, right) |
| from controller import Display |
| class Display (Device) : |
| RGB, RGBA, ARGB, BGRA |
| def getWidth(self) |
| def getHeight(self) |
| def setColor(self, color) |
| def setAlpha(self, alpha) |
| def setOpacity(self, opacity) |
| def drawPixel(self, x1, y1) |
| def drawLine(self, x1, y1, x2, y2) |
| def drawRectangle(self, x, y, width, height) |
| def drawOval(self, cx, cy, a, b) |
| def drawPolygon(self, x, y) |
| def drawText(self, txt, x, y) |
| def fillRectangle(self, x, y, width, height) |
| def fillOval(self, cx, cy, a, b) |
| def fillPolygon(self, x, y) |
| def imageCopy(self, x, y, width, height) |
| def imagePaste(self, ir, x, y) |
| def imageLoad(self, filename) |
| def imageNew(self, data, format) |
| def imageSave(self, ir, filename) |
| def imageDelete(self, ir) |
| from controller import DistanceSensor |
| class DistanceSensor (Device) : |
| def enable(self, ms) |
| def disable(self) |
| def getSamplingPeriod(self) |
| def getValue(self) |
| from controller import Emitter |
| class Emitter (Device) : |
| CHANNEL_BROADCAST |
| def send(self, data) |
| def getChannel(self) |
| def setChannel(self, channel) |
| def getRange(self) |
| def setRange(self, range) |
| def getBufferSize(self) |
| from controller import Field |
| class Field : |
| SF_BOOL, SF_INT32, SF_FLOAT, SF_VEC2F, SF_VEC3F, |
| SF_ROTATION, SF_COLOR, SF_STRING, SF_NODE, MF, |
| MF_INT32, MF_FLOAT, MF_VEC2F, MF_VEC3F, MF_COLOR, |
| MF_STRING, MF_NODE |
| def getType(self) |
| def getTypeName(self) |
| def getCount(self) |
| def getSFBool(self) |
| def getSFInt32(self) |
| def getSFFloat(self) |
| def getSFVec2f(self) |
| def getSFVec3f(self) |
| def getSFRotation(self) |
| def getSFColor(self) |
| def getSFString(self) |
| def getSFNode(self) |
| def getMFInt32(self, index) |
| def getMFFloat(self, index) |
| def getMFVec2f(self, index) |
| def getMFVec3f(self, index) |
| def getMFColor(self, index) |
| def getMFString(self, index) |
| def getMFNode(self, index) |
| def setSFBool(self, value) |
| def setSFInt32(self, value) |
| def setSFFloat(self, value) |
| def setSFVec2f(self, values) |
| def setSFVec3f(self, values) |
| def setSFRotation(self, values) |
| def setSFColor(self, values) |
| def setSFString(self, value) |
| def setMFInt32(self, index, value) |
| def setMFFloat(self, index, value) |
| def setMFVec2f(self, index, values) |
| def setMFVec3f(self, index, values) |
| def setMFColor(self, index, values) |
| def setMFString(self, index, value) |
| def importMFNode(self, position, filename) |
| from controller import GPS |
| class GPS (Device) : |
| def enable(self, ms) |
| def disable(self) |
| def getSamplingPeriod(self) |
| def getValues(self) |
| from controller import Gyro |
| class Gyro (Device) : |
| def enable(self, ms) |
| def disable(self) |
| def getSamplingPeriod(self) |
| def getValues(self) |
| from controller import ImageRef |
| class ImageRef : |
| from controller import InertialUnit |
| class InertialUnit (Device) : |
| def enable(self, ms) |
| def disable(self) |
| def getSamplingPeriod(self) |
| def getRollPitchYaw(self) |
| from controller import LED |
| class LED (Device) : |
| def set(self, state) |
| from controller import LightSensor |
| class LightSensor (Device) : |
| def enable(self, ms) |
| def disable(self) |
| def getSamplingPeriod(self) |
| def getValue(self) |
| from controller import Motion |
| class Motion : |
| def __init__(self, fileName) |
| def __del__(self) |
| def isValid(self) |
| def play(self) |
| def stop(self) |
| def setLoop(self, loop) |
| def setReverse(self, reverse) |
| def isOver(self) |
| def getDuration(self) |
| def getTime(self) |
| def setTime(self, time) |
| from controller import Node |
| class Node : |
| NO_NODE, APPEARANCE, BACKGROUND, BOX, COLOR, CONE, |
| COORDINATE, CYLINDER, DIRECTIONAL_LIGHT, ELEVATION_GRID, |
| EXTRUSION, FOG, GROUP, IMAGE_TEXTURE, INDEXED_FACE_SET, |
| INDEXED_LINE_SET, MATERIAL, POINT_LIGHT, SHAPE, SPHERE, |
| SPOT_LIGHT, SWITCH, TEXTURE_COORDINATE, TEXTURE_TRANSFORM, |
| TRANSFORM, VIEWPOINT, WORLD_INFO, CAPSULE, PLANE, ROBOT, |
| SUPERVISOR, DIFFERENTIAL_WHEELS, SOLID, PHYSICS, CAMERA_ZOOM, |
| CHARGER, DAMPING, CONTACT_PROPERTIES, ACCELEROMETER, |
| CAMERA, COMPASS, CONNECTOR, DISPLAY, DISTANCE_SENSOR, |
| EMITTER, GPS, GYRO, LED, LIGHT_SENSOR, MICROPHONE, PEN, RADIO, |
| RECEIVER, SERVO, SPEAKER, TOUCH_SENSOR |
| def getType(self) |
| def getTypeName(self) |
| def getField(self, fieldName) |
| def getPosition(self) |
| def getOrientation(self) |
| from controller import Pen |
| class Pen (Device) : |
| def write(self, write) |
| def setInkColor(self, color, density) |
| from controller import Receiver |
| class Receiver (Device) : |
| CHANNEL_BROADCAST |
| def enable(self, ms) |
| def disable(self) |
| def getSamplingPeriod(self) |
| def getQueueLength(self) |
| def nextPacket(self) |
| def getData(self) |
| def getDataSize(self) |
| def getSignalStrength(self) |
| def getEmitterDirection(self) |
| def setChannel(self, channel) |
| def getChannel(self) |
| from controller import Robot |
| class Robot : |
| MODE_SIMULATION, MODE_CROSS_COMPILATION, |
| MODE_REMOTE_CONTROL |
| KEYBOARD_END, KEYBOARD_HOME, KEYBOARD_LEFT, KEYBOARD_UP, |
| KEYBOARD_RIGHT, KEYBOARD_DOWN, KEYBOARD_PAGEUP, |
| KEYBOARD_PAGEDOWN, KEYBOARD_NUMPAD_HOME, |
| KEYBOARD_NUMPAD_LEFT, KEYBOARD_NUMPAD_UP, |
| KEYBOARD_NUMPAD_RIGHT, KEYBOARD_NUMPAD_DOWN, |
| KEYBOARD_NUMPAD_END, KEYBOARD_KEY, KEYBOARD_SHIFT, |
| KEYBOARD_CONTROL, KEYBOARD_ALT |
| def __init__(self) |
| def __del__(self) |
| def step(self, ms) |
| def getAccelerometer(self, name) |
| def getCamera(self, name) |
| def getCompass(self, name) |
| def getConnector(self, name) |
| def getDisplay(self, name) |
| def getDistanceSensor(self, name) |
| def getEmitter(self, name) |
| def getGPS(self, name) |
| def getGyro(self, name) |
| def getInertialUnit(self, name) |
| def getLED(self, name) |
| def getLightSensor(self, name) |
| def getPen(self, name) |
| def getReceiver(self, name) |
| def getServo(self, name) |
| def getTouchSensor(self, name) |
| def batterySensorEnable(self, ms) |
| def batterySensorDisable(self) |
| def getBatterySensorSamplingPeriod(self) |
| def batterySensorGetValue(self) |
| def getBasicTimeStep(self) |
| def getMode(self) |
| def getModel(self) |
| def getName(self) |
| def getProjectPath(self) |
| def getSynchronization(self) |
| def getTime(self) |
| def keyboardEnable(self, ms) |
| def keyboardDisable(self) |
| def keyboardGetKey(self) |
| from controller import Servo |
| class Servo (Device) : |
| def setPosition(self, position) |
| def setVelocity(self, vel) |
| def setAcceleration(self, force) |
| def setMotorForce(self, motor_force) |
| def setControlP(self, p) |
| def enablePosition(self, ms) |
| def disablePosition(self) |
| def getPositionSamplingPeriod(self) |
| def getPosition(self) |
| def enableMotorForceFeedback(self, ms) |
| def disableMotorForceFeedback(self) |
| def getMotorForceFeedbackSamplingPeriod(self) |
| def getMotorForceFeedback(self) |
| def setForce(self, force) |
| from controller import Supervisor |
| class Supervisor (Robot) : |
| def __init__(self) |
| def __del__(self) |
| def exportImage(self, file, quality) |
| def getRoot(self) |
| def getFromDef(self, name) |
| def setLabel(self, id, label, xpos, ypos, size, color, transparency) |
| def simulationQuit(self, status) |
| def simulationRevert(self) |
| def simulationPhysicsReset(self) |
| def startMovie(self, file, width, height, type, quality) |
| def stopMovie(self) |
| from controller import TouchSensor |
| class TouchSensor (Device) : |
| def enable(self, ms) |
| def disable(self) |
| def getSamplingPeriod(self) |
| def getValue(self) |
| def getValues(self) |