Modules

harp.devices.behavior

AnalogDataPayload dataclass

AnalogDataPayload(AnalogInput0: int, Encoder: int, AnalogInput1: int)

Parameters:

Name	Type	Description	Default
AnalogInput0	int		required
Encoder	int		required
AnalogInput1	int		required

Behavior

Bases: Device

Behavior class for controlling the device.

read_analog_data()

Reads the contents of the AnalogData register.

Returns:

Type	Description
AnalogDataPayload	Value read from the AnalogData register.

read_camera0_frame()

Reads the contents of the Camera0Frame register.

Returns:

Type	Description
FrameAcquired	Value read from the Camera0Frame register.

read_camera0_frequency()

Reads the contents of the Camera0Frequency register.

Returns:

Type	Description
int	Value read from the Camera0Frequency register.

read_camera1_frame()

Reads the contents of the Camera1Frame register.

Returns:

Type	Description
FrameAcquired	Value read from the Camera1Frame register.

read_camera1_frequency()

Reads the contents of the Camera1Frequency register.

Returns:

Type	Description
int	Value read from the Camera1Frequency register.

read_digital_input_state()

Reads the contents of the DigitalInputState register.

Returns:

Type	Description
DigitalInputs	Value read from the DigitalInputState register.

read_disable_servos()

Reads the contents of the DisableServos register.

Returns:

Type	Description
ServoOutputs	Value read from the DisableServos register.

read_enable_encoders()

Reads the contents of the EnableEncoders register.

Returns:

Type	Description
EncoderInputs	Value read from the EnableEncoders register.

read_enable_serial_timestamp()

Reads the contents of the EnableSerialTimestamp register.

Returns:

Type	Description
int	Value read from the EnableSerialTimestamp register.

read_enable_servos()

Reads the contents of the EnableServos register.

Returns:

Type	Description
ServoOutputs	Value read from the EnableServos register.

read_encoder_mode()

Reads the contents of the EncoderMode register.

Returns:

Type	Description
EncoderModeConfig	Value read from the EncoderMode register.

read_encoder_reset()

Reads the contents of the EncoderReset register.

Returns:

Type	Description
EncoderInputs	Value read from the EncoderReset register.

read_event_enable()

Reads the contents of the EventEnable register.

Returns:

Type	Description
Events	Value read from the EventEnable register.

read_led0_current()

Reads the contents of the Led0Current register.

Returns:

Type	Description
int	Value read from the Led0Current register.

read_led0_max_current()

Reads the contents of the Led0MaxCurrent register.

Returns:

Type	Description
int	Value read from the Led0MaxCurrent register.

read_led1_current()

Reads the contents of the Led1Current register.

Returns:

Type	Description
int	Value read from the Led1Current register.

read_led1_max_current()

Reads the contents of the Led1MaxCurrent register.

Returns:

Type	Description
int	Value read from the Led1MaxCurrent register.

read_mimic_port0_ir()

Reads the contents of the MimicPort0IR register.

Returns:

Type	Description
MimicOutput	Value read from the MimicPort0IR register.

read_mimic_port0_valve()

Reads the contents of the MimicPort0Valve register.

Returns:

Type	Description
MimicOutput	Value read from the MimicPort0Valve register.

read_mimic_port1_ir()

Reads the contents of the MimicPort1IR register.

Returns:

Type	Description
MimicOutput	Value read from the MimicPort1IR register.

read_mimic_port1_valve()

Reads the contents of the MimicPort1Valve register.

Returns:

Type	Description
MimicOutput	Value read from the MimicPort1Valve register.

read_mimic_port2_ir()

Reads the contents of the MimicPort2IR register.

Returns:

Type	Description
MimicOutput	Value read from the MimicPort2IR register.

read_mimic_port2_valve()

Reads the contents of the MimicPort2Valve register.

Returns:

Type	Description
MimicOutput	Value read from the MimicPort2Valve register.

read_output_clear()

Reads the contents of the OutputClear register.

Returns:

Type	Description
DigitalOutputs	Value read from the OutputClear register.

read_output_pulse_enable()

Reads the contents of the OutputPulseEnable register.

Returns:

Type	Description
DigitalOutputs	Value read from the OutputPulseEnable register.

read_output_set()

Reads the contents of the OutputSet register.

Returns:

Type	Description
DigitalOutputs	Value read from the OutputSet register.

read_output_state()

Reads the contents of the OutputState register.

Returns:

Type	Description
DigitalOutputs	Value read from the OutputState register.

read_output_toggle()

Reads the contents of the OutputToggle register.

Returns:

Type	Description
DigitalOutputs	Value read from the OutputToggle register.

read_poke_input_filter()

Reads the contents of the PokeInputFilter register.

Returns:

Type	Description
int	Value read from the PokeInputFilter register.

read_port_dio_clear()

Reads the contents of the PortDIOClear register.

Returns:

Type	Description
PortDigitalIOS	Value read from the PortDIOClear register.

read_port_dio_direction()

Reads the contents of the PortDIODirection register.

Returns:

Type	Description
PortDigitalIOS	Value read from the PortDIODirection register.

read_port_dio_set()

Reads the contents of the PortDIOSet register.

Returns:

Type	Description
PortDigitalIOS	Value read from the PortDIOSet register.

read_port_dio_state()

Reads the contents of the PortDIOState register.

Returns:

Type	Description
PortDigitalIOS	Value read from the PortDIOState register.

read_port_dio_state_event()

Reads the contents of the PortDIOStateEvent register.

Returns:

Type	Description
PortDigitalIOS	Value read from the PortDIOStateEvent register.

read_port_dio_toggle()

Reads the contents of the PortDIOToggle register.

Returns:

Type	Description
PortDigitalIOS	Value read from the PortDIOToggle register.

read_pulse_do0()

Reads the contents of the PulseDO0 register.

Returns:

Type	Description
int	Value read from the PulseDO0 register.

read_pulse_do1()

Reads the contents of the PulseDO1 register.

Returns:

Type	Description
int	Value read from the PulseDO1 register.

read_pulse_do2()

Reads the contents of the PulseDO2 register.

Returns:

Type	Description
int	Value read from the PulseDO2 register.

read_pulse_do3()

Reads the contents of the PulseDO3 register.

Returns:

Type	Description
int	Value read from the PulseDO3 register.

read_pulse_do_port0()

Reads the contents of the PulseDOPort0 register.

Returns:

Type	Description
int	Value read from the PulseDOPort0 register.

read_pulse_do_port1()

Reads the contents of the PulseDOPort1 register.

Returns:

Type	Description
int	Value read from the PulseDOPort1 register.

read_pulse_do_port2()

Reads the contents of the PulseDOPort2 register.

Returns:

Type	Description
int	Value read from the PulseDOPort2 register.

read_pulse_led0()

Reads the contents of the PulseLed0 register.

Returns:

Type	Description
int	Value read from the PulseLed0 register.

read_pulse_led1()

Reads the contents of the PulseLed1 register.

Returns:

Type	Description
int	Value read from the PulseLed1 register.

read_pulse_rgb0()

Reads the contents of the PulseRgb0 register.

Returns:

Type	Description
int	Value read from the PulseRgb0 register.

read_pulse_rgb1()

Reads the contents of the PulseRgb1 register.

Returns:

Type	Description
int	Value read from the PulseRgb1 register.

read_pulse_supply_port0()

Reads the contents of the PulseSupplyPort0 register.

Returns:

Type	Description
int	Value read from the PulseSupplyPort0 register.

read_pulse_supply_port1()

Reads the contents of the PulseSupplyPort1 register.

Returns:

Type	Description
int	Value read from the PulseSupplyPort1 register.

read_pulse_supply_port2()

Reads the contents of the PulseSupplyPort2 register.

Returns:

Type	Description
int	Value read from the PulseSupplyPort2 register.

read_pwm_duty_cycle_do0()

Reads the contents of the PwmDutyCycleDO0 register.

Returns:

Type	Description
int	Value read from the PwmDutyCycleDO0 register.

read_pwm_duty_cycle_do1()

Reads the contents of the PwmDutyCycleDO1 register.

Returns:

Type	Description
int	Value read from the PwmDutyCycleDO1 register.

read_pwm_duty_cycle_do2()

Reads the contents of the PwmDutyCycleDO2 register.

Returns:

Type	Description
int	Value read from the PwmDutyCycleDO2 register.

read_pwm_duty_cycle_do3()

Reads the contents of the PwmDutyCycleDO3 register.

Returns:

Type	Description
int	Value read from the PwmDutyCycleDO3 register.

read_pwm_frequency_do0()

Reads the contents of the PwmFrequencyDO0 register.

Returns:

Type	Description
int	Value read from the PwmFrequencyDO0 register.

read_pwm_frequency_do1()

Reads the contents of the PwmFrequencyDO1 register.

Returns:

Type	Description
int	Value read from the PwmFrequencyDO1 register.

read_pwm_frequency_do2()

Reads the contents of the PwmFrequencyDO2 register.

Returns:

Type	Description
int	Value read from the PwmFrequencyDO2 register.

read_pwm_frequency_do3()

Reads the contents of the PwmFrequencyDO3 register.

Returns:

Type	Description
int	Value read from the PwmFrequencyDO3 register.

read_pwm_start()

Reads the contents of the PwmStart register.

Returns:

Type	Description
PwmOutputs	Value read from the PwmStart register.

read_pwm_stop()

Reads the contents of the PwmStop register.

Returns:

Type	Description
PwmOutputs	Value read from the PwmStop register.

read_rgb0()

Reads the contents of the Rgb0 register.

Returns:

Type	Description
RgbPayload	Value read from the Rgb0 register.

read_rgb1()

Reads the contents of the Rgb1 register.

Returns:

Type	Description
RgbPayload	Value read from the Rgb1 register.

read_rgb_all()

Reads the contents of the RgbAll register.

Returns:

Type	Description
RgbAllPayload	Value read from the RgbAll register.

read_servo_motor2_period()

Reads the contents of the ServoMotor2Period register.

Returns:

Type	Description
int	Value read from the ServoMotor2Period register.

read_servo_motor2_pulse()

Reads the contents of the ServoMotor2Pulse register.

Returns:

Type	Description
int	Value read from the ServoMotor2Pulse register.

read_servo_motor3_period()

Reads the contents of the ServoMotor3Period register.

Returns:

Type	Description
int	Value read from the ServoMotor3Period register.

read_servo_motor3_pulse()

Reads the contents of the ServoMotor3Pulse register.

Returns:

Type	Description
int	Value read from the ServoMotor3Pulse register.

read_start_cameras()

Reads the contents of the StartCameras register.

Returns:

Type	Description
CameraOutputs	Value read from the StartCameras register.

read_stop_cameras()

Reads the contents of the StopCameras register.

Returns:

Type	Description
CameraOutputs	Value read from the StopCameras register.

write_camera0_frequency(value)

Writes a value to the Camera0Frequency register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Camera0Frequency register.	required

write_camera1_frequency(value)

Writes a value to the Camera1Frequency register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Camera1Frequency register.	required

write_disable_servos(value)

Writes a value to the DisableServos register.

Parameters:

Name	Type	Description	Default
value	ServoOutputs	Value to write to the DisableServos register.	required

write_enable_encoders(value)

Writes a value to the EnableEncoders register.

Parameters:

Name	Type	Description	Default
value	EncoderInputs	Value to write to the EnableEncoders register.	required

write_enable_serial_timestamp(value)

Writes a value to the EnableSerialTimestamp register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the EnableSerialTimestamp register.	required

write_enable_servos(value)

Writes a value to the EnableServos register.

Parameters:

Name	Type	Description	Default
value	ServoOutputs	Value to write to the EnableServos register.	required

write_encoder_mode(value)

Writes a value to the EncoderMode register.

Parameters:

Name	Type	Description	Default
value	EncoderModeConfig	Value to write to the EncoderMode register.	required

write_encoder_reset(value)

Writes a value to the EncoderReset register.

Parameters:

Name	Type	Description	Default
value	EncoderInputs	Value to write to the EncoderReset register.	required

write_event_enable(value)

Writes a value to the EventEnable register.

Parameters:

Name	Type	Description	Default
value	Events	Value to write to the EventEnable register.	required

write_led0_current(value)

Writes a value to the Led0Current register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Led0Current register.	required

write_led0_max_current(value)

Writes a value to the Led0MaxCurrent register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Led0MaxCurrent register.	required

write_led1_current(value)

Writes a value to the Led1Current register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Led1Current register.	required

write_led1_max_current(value)

Writes a value to the Led1MaxCurrent register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Led1MaxCurrent register.	required

write_mimic_port0_ir(value)

Writes a value to the MimicPort0IR register.

Parameters:

Name	Type	Description	Default
value	MimicOutput	Value to write to the MimicPort0IR register.	required

write_mimic_port0_valve(value)

Writes a value to the MimicPort0Valve register.

Parameters:

Name	Type	Description	Default
value	MimicOutput	Value to write to the MimicPort0Valve register.	required

write_mimic_port1_ir(value)

Writes a value to the MimicPort1IR register.

Parameters:

Name	Type	Description	Default
value	MimicOutput	Value to write to the MimicPort1IR register.	required

write_mimic_port1_valve(value)

Writes a value to the MimicPort1Valve register.

Parameters:

Name	Type	Description	Default
value	MimicOutput	Value to write to the MimicPort1Valve register.	required

write_mimic_port2_ir(value)

Writes a value to the MimicPort2IR register.

Parameters:

Name	Type	Description	Default
value	MimicOutput	Value to write to the MimicPort2IR register.	required

write_mimic_port2_valve(value)

Writes a value to the MimicPort2Valve register.

Parameters:

Name	Type	Description	Default
value	MimicOutput	Value to write to the MimicPort2Valve register.	required

write_output_clear(value)

Writes a value to the OutputClear register.

Parameters:

Name	Type	Description	Default
value	DigitalOutputs	Value to write to the OutputClear register.	required

write_output_pulse_enable(value)

Writes a value to the OutputPulseEnable register.

Parameters:

Name	Type	Description	Default
value	DigitalOutputs	Value to write to the OutputPulseEnable register.	required

write_output_set(value)

Writes a value to the OutputSet register.

Parameters:

Name	Type	Description	Default
value	DigitalOutputs	Value to write to the OutputSet register.	required

write_output_state(value)

Writes a value to the OutputState register.

Parameters:

Name	Type	Description	Default
value	DigitalOutputs	Value to write to the OutputState register.	required

write_output_toggle(value)

Writes a value to the OutputToggle register.

Parameters:

Name	Type	Description	Default
value	DigitalOutputs	Value to write to the OutputToggle register.	required

write_poke_input_filter(value)

Writes a value to the PokeInputFilter register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PokeInputFilter register.	required

write_port_dio_clear(value)

Writes a value to the PortDIOClear register.

Parameters:

Name	Type	Description	Default
value	PortDigitalIOS	Value to write to the PortDIOClear register.	required

write_port_dio_direction(value)

Writes a value to the PortDIODirection register.

Parameters:

Name	Type	Description	Default
value	PortDigitalIOS	Value to write to the PortDIODirection register.	required

write_port_dio_set(value)

Writes a value to the PortDIOSet register.

Parameters:

Name	Type	Description	Default
value	PortDigitalIOS	Value to write to the PortDIOSet register.	required

write_port_dio_state(value)

Writes a value to the PortDIOState register.

Parameters:

Name	Type	Description	Default
value	PortDigitalIOS	Value to write to the PortDIOState register.	required

write_port_dio_toggle(value)

Writes a value to the PortDIOToggle register.

Parameters:

Name	Type	Description	Default
value	PortDigitalIOS	Value to write to the PortDIOToggle register.	required

write_pulse_do0(value)

Writes a value to the PulseDO0 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseDO0 register.	required

write_pulse_do1(value)

Writes a value to the PulseDO1 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseDO1 register.	required

write_pulse_do2(value)

Writes a value to the PulseDO2 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseDO2 register.	required

write_pulse_do3(value)

Writes a value to the PulseDO3 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseDO3 register.	required

write_pulse_do_port0(value)

Writes a value to the PulseDOPort0 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseDOPort0 register.	required

write_pulse_do_port1(value)

Writes a value to the PulseDOPort1 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseDOPort1 register.	required

write_pulse_do_port2(value)

Writes a value to the PulseDOPort2 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseDOPort2 register.	required

write_pulse_led0(value)

Writes a value to the PulseLed0 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseLed0 register.	required

write_pulse_led1(value)

Writes a value to the PulseLed1 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseLed1 register.	required

write_pulse_rgb0(value)

Writes a value to the PulseRgb0 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseRgb0 register.	required

write_pulse_rgb1(value)

Writes a value to the PulseRgb1 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseRgb1 register.	required

write_pulse_supply_port0(value)

Writes a value to the PulseSupplyPort0 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseSupplyPort0 register.	required

write_pulse_supply_port1(value)

Writes a value to the PulseSupplyPort1 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseSupplyPort1 register.	required

write_pulse_supply_port2(value)

Writes a value to the PulseSupplyPort2 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseSupplyPort2 register.	required

write_pwm_duty_cycle_do0(value)

Writes a value to the PwmDutyCycleDO0 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PwmDutyCycleDO0 register.	required

write_pwm_duty_cycle_do1(value)

Writes a value to the PwmDutyCycleDO1 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PwmDutyCycleDO1 register.	required

write_pwm_duty_cycle_do2(value)

Writes a value to the PwmDutyCycleDO2 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PwmDutyCycleDO2 register.	required

write_pwm_duty_cycle_do3(value)

Writes a value to the PwmDutyCycleDO3 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PwmDutyCycleDO3 register.	required

write_pwm_frequency_do0(value)

Writes a value to the PwmFrequencyDO0 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PwmFrequencyDO0 register.	required

write_pwm_frequency_do1(value)

Writes a value to the PwmFrequencyDO1 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PwmFrequencyDO1 register.	required

write_pwm_frequency_do2(value)

Writes a value to the PwmFrequencyDO2 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PwmFrequencyDO2 register.	required

write_pwm_frequency_do3(value)

Writes a value to the PwmFrequencyDO3 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PwmFrequencyDO3 register.	required

write_pwm_start(value)

Writes a value to the PwmStart register.

Parameters:

Name	Type	Description	Default
value	PwmOutputs	Value to write to the PwmStart register.	required

write_pwm_stop(value)

Writes a value to the PwmStop register.

Parameters:

Name	Type	Description	Default
value	PwmOutputs	Value to write to the PwmStop register.	required

write_rgb0(value)

Writes a value to the Rgb0 register.

Parameters:

Name	Type	Description	Default
value	RgbPayload	Value to write to the Rgb0 register.	required

write_rgb1(value)

Writes a value to the Rgb1 register.

Parameters:

Name	Type	Description	Default
value	RgbPayload	Value to write to the Rgb1 register.	required

write_rgb_all(value)

Writes a value to the RgbAll register.

Parameters:

Name	Type	Description	Default
value	RgbAllPayload	Value to write to the RgbAll register.	required

write_servo_motor2_period(value)

Writes a value to the ServoMotor2Period register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the ServoMotor2Period register.	required

write_servo_motor2_pulse(value)

Writes a value to the ServoMotor2Pulse register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the ServoMotor2Pulse register.	required

write_servo_motor3_period(value)

Writes a value to the ServoMotor3Period register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the ServoMotor3Period register.	required

write_servo_motor3_pulse(value)

Writes a value to the ServoMotor3Pulse register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the ServoMotor3Pulse register.	required

write_start_cameras(value)

Writes a value to the StartCameras register.

Parameters:

Name	Type	Description	Default
value	CameraOutputs	Value to write to the StartCameras register.	required

write_stop_cameras(value)

Writes a value to the StopCameras register.

Parameters:

Name	Type	Description	Default
value	CameraOutputs	Value to write to the StopCameras register.	required

BehaviorRegisters

Bases: IntEnum

Enum for all available registers in the Behavior device.

Attributes:

Name	Type	Description
DIGITAL_INPUT_STATE	int	Reflects the state of DI digital lines of each Port
OUTPUT_SET	int	Set the specified digital output lines.
OUTPUT_CLEAR	int	Clear the specified digital output lines
OUTPUT_TOGGLE	int	Toggle the specified digital output lines
OUTPUT_STATE	int	Write the state of all digital output lines
PORT_DIO_SET	int	Set the specified port DIO lines
PORT_DIO_CLEAR	int	Clear the specified port DIO lines
PORT_DIO_TOGGLE	int	Toggle the specified port DIO lines
PORT_DIO_STATE	int	Write the state of all port DIO lines
PORT_DIO_DIRECTION	int	Specifies which of the port DIO lines are outputs
PORT_DIO_STATE_EVENT	int	Specifies the state of the port DIO lines on a line change
ANALOG_DATA	int	Voltage at the ADC input and encoder value on Port 2
OUTPUT_PULSE_ENABLE	int	Enables the pulse function for the specified output lines
PULSE_DO_PORT0	int	Specifies the duration of the output pulse in milliseconds.
PULSE_DO_PORT1	int	Specifies the duration of the output pulse in milliseconds.
PULSE_DO_PORT2	int	Specifies the duration of the output pulse in milliseconds.
PULSE_SUPPLY_PORT0	int	Specifies the duration of the output pulse in milliseconds.
PULSE_SUPPLY_PORT1	int	Specifies the duration of the output pulse in milliseconds.
PULSE_SUPPLY_PORT2	int	Specifies the duration of the output pulse in milliseconds.
PULSE_LED0	int	Specifies the duration of the output pulse in milliseconds.
PULSE_LED1	int	Specifies the duration of the output pulse in milliseconds.
PULSE_RGB0	int	Specifies the duration of the output pulse in milliseconds.
PULSE_RGB1	int	Specifies the duration of the output pulse in milliseconds.
PULSE_DO0	int	Specifies the duration of the output pulse in milliseconds.
PULSE_DO1	int	Specifies the duration of the output pulse in milliseconds.
PULSE_DO2	int	Specifies the duration of the output pulse in milliseconds.
PULSE_DO3	int	Specifies the duration of the output pulse in milliseconds.
PWM_FREQUENCY_DO0	int	Specifies the frequency of the PWM at DO0.
PWM_FREQUENCY_DO1	int	Specifies the frequency of the PWM at DO1.
PWM_FREQUENCY_DO2	int	Specifies the frequency of the PWM at DO2.
PWM_FREQUENCY_DO3	int	Specifies the frequency of the PWM at DO3.
PWM_DUTY_CYCLE_DO0	int	Specifies the duty cycle of the PWM at DO0.
PWM_DUTY_CYCLE_DO1	int	Specifies the duty cycle of the PWM at DO1.
PWM_DUTY_CYCLE_DO2	int	Specifies the duty cycle of the PWM at DO2.
PWM_DUTY_CYCLE_DO3	int	Specifies the duty cycle of the PWM at DO3.
PWM_START	int	Starts the PWM on the selected output lines.
PWM_STOP	int	Stops the PWM on the selected output lines.
RGB_ALL	int	Specifies the state of all RGB LED channels.
RGB0	int	Specifies the state of the RGB0 LED channels.
RGB1	int	Specifies the state of the RGB1 LED channels.
LED0_CURRENT	int	Specifies the configuration of current to drive LED 0.
LED1_CURRENT	int	Specifies the configuration of current to drive LED 1.
LED0_MAX_CURRENT	int	Specifies the configuration of current to drive LED 0.
LED1_MAX_CURRENT	int	Specifies the configuration of current to drive LED 1.
EVENT_ENABLE	int	Specifies the active events in the device.
START_CAMERAS	int	Specifies the camera outputs to enable in the device.
STOP_CAMERAS	int	Specifies the camera outputs to disable in the device. An event will be issued when the trigger signal is actually stopped being generated.
ENABLE_SERVOS	int	Specifies the servo outputs to enable in the device.
DISABLE_SERVOS	int	Specifies the servo outputs to disable in the device.
ENABLE_ENCODERS	int	Specifies the port quadrature counters to enable in the device.
ENCODER_MODE	int	Configures the operation mode of the quadrature encoders.
CAMERA0_FRAME	int	Specifies that a frame was acquired on camera 0.
CAMERA0_FREQUENCY	int	Specifies the trigger frequency for camera 0.
CAMERA1_FRAME	int	Specifies that a frame was acquired on camera 1.
CAMERA1_FREQUENCY	int	Specifies the trigger frequency for camera 1.
SERVO_MOTOR2_PERIOD	int	Specifies the period of the servo motor in DO2, in microseconds.
SERVO_MOTOR2_PULSE	int	Specifies the pulse of the servo motor in DO2, in microseconds.
SERVO_MOTOR3_PERIOD	int	Specifies the period of the servo motor in DO3, in microseconds.
SERVO_MOTOR3_PULSE	int	Specifies the pulse of the servo motor in DO3, in microseconds.
ENCODER_RESET	int	Reset the counter of the specified encoders to zero.
ENABLE_SERIAL_TIMESTAMP	int	Enables the timestamp for serial TX.
MIMIC_PORT0_IR	int	Specifies the digital output to mimic the Port 0 IR state.
MIMIC_PORT1_IR	int	Specifies the digital output to mimic the Port 1 IR state.
MIMIC_PORT2_IR	int	Specifies the digital output to mimic the Port 2 IR state.
MIMIC_PORT0_VALVE	int	Specifies the digital output to mimic the Port 0 valve state.
MIMIC_PORT1_VALVE	int	Specifies the digital output to mimic the Port 1 valve state.
MIMIC_PORT2_VALVE	int	Specifies the digital output to mimic the Port 2 valve state.
POKE_INPUT_FILTER	int	Specifies the low pass filter time value for poke inputs, in ms.

CameraOutputs

Bases: IntFlag

Specifies camera output enable bits.

Attributes:

Name	Type	Description
CAMERA_OUTPUT0	int	No description currently available
CAMERA_OUTPUT1	int	No description currently available

Device

The Device class provides the interface for interacting with Harp devices. This implementation of the Harp device was based on the official documentation available on the harp-tech website.

Attributes:

Name	Type	Description
WHO_AM_I	int	The device ID number. A list of devices can be found here
DEFAULT_DEVICE_NAME	str	The device name, i.e. "Behavior". This name is derived by cross-referencing the WHO_AM_I identifier with the corresponding device name in the device_names dictionary
HW_VERSION_H	int	The major hardware version
HW_VERSION_L	int	The minor hardware version
ASSEMBLY_VERSION	int	The version of the assembled components
HARP_VERSION_H	int	The major Harp core version
HARP_VERSION_L	int	The minor Harp core version
FIRMWARE_VERSION_H	int	The major firmware version
FIRMWARE_VERSION_L	int	The minor firmware version
DEVICE_NAME	str	The device name stored in the Harp device
SERIAL_NUMBER	(int, optional)	The serial number of the device

__enter__()

Support for using Device with 'with' statement.

Returns:

Type	Description
Device	The Device instance

__exit__(exc_type, exc_val, exc_tb)

Cleanup resources when exiting the 'with' block.

Parameters:

Name	Type	Description	Default
exc_type	Exception type or None	Type of the exception that caused the context to be exited	required
exc_val	Exception or None	Exception instance that caused the context to be exited	required
exc_tb	traceback or None	Traceback if an exception occurred	required

__init__(serial_port, dump_file_path=None, read_timeout_s=1, timeout_strategy=TimeoutStrategy.RAISE)

Parameters:

Name	Type	Description	Default
serial_port	str	The serial port used to establish the connection with the Harp device. It must be denoted as /dev/ttyUSBx in Linux and COMx in Windows, where x is the number of the serial port	required
dump_file_path	Optional[str]	The binary file to which all Harp messages will be written	None
read_timeout_s	float	TODO	1

alive_en(enable)

Sets the ALIVE_EN bit of the device.

Parameters:

Name	Type	Description	Default
enable	bool	If True, enables the ALIVE_EN bit. If False, disables it	required

Returns:

Type	Description
bool	True if the operation was successful, False otherwise

connect()

Connects to the Harp device.

disconnect()

Disconnects from the Harp device.

dump_registers()

Asserts the DUMP bit to dump the values of all core and app registers as Harp Read Reply Messages. More information on the DUMP bit can be found here.

Returns:

Type	Description
list	The list containing the reply Harp messages for all the device's registers

event_count()

Gets the number of events in the event queue.

Returns:

Type	Description
int	The number of events in the event queue

get_events()

Gets all events from the event queue.

Returns:

Type	Description
list	The list containing every Harp event message that were on the queue

info()

Prints the device information.

load()

Loads the data stored in the device's common registers.

mute_reply(enable)

Sets the MUTE_REPLY bit of the device.

Parameters:

Name	Type	Description	Default
enable	bool	If True, the Replies to all the Commands are muted. If False, un-mutes them	required

Returns:

Type	Description
bool	True if the operation was successful, False otherwise

op_led_en(enable)

Sets the operation LED of the device.

Parameters:

Name	Type	Description	Default
enable	bool	If True, enables the operation LED. If False, disables it	required

Returns:

Type	Description
bool	True if the operation was successful, False otherwise

read_float(address)

Reads the value of a register of type Float.

Parameters:

Name	Type	Description	Default
address	int	The register to be read	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message that will contain the value read from the register

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

read_operation_ctrl()

Reads the OPERATION_CTRL register of the device.

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

read_s16(address)

Reads the value of a register of type S16.

Parameters:

Name	Type	Description	Default
address	int	The register to be read	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message that will contain the value read from the register

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

read_s32(address)

Reads the value of a register of type S32.

Parameters:

Name	Type	Description	Default
address	int	The register to be read	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message that will contain the value read from the register

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

read_s64(address)

Reads the value of a register of type S64.

Parameters:

Name	Type	Description	Default
address	int	The register to be read	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message that will contain the value read from the register

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

read_s8(address)

Reads the value of a register of type S8.

Parameters:

Name	Type	Description	Default
address	int	The register to be read	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message that will contain the value read from the register

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

read_u16(address)

Reads the value of a register of type U16.

Parameters:

Name	Type	Description	Default
address	int	The register to be read	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message that will contain the value read from the register

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

read_u32(address)

Reads the value of a register of type U32.

Parameters:

Name	Type	Description	Default
address	int	The register to be read	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message that will contain the value read from the register

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

read_u64(address)

Reads the value of a register of type U64.

Parameters:

Name	Type	Description	Default
address	int	The register to be read	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message that will contain the value read from the register

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

read_u8(address)

Reads the value of a register of type U8.

Parameters:

Name	Type	Description	Default
address	int	The register to be read	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message that will contain the value read from the register

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

reset_device(reset_mode=ResetMode.RST_DEF)

Resets the device and reboots with all the registers with the default values. Beware that the EEPROM will be erased. More information on the reset device register can be found here.

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

send(message, *, expect_reply=True, timeout_strategy=None)

Sends a Harp message and (optionally) waits for a reply.

Parameters:

Name	Type	Description	Default
message	HarpMessage	The HarpMessage to be sent to the device	required
expect_reply	bool	If False, do not wait for a reply (fire-and-forget)	True
timeout_strategy	TimeoutStrategy | None	Override the device-level timeout strategy for this call	None

Returns:

Type	Description
ReplyHarpMessage | None	Reply (or None when allowed by the timeout strategy or expect_reply=False)

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

set_clock_config(clock_config)

Sets the clock configuration of the device.

Parameters:

Name	Type	Description	Default
clock_config	ClockConfig	The clock configuration value	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

set_mode(mode)

Sets the operation mode of the device.

Parameters:

Name	Type	Description	Default
mode	DeviceMode	The new device mode value	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

set_timestamp_offset(timestamp_offset)

When the value of this register is above 0 (zero), the device's timestamp will be offset by this amount. The register is sensitive to 500 microsecond increments. This register is non-volatile.

Parameters:

Name	Type	Description	Default
timestamp_offset	int	The timestamp offset value	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

visual_en(enable)

Sets the status led of the device.

Parameters:

Name	Type	Description	Default
enable	bool	If True, enables the status led. If False, disables it	required

Returns:

Type	Description
bool	True if the operation was successful, False otherwise

write_float(address, value)

Writes the value of a register of type Float.

Parameters:

Name	Type	Description	Default
address	int	The register to be written on	required
value	float | list[float]	The value to be written to the register	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

write_operation_ctrl(mode=None, mute_rpl=None, visual_en=None, op_led_en=None, alive_en=None)

Writes the OPERATION_CTRL register of the device.

Parameters:

Name	Type	Description	Default
mode	OperationMode	The new operation mode value	None
mute_rpl	bool	If True, the Replies to all the Commands are muted	None
visual_en	bool	If True, enables the status led	None
op_led_en	bool	If True, enables the operation LED	None
alive_en	bool	If True, enables the ALIVE_EN bit	None

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

write_s16(address, value)

Writes the value of a register of type S16.

Parameters:

Name	Type	Description	Default
address	int	The register to be written on	required
value	int | list[int]	The value to be written to the register	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

write_s32(address, value)

Writes the value of a register of type S32.

Parameters:

Name	Type	Description	Default
address	int	The register to be written on	required
value	int | list[int]	The value to be written to the register	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

write_s64(address, value)

Writes the value of a register of type S64.

Parameters:

Name	Type	Description	Default
address	int	The register to be written on	required
value	int | list[int]	The value to be written to the register	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

write_s8(address, value)

Writes the value of a register of type S8.

Parameters:

Name	Type	Description	Default
address	int	The register to be written on	required
value	int | list[int]	The value to be written to the register	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

write_u16(address, value)

Writes the value of a register of type U16.

Parameters:

Name	Type	Description	Default
address	int	The register to be written on	required
value	int | list[int]	The value to be written to the register	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

write_u32(address, value)

Writes the value of a register of type U32.

Parameters:

Name	Type	Description	Default
address	int	The register to be written on	required
value	int | list[int]	The value to be written to the register	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

write_u64(address, value)

Writes the value of a register of type U64.

Parameters:

Name	Type	Description	Default
address	int	The register to be written on	required
value	int | list[int]	The value to be written to the register	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

write_u8(address, value)

Writes the value of a register of type U8.

Parameters:

Name	Type	Description	Default
address	int	The register to be written on	required
value	int | list[int]	The value to be written to the register	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

DigitalInputs

Bases: IntFlag

Specifies the state of port digital input lines.

Attributes:

Name	Type	Description
DI_PORT0	int	No description currently available
DI_PORT1	int	No description currently available
DI_PORT2	int	No description currently available
DI3	int	No description currently available

DigitalOutputs

Bases: IntFlag

Specifies the state of port digital output lines.

Attributes:

Name	Type	Description
DO_PORT0	int	No description currently available
DO_PORT1	int	No description currently available
DO_PORT2	int	No description currently available
SUPPLY_PORT0	int	No description currently available
SUPPLY_PORT1	int	No description currently available
SUPPLY_PORT2	int	No description currently available
LED0	int	No description currently available
LED1	int	No description currently available
RGB0	int	No description currently available
RGB1	int	No description currently available
DO0	int	No description currently available
DO1	int	No description currently available
DO2	int	No description currently available
DO3	int	No description currently available

EncoderInputs

Bases: IntFlag

Specifies quadrature counter enable bits.

Attributes:

Name	Type	Description
ENCODER_PORT2	int	No description currently available

EncoderModeConfig

Bases: IntEnum

Specifies the type of reading made from the quadrature encoder.

Attributes:

Name	Type	Description
POSITION	int	No description currently available
DISPLACEMENT	int	No description currently available

Events

Bases: IntFlag

Specifies the active events in the device.

Attributes:

Name	Type	Description
PORT_DI	int	No description currently available
PORT_DIO	int	No description currently available
ANALOG_DATA	int	No description currently available
CAMERA0	int	No description currently available
CAMERA1	int	No description currently available

FrameAcquired

Bases: IntFlag

Specifies that camera frame was acquired.

Attributes:

Name	Type	Description
FRAME_ACQUIRED	int	No description currently available

HarpMessage

The HarpMessage class implements the Harp message as described in the protocol.

Attributes:

Name	Type	Description
frame	bytearray	The bytearray containing the whole Harp message
message_type	MessageType	The message type
length	int	The length parameter of the Harp message
address	int	The address of the register to which the Harp message refers to
port	int	Indicates the origin or destination of the Harp message in case the device is a hub of Harp devices. The value 255 points to the device itself (default value).
payload_type	PayloadType	The payload type
checksum	int	The sum of all bytes contained in the Harp message

address property

The address of the register to which the Harp message refers to.

Returns:

Type	Description
int	The address of the register to which the Harp message refers to

checksum property

The sum of all bytes contained in the Harp message.

Returns:

Type	Description
int	The sum of all bytes contained in the Harp message

frame property

The bytearray containing the whole Harp message.

Returns:

Type	Description
bytearray	The bytearray containing the whole Harp message

length property

The length parameter of the Harp message.

Returns:

Type	Description
int	The length parameter of the Harp message

message_type property

The message type.

Returns:

Type	Description
MessageType	The message type

payload property

The payload sent in the write Harp message.

Returns:

Type	Description
Union[int, list[int]]	The payload sent in the write Harp message

payload_type property

The payload type.

Returns:

Type	Description
PayloadType	The payload type

port property writable

Indicates the origin or destination of the Harp message in case the device is a hub of Harp devices. The value 255 points to the device itself (default value).

Returns:

Type	Description
int	The port value

__repr__()

Prints debug representation of the reply message.

Returns:

Type	Description
str	The debug representation of the reply message

__str__()

Prints friendly representation of a Harp message.

Returns:

Type	Description
str	The representation of the Harp message

calculate_checksum()

Calculates the checksum of the Harp message.

Returns:

Type	Description
int	The value of the checksum

create(message_type, address, payload_type, value=None) staticmethod

Creates a Harp message.

Parameters:

Name	Type	Description	Default
message_type	MessageType	The message type. It can only be of type READ or WRITE	required
address	int	The address of the register that the message will interact with	required
payload_type	PayloadType	The payload type	required
value	Optional[int | list[int] | float | list[float]]	The payload of the message. If message_type == MessageType.WRITE, the value cannot be None	None

parse(frame) staticmethod

Parses a bytearray to a (reply) Harp message.

Parameters:

Name	Type	Description	Default
frame	bytearray	The bytearray will be parsed into a (reply) Harp message	required

Returns:

Type	Description
ReplyHarpMessage	The Harp message object parsed from the original bytearray

HarpReadException

Bases: HarpException

Exception raised when there is an error reading from a register in the Harp device.

HarpWriteException

Bases: HarpException

Exception raised when there is an error writing to a register in the Harp device.

MessageType

Bases: IntEnum

An enumeration of the allowed message types of a Harp message. More information on the MessageType byte of a Harp message can be found here.

Attributes:

Name	Type	Description
READ	int	The value that corresponds to a Read Harp message (1)
WRITE	int	The value that corresponds to a Write Harp message (2)
EVENT	int	The value that corresponds to an Event Harp message (3). Messages of this type are only meant to be send by the device
READ_ERROR	int	The value that corresponds to a Read Error Harp message (9). Messages of this type are only meant to be send by the device
WRITE_ERROR	int	The value that corresponds to a Write Error Harp message (10). Messages of this type are only meant to be send by the device

MimicOutput

Bases: IntEnum

Specifies the target IO on which to mimic the specified register.

Attributes:

Name	Type	Description
NONE	int	No description currently available
DIO0	int	No description currently available
DIO1	int	No description currently available
DIO2	int	No description currently available
DO0	int	No description currently available
DO1	int	No description currently available
DO2	int	No description currently available
DO3	int	No description currently available

PayloadType

Bases: IntEnum

An enumeration of the allowed payload types of a Harp message. More information on the PayloadType byte of a Harp message can be found here.

Attributes:

Name	Type	Description
U8	int	The value that corresponds to a message of type U8
S8	int	The value that corresponds to a message of type S8
U16	int	The value that corresponds to a message of type U16
S16	int	The value that corresponds to a message of type S16
U32	int	The value that corresponds to a message of type U32
S32	int	The value that corresponds to a message of type S32
U64	int	The value that corresponds to a message of type U64
S64	int	The value that corresponds to a message of type S64
Float	int	The value that corresponds to a message of type Float
Timestamp	int	The value that corresponds to a message of type Timestamp. This is not a valid PayloadType, but it is used to indicate that the message has a timestamp.
TimestampedU8	int	The value that corresponds to a message of type TimestampedU8
TimestampedS8	int	The value that corresponds to a message of type TimestampedS8
TimestampedU16	int	The value that corresponds to a message of type TimestampedU16
TimestampedS16	int	The value that corresponds to a message of type TimestampedS16
TimestampedU32	int	The value that corresponds to a message of type TimestampedU32
TimestampedS32	int	The value that corresponds to a message of type TimestampedS32
TimestampedU64	int	The value that corresponds to a message of type TimestampedU64
TimestampedS64	int	The value that corresponds to a message of type TimestampedS64
TimestampedFloat	int	The value that corresponds to a message of type TimestampedFloat

PortDigitalIOS

Bases: IntFlag

Specifies the state of the port DIO lines.

Attributes:

Name	Type	Description
DIO0	int	No description currently available
DIO1	int	No description currently available
DIO2	int	No description currently available

PwmOutputs

Bases: IntFlag

Specifies the state of PWM output lines.

Attributes:

Name	Type	Description
PWM_DO0	int	No description currently available
PWM_DO1	int	No description currently available
PWM_DO2	int	No description currently available
PWM_DO3	int	No description currently available

ReplyHarpMessage

Bases: HarpMessage

A response message from a Harp device.

Attributes:

Name	Type	Description
payload	Union[int, list[int]]	The message payload formatted as the appropriate type
timestamp	float	The Harp timestamp at which the message was sent

is_error property

Indicates if this HarpMessage is an error message or not.

Returns:

Type	Description
bool	Returns True if this HarpMessage is an error message, False otherwise.

timestamp property

The Harp timestamp at which the message was sent.

Returns:

Type	Description
float	The Harp timestamp at which the message was sent

__init__(frame)

Parameters:

Name	Type	Description	Default
frame	bytearray	The Harp message in bytearray format	required

payload_as_string()

Returns the payload as a str.

Returns:

Type	Description
str	The payload parsed as a str

RgbAllPayload dataclass

RgbAllPayload(Green0: int, Red0: int, Blue0: int, Green1: int, Red1: int, Blue1: int)

Parameters:

Name	Type	Description	Default
Green0	int		required
Red0	int		required
Blue0	int		required
Green1	int		required
Red1	int		required
Blue1	int		required

RgbPayload dataclass

RgbPayload(Green: int, Red: int, Blue: int)

Parameters:

Name	Type	Description	Default
Green	int		required
Red	int		required
Blue	int		required

ServoOutputs

Bases: IntFlag

Specifies servo output enable bits.

Attributes:

Name	Type	Description
SERVO_OUTPUT2	int	No description currently available
SERVO_OUTPUT3	int	No description currently available

harpdevice

AnalogDataPayload dataclass

AnalogDataPayload(AnalogInput0: int, Encoder: int, AnalogInput1: int)

Parameters:

Name	Type	Description	Default
AnalogInput0	int		required
Encoder	int		required
AnalogInput1	int		required

Behavior

Bases: Device

Behavior class for controlling the device.

read_analog_data()

Reads the contents of the AnalogData register.

Returns:

Type	Description
AnalogDataPayload	Value read from the AnalogData register.

read_camera0_frame()

Reads the contents of the Camera0Frame register.

Returns:

Type	Description
FrameAcquired	Value read from the Camera0Frame register.

read_camera0_frequency()

Reads the contents of the Camera0Frequency register.

Returns:

Type	Description
int	Value read from the Camera0Frequency register.

read_camera1_frame()

Reads the contents of the Camera1Frame register.

Returns:

Type	Description
FrameAcquired	Value read from the Camera1Frame register.

read_camera1_frequency()

Reads the contents of the Camera1Frequency register.

Returns:

Type	Description
int	Value read from the Camera1Frequency register.

read_digital_input_state()

Reads the contents of the DigitalInputState register.

Returns:

Type	Description
DigitalInputs	Value read from the DigitalInputState register.

read_disable_servos()

Reads the contents of the DisableServos register.

Returns:

Type	Description
ServoOutputs	Value read from the DisableServos register.

read_enable_encoders()

Reads the contents of the EnableEncoders register.

Returns:

Type	Description
EncoderInputs	Value read from the EnableEncoders register.

read_enable_serial_timestamp()

Reads the contents of the EnableSerialTimestamp register.

Returns:

Type	Description
int	Value read from the EnableSerialTimestamp register.

read_enable_servos()

Reads the contents of the EnableServos register.

Returns:

Type	Description
ServoOutputs	Value read from the EnableServos register.

read_encoder_mode()

Reads the contents of the EncoderMode register.

Returns:

Type	Description
EncoderModeConfig	Value read from the EncoderMode register.

read_encoder_reset()

Reads the contents of the EncoderReset register.

Returns:

Type	Description
EncoderInputs	Value read from the EncoderReset register.

read_event_enable()

Reads the contents of the EventEnable register.

Returns:

Type	Description
Events	Value read from the EventEnable register.

read_led0_current()

Reads the contents of the Led0Current register.

Returns:

Type	Description
int	Value read from the Led0Current register.

read_led0_max_current()

Reads the contents of the Led0MaxCurrent register.

Returns:

Type	Description
int	Value read from the Led0MaxCurrent register.

read_led1_current()

Reads the contents of the Led1Current register.

Returns:

Type	Description
int	Value read from the Led1Current register.

read_led1_max_current()

Reads the contents of the Led1MaxCurrent register.

Returns:

Type	Description
int	Value read from the Led1MaxCurrent register.

read_mimic_port0_ir()

Reads the contents of the MimicPort0IR register.

Returns:

Type	Description
MimicOutput	Value read from the MimicPort0IR register.

read_mimic_port0_valve()

Reads the contents of the MimicPort0Valve register.

Returns:

Type	Description
MimicOutput	Value read from the MimicPort0Valve register.

read_mimic_port1_ir()

Reads the contents of the MimicPort1IR register.

Returns:

Type	Description
MimicOutput	Value read from the MimicPort1IR register.

read_mimic_port1_valve()

Reads the contents of the MimicPort1Valve register.

Returns:

Type	Description
MimicOutput	Value read from the MimicPort1Valve register.

read_mimic_port2_ir()

Reads the contents of the MimicPort2IR register.

Returns:

Type	Description
MimicOutput	Value read from the MimicPort2IR register.

read_mimic_port2_valve()

Reads the contents of the MimicPort2Valve register.

Returns:

Type	Description
MimicOutput	Value read from the MimicPort2Valve register.

read_output_clear()

Reads the contents of the OutputClear register.

Returns:

Type	Description
DigitalOutputs	Value read from the OutputClear register.

read_output_pulse_enable()

Reads the contents of the OutputPulseEnable register.

Returns:

Type	Description
DigitalOutputs	Value read from the OutputPulseEnable register.

read_output_set()

Reads the contents of the OutputSet register.

Returns:

Type	Description
DigitalOutputs	Value read from the OutputSet register.

read_output_state()

Reads the contents of the OutputState register.

Returns:

Type	Description
DigitalOutputs	Value read from the OutputState register.

read_output_toggle()

Reads the contents of the OutputToggle register.

Returns:

Type	Description
DigitalOutputs	Value read from the OutputToggle register.

read_poke_input_filter()

Reads the contents of the PokeInputFilter register.

Returns:

Type	Description
int	Value read from the PokeInputFilter register.

read_port_dio_clear()

Reads the contents of the PortDIOClear register.

Returns:

Type	Description
PortDigitalIOS	Value read from the PortDIOClear register.

read_port_dio_direction()

Reads the contents of the PortDIODirection register.

Returns:

Type	Description
PortDigitalIOS	Value read from the PortDIODirection register.

read_port_dio_set()

Reads the contents of the PortDIOSet register.

Returns:

Type	Description
PortDigitalIOS	Value read from the PortDIOSet register.

read_port_dio_state()

Reads the contents of the PortDIOState register.

Returns:

Type	Description
PortDigitalIOS	Value read from the PortDIOState register.

read_port_dio_state_event()

Reads the contents of the PortDIOStateEvent register.

Returns:

Type	Description
PortDigitalIOS	Value read from the PortDIOStateEvent register.

read_port_dio_toggle()

Reads the contents of the PortDIOToggle register.

Returns:

Type	Description
PortDigitalIOS	Value read from the PortDIOToggle register.

read_pulse_do0()

Reads the contents of the PulseDO0 register.

Returns:

Type	Description
int	Value read from the PulseDO0 register.

read_pulse_do1()

Reads the contents of the PulseDO1 register.

Returns:

Type	Description
int	Value read from the PulseDO1 register.

read_pulse_do2()

Reads the contents of the PulseDO2 register.

Returns:

Type	Description
int	Value read from the PulseDO2 register.

read_pulse_do3()

Reads the contents of the PulseDO3 register.

Returns:

Type	Description
int	Value read from the PulseDO3 register.

read_pulse_do_port0()

Reads the contents of the PulseDOPort0 register.

Returns:

Type	Description
int	Value read from the PulseDOPort0 register.

read_pulse_do_port1()

Reads the contents of the PulseDOPort1 register.

Returns:

Type	Description
int	Value read from the PulseDOPort1 register.

read_pulse_do_port2()

Reads the contents of the PulseDOPort2 register.

Returns:

Type	Description
int	Value read from the PulseDOPort2 register.

read_pulse_led0()

Reads the contents of the PulseLed0 register.

Returns:

Type	Description
int	Value read from the PulseLed0 register.

read_pulse_led1()

Reads the contents of the PulseLed1 register.

Returns:

Type	Description
int	Value read from the PulseLed1 register.

read_pulse_rgb0()

Reads the contents of the PulseRgb0 register.

Returns:

Type	Description
int	Value read from the PulseRgb0 register.

read_pulse_rgb1()

Reads the contents of the PulseRgb1 register.

Returns:

Type	Description
int	Value read from the PulseRgb1 register.

read_pulse_supply_port0()

Reads the contents of the PulseSupplyPort0 register.

Returns:

Type	Description
int	Value read from the PulseSupplyPort0 register.

read_pulse_supply_port1()

Reads the contents of the PulseSupplyPort1 register.

Returns:

Type	Description
int	Value read from the PulseSupplyPort1 register.

read_pulse_supply_port2()

Reads the contents of the PulseSupplyPort2 register.

Returns:

Type	Description
int	Value read from the PulseSupplyPort2 register.

read_pwm_duty_cycle_do0()

Reads the contents of the PwmDutyCycleDO0 register.

Returns:

Type	Description
int	Value read from the PwmDutyCycleDO0 register.

read_pwm_duty_cycle_do1()

Reads the contents of the PwmDutyCycleDO1 register.

Returns:

Type	Description
int	Value read from the PwmDutyCycleDO1 register.

read_pwm_duty_cycle_do2()

Reads the contents of the PwmDutyCycleDO2 register.

Returns:

Type	Description
int	Value read from the PwmDutyCycleDO2 register.

read_pwm_duty_cycle_do3()

Reads the contents of the PwmDutyCycleDO3 register.

Returns:

Type	Description
int	Value read from the PwmDutyCycleDO3 register.

read_pwm_frequency_do0()

Reads the contents of the PwmFrequencyDO0 register.

Returns:

Type	Description
int	Value read from the PwmFrequencyDO0 register.

read_pwm_frequency_do1()

Reads the contents of the PwmFrequencyDO1 register.

Returns:

Type	Description
int	Value read from the PwmFrequencyDO1 register.

read_pwm_frequency_do2()

Reads the contents of the PwmFrequencyDO2 register.

Returns:

Type	Description
int	Value read from the PwmFrequencyDO2 register.

read_pwm_frequency_do3()

Reads the contents of the PwmFrequencyDO3 register.

Returns:

Type	Description
int	Value read from the PwmFrequencyDO3 register.

read_pwm_start()

Reads the contents of the PwmStart register.

Returns:

Type	Description
PwmOutputs	Value read from the PwmStart register.

read_pwm_stop()

Reads the contents of the PwmStop register.

Returns:

Type	Description
PwmOutputs	Value read from the PwmStop register.

read_rgb0()

Reads the contents of the Rgb0 register.

Returns:

Type	Description
RgbPayload	Value read from the Rgb0 register.

read_rgb1()

Reads the contents of the Rgb1 register.

Returns:

Type	Description
RgbPayload	Value read from the Rgb1 register.

read_rgb_all()

Reads the contents of the RgbAll register.

Returns:

Type	Description
RgbAllPayload	Value read from the RgbAll register.

read_servo_motor2_period()

Reads the contents of the ServoMotor2Period register.

Returns:

Type	Description
int	Value read from the ServoMotor2Period register.

read_servo_motor2_pulse()

Reads the contents of the ServoMotor2Pulse register.

Returns:

Type	Description
int	Value read from the ServoMotor2Pulse register.

read_servo_motor3_period()

Reads the contents of the ServoMotor3Period register.

Returns:

Type	Description
int	Value read from the ServoMotor3Period register.

read_servo_motor3_pulse()

Reads the contents of the ServoMotor3Pulse register.

Returns:

Type	Description
int	Value read from the ServoMotor3Pulse register.

read_start_cameras()

Reads the contents of the StartCameras register.

Returns:

Type	Description
CameraOutputs	Value read from the StartCameras register.

read_stop_cameras()

Reads the contents of the StopCameras register.

Returns:

Type	Description
CameraOutputs	Value read from the StopCameras register.

write_camera0_frequency(value)

Writes a value to the Camera0Frequency register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Camera0Frequency register.	required

write_camera1_frequency(value)

Writes a value to the Camera1Frequency register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Camera1Frequency register.	required

write_disable_servos(value)

Writes a value to the DisableServos register.

Parameters:

Name	Type	Description	Default
value	ServoOutputs	Value to write to the DisableServos register.	required

write_enable_encoders(value)

Writes a value to the EnableEncoders register.

Parameters:

Name	Type	Description	Default
value	EncoderInputs	Value to write to the EnableEncoders register.	required

write_enable_serial_timestamp(value)

Writes a value to the EnableSerialTimestamp register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the EnableSerialTimestamp register.	required

write_enable_servos(value)

Writes a value to the EnableServos register.

Parameters:

Name	Type	Description	Default
value	ServoOutputs	Value to write to the EnableServos register.	required

write_encoder_mode(value)

Writes a value to the EncoderMode register.

Parameters:

Name	Type	Description	Default
value	EncoderModeConfig	Value to write to the EncoderMode register.	required

write_encoder_reset(value)

Writes a value to the EncoderReset register.

Parameters:

Name	Type	Description	Default
value	EncoderInputs	Value to write to the EncoderReset register.	required

write_event_enable(value)

Writes a value to the EventEnable register.

Parameters:

Name	Type	Description	Default
value	Events	Value to write to the EventEnable register.	required

write_led0_current(value)

Writes a value to the Led0Current register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Led0Current register.	required

write_led0_max_current(value)

Writes a value to the Led0MaxCurrent register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Led0MaxCurrent register.	required

write_led1_current(value)

Writes a value to the Led1Current register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Led1Current register.	required

write_led1_max_current(value)

Writes a value to the Led1MaxCurrent register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Led1MaxCurrent register.	required

write_mimic_port0_ir(value)

Writes a value to the MimicPort0IR register.

Parameters:

Name	Type	Description	Default
value	MimicOutput	Value to write to the MimicPort0IR register.	required

write_mimic_port0_valve(value)

Writes a value to the MimicPort0Valve register.

Parameters:

Name	Type	Description	Default
value	MimicOutput	Value to write to the MimicPort0Valve register.	required

write_mimic_port1_ir(value)

Writes a value to the MimicPort1IR register.

Parameters:

Name	Type	Description	Default
value	MimicOutput	Value to write to the MimicPort1IR register.	required

write_mimic_port1_valve(value)

Writes a value to the MimicPort1Valve register.

Parameters:

Name	Type	Description	Default
value	MimicOutput	Value to write to the MimicPort1Valve register.	required

write_mimic_port2_ir(value)

Writes a value to the MimicPort2IR register.

Parameters:

Name	Type	Description	Default
value	MimicOutput	Value to write to the MimicPort2IR register.	required

write_mimic_port2_valve(value)

Writes a value to the MimicPort2Valve register.

Parameters:

Name	Type	Description	Default
value	MimicOutput	Value to write to the MimicPort2Valve register.	required

write_output_clear(value)

Writes a value to the OutputClear register.

Parameters:

Name	Type	Description	Default
value	DigitalOutputs	Value to write to the OutputClear register.	required

write_output_pulse_enable(value)

Writes a value to the OutputPulseEnable register.

Parameters:

Name	Type	Description	Default
value	DigitalOutputs	Value to write to the OutputPulseEnable register.	required

write_output_set(value)

Writes a value to the OutputSet register.

Parameters:

Name	Type	Description	Default
value	DigitalOutputs	Value to write to the OutputSet register.	required

write_output_state(value)

Writes a value to the OutputState register.

Parameters:

Name	Type	Description	Default
value	DigitalOutputs	Value to write to the OutputState register.	required

write_output_toggle(value)

Writes a value to the OutputToggle register.

Parameters:

Name	Type	Description	Default
value	DigitalOutputs	Value to write to the OutputToggle register.	required

write_poke_input_filter(value)

Writes a value to the PokeInputFilter register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PokeInputFilter register.	required

write_port_dio_clear(value)

Writes a value to the PortDIOClear register.

Parameters:

Name	Type	Description	Default
value	PortDigitalIOS	Value to write to the PortDIOClear register.	required

write_port_dio_direction(value)

Writes a value to the PortDIODirection register.

Parameters:

Name	Type	Description	Default
value	PortDigitalIOS	Value to write to the PortDIODirection register.	required

write_port_dio_set(value)

Writes a value to the PortDIOSet register.

Parameters:

Name	Type	Description	Default
value	PortDigitalIOS	Value to write to the PortDIOSet register.	required

write_port_dio_state(value)

Writes a value to the PortDIOState register.

Parameters:

Name	Type	Description	Default
value	PortDigitalIOS	Value to write to the PortDIOState register.	required

write_port_dio_toggle(value)

Writes a value to the PortDIOToggle register.

Parameters:

Name	Type	Description	Default
value	PortDigitalIOS	Value to write to the PortDIOToggle register.	required

write_pulse_do0(value)

Writes a value to the PulseDO0 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseDO0 register.	required

write_pulse_do1(value)

Writes a value to the PulseDO1 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseDO1 register.	required

write_pulse_do2(value)

Writes a value to the PulseDO2 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseDO2 register.	required

write_pulse_do3(value)

Writes a value to the PulseDO3 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseDO3 register.	required

write_pulse_do_port0(value)

Writes a value to the PulseDOPort0 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseDOPort0 register.	required

write_pulse_do_port1(value)

Writes a value to the PulseDOPort1 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseDOPort1 register.	required

write_pulse_do_port2(value)

Writes a value to the PulseDOPort2 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseDOPort2 register.	required

write_pulse_led0(value)

Writes a value to the PulseLed0 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseLed0 register.	required

write_pulse_led1(value)

Writes a value to the PulseLed1 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseLed1 register.	required

write_pulse_rgb0(value)

Writes a value to the PulseRgb0 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseRgb0 register.	required

write_pulse_rgb1(value)

Writes a value to the PulseRgb1 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseRgb1 register.	required

write_pulse_supply_port0(value)

Writes a value to the PulseSupplyPort0 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseSupplyPort0 register.	required

write_pulse_supply_port1(value)

Writes a value to the PulseSupplyPort1 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseSupplyPort1 register.	required

write_pulse_supply_port2(value)

Writes a value to the PulseSupplyPort2 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PulseSupplyPort2 register.	required

write_pwm_duty_cycle_do0(value)

Writes a value to the PwmDutyCycleDO0 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PwmDutyCycleDO0 register.	required

write_pwm_duty_cycle_do1(value)

Writes a value to the PwmDutyCycleDO1 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PwmDutyCycleDO1 register.	required

write_pwm_duty_cycle_do2(value)

Writes a value to the PwmDutyCycleDO2 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PwmDutyCycleDO2 register.	required

write_pwm_duty_cycle_do3(value)

Writes a value to the PwmDutyCycleDO3 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PwmDutyCycleDO3 register.	required

write_pwm_frequency_do0(value)

Writes a value to the PwmFrequencyDO0 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PwmFrequencyDO0 register.	required

write_pwm_frequency_do1(value)

Writes a value to the PwmFrequencyDO1 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PwmFrequencyDO1 register.	required

write_pwm_frequency_do2(value)

Writes a value to the PwmFrequencyDO2 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PwmFrequencyDO2 register.	required

write_pwm_frequency_do3(value)

Writes a value to the PwmFrequencyDO3 register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the PwmFrequencyDO3 register.	required

write_pwm_start(value)

Writes a value to the PwmStart register.

Parameters:

Name	Type	Description	Default
value	PwmOutputs	Value to write to the PwmStart register.	required

write_pwm_stop(value)

Writes a value to the PwmStop register.

Parameters:

Name	Type	Description	Default
value	PwmOutputs	Value to write to the PwmStop register.	required

write_rgb0(value)

Writes a value to the Rgb0 register.

Parameters:

Name	Type	Description	Default
value	RgbPayload	Value to write to the Rgb0 register.	required

write_rgb1(value)

Writes a value to the Rgb1 register.

Parameters:

Name	Type	Description	Default
value	RgbPayload	Value to write to the Rgb1 register.	required

write_rgb_all(value)

Writes a value to the RgbAll register.

Parameters:

Name	Type	Description	Default
value	RgbAllPayload	Value to write to the RgbAll register.	required

write_servo_motor2_period(value)

Writes a value to the ServoMotor2Period register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the ServoMotor2Period register.	required

write_servo_motor2_pulse(value)

Writes a value to the ServoMotor2Pulse register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the ServoMotor2Pulse register.	required

write_servo_motor3_period(value)

Writes a value to the ServoMotor3Period register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the ServoMotor3Period register.	required

write_servo_motor3_pulse(value)

Writes a value to the ServoMotor3Pulse register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the ServoMotor3Pulse register.	required

write_start_cameras(value)

Writes a value to the StartCameras register.

Parameters:

Name	Type	Description	Default
value	CameraOutputs	Value to write to the StartCameras register.	required

write_stop_cameras(value)

Writes a value to the StopCameras register.

Parameters:

Name	Type	Description	Default
value	CameraOutputs	Value to write to the StopCameras register.	required

BehaviorRegisters

Bases: IntEnum

Enum for all available registers in the Behavior device.

Attributes:

Name	Type	Description
DIGITAL_INPUT_STATE	int	Reflects the state of DI digital lines of each Port
OUTPUT_SET	int	Set the specified digital output lines.
OUTPUT_CLEAR	int	Clear the specified digital output lines
OUTPUT_TOGGLE	int	Toggle the specified digital output lines
OUTPUT_STATE	int	Write the state of all digital output lines
PORT_DIO_SET	int	Set the specified port DIO lines
PORT_DIO_CLEAR	int	Clear the specified port DIO lines
PORT_DIO_TOGGLE	int	Toggle the specified port DIO lines
PORT_DIO_STATE	int	Write the state of all port DIO lines
PORT_DIO_DIRECTION	int	Specifies which of the port DIO lines are outputs
PORT_DIO_STATE_EVENT	int	Specifies the state of the port DIO lines on a line change
ANALOG_DATA	int	Voltage at the ADC input and encoder value on Port 2
OUTPUT_PULSE_ENABLE	int	Enables the pulse function for the specified output lines
PULSE_DO_PORT0	int	Specifies the duration of the output pulse in milliseconds.
PULSE_DO_PORT1	int	Specifies the duration of the output pulse in milliseconds.
PULSE_DO_PORT2	int	Specifies the duration of the output pulse in milliseconds.
PULSE_SUPPLY_PORT0	int	Specifies the duration of the output pulse in milliseconds.
PULSE_SUPPLY_PORT1	int	Specifies the duration of the output pulse in milliseconds.
PULSE_SUPPLY_PORT2	int	Specifies the duration of the output pulse in milliseconds.
PULSE_LED0	int	Specifies the duration of the output pulse in milliseconds.
PULSE_LED1	int	Specifies the duration of the output pulse in milliseconds.
PULSE_RGB0	int	Specifies the duration of the output pulse in milliseconds.
PULSE_RGB1	int	Specifies the duration of the output pulse in milliseconds.
PULSE_DO0	int	Specifies the duration of the output pulse in milliseconds.
PULSE_DO1	int	Specifies the duration of the output pulse in milliseconds.
PULSE_DO2	int	Specifies the duration of the output pulse in milliseconds.
PULSE_DO3	int	Specifies the duration of the output pulse in milliseconds.
PWM_FREQUENCY_DO0	int	Specifies the frequency of the PWM at DO0.
PWM_FREQUENCY_DO1	int	Specifies the frequency of the PWM at DO1.
PWM_FREQUENCY_DO2	int	Specifies the frequency of the PWM at DO2.
PWM_FREQUENCY_DO3	int	Specifies the frequency of the PWM at DO3.
PWM_DUTY_CYCLE_DO0	int	Specifies the duty cycle of the PWM at DO0.
PWM_DUTY_CYCLE_DO1	int	Specifies the duty cycle of the PWM at DO1.
PWM_DUTY_CYCLE_DO2	int	Specifies the duty cycle of the PWM at DO2.
PWM_DUTY_CYCLE_DO3	int	Specifies the duty cycle of the PWM at DO3.
PWM_START	int	Starts the PWM on the selected output lines.
PWM_STOP	int	Stops the PWM on the selected output lines.
RGB_ALL	int	Specifies the state of all RGB LED channels.
RGB0	int	Specifies the state of the RGB0 LED channels.
RGB1	int	Specifies the state of the RGB1 LED channels.
LED0_CURRENT	int	Specifies the configuration of current to drive LED 0.
LED1_CURRENT	int	Specifies the configuration of current to drive LED 1.
LED0_MAX_CURRENT	int	Specifies the configuration of current to drive LED 0.
LED1_MAX_CURRENT	int	Specifies the configuration of current to drive LED 1.
EVENT_ENABLE	int	Specifies the active events in the device.
START_CAMERAS	int	Specifies the camera outputs to enable in the device.
STOP_CAMERAS	int	Specifies the camera outputs to disable in the device. An event will be issued when the trigger signal is actually stopped being generated.
ENABLE_SERVOS	int	Specifies the servo outputs to enable in the device.
DISABLE_SERVOS	int	Specifies the servo outputs to disable in the device.
ENABLE_ENCODERS	int	Specifies the port quadrature counters to enable in the device.
ENCODER_MODE	int	Configures the operation mode of the quadrature encoders.
CAMERA0_FRAME	int	Specifies that a frame was acquired on camera 0.
CAMERA0_FREQUENCY	int	Specifies the trigger frequency for camera 0.
CAMERA1_FRAME	int	Specifies that a frame was acquired on camera 1.
CAMERA1_FREQUENCY	int	Specifies the trigger frequency for camera 1.
SERVO_MOTOR2_PERIOD	int	Specifies the period of the servo motor in DO2, in microseconds.
SERVO_MOTOR2_PULSE	int	Specifies the pulse of the servo motor in DO2, in microseconds.
SERVO_MOTOR3_PERIOD	int	Specifies the period of the servo motor in DO3, in microseconds.
SERVO_MOTOR3_PULSE	int	Specifies the pulse of the servo motor in DO3, in microseconds.
ENCODER_RESET	int	Reset the counter of the specified encoders to zero.
ENABLE_SERIAL_TIMESTAMP	int	Enables the timestamp for serial TX.
MIMIC_PORT0_IR	int	Specifies the digital output to mimic the Port 0 IR state.
MIMIC_PORT1_IR	int	Specifies the digital output to mimic the Port 1 IR state.
MIMIC_PORT2_IR	int	Specifies the digital output to mimic the Port 2 IR state.
MIMIC_PORT0_VALVE	int	Specifies the digital output to mimic the Port 0 valve state.
MIMIC_PORT1_VALVE	int	Specifies the digital output to mimic the Port 1 valve state.
MIMIC_PORT2_VALVE	int	Specifies the digital output to mimic the Port 2 valve state.
POKE_INPUT_FILTER	int	Specifies the low pass filter time value for poke inputs, in ms.

CameraOutputs

Bases: IntFlag

Specifies camera output enable bits.

Attributes:

Name	Type	Description
CAMERA_OUTPUT0	int	No description currently available
CAMERA_OUTPUT1	int	No description currently available

DigitalInputs

Bases: IntFlag

Specifies the state of port digital input lines.

Attributes:

Name	Type	Description
DI_PORT0	int	No description currently available
DI_PORT1	int	No description currently available
DI_PORT2	int	No description currently available
DI3	int	No description currently available

DigitalOutputs

Bases: IntFlag

Specifies the state of port digital output lines.

Attributes:

Name	Type	Description
DO_PORT0	int	No description currently available
DO_PORT1	int	No description currently available
DO_PORT2	int	No description currently available
SUPPLY_PORT0	int	No description currently available
SUPPLY_PORT1	int	No description currently available
SUPPLY_PORT2	int	No description currently available
LED0	int	No description currently available
LED1	int	No description currently available
RGB0	int	No description currently available
RGB1	int	No description currently available
DO0	int	No description currently available
DO1	int	No description currently available
DO2	int	No description currently available
DO3	int	No description currently available

EncoderInputs

Bases: IntFlag

Specifies quadrature counter enable bits.

Attributes:

Name	Type	Description
ENCODER_PORT2	int	No description currently available

EncoderModeConfig

Bases: IntEnum

Specifies the type of reading made from the quadrature encoder.

Attributes:

Name	Type	Description
POSITION	int	No description currently available
DISPLACEMENT	int	No description currently available

Events

Bases: IntFlag

Specifies the active events in the device.

Attributes:

Name	Type	Description
PORT_DI	int	No description currently available
PORT_DIO	int	No description currently available
ANALOG_DATA	int	No description currently available
CAMERA0	int	No description currently available
CAMERA1	int	No description currently available

FrameAcquired

Bases: IntFlag

Specifies that camera frame was acquired.

Attributes:

Name	Type	Description
FRAME_ACQUIRED	int	No description currently available

MimicOutput

Bases: IntEnum

Specifies the target IO on which to mimic the specified register.

Attributes:

Name	Type	Description
NONE	int	No description currently available
DIO0	int	No description currently available
DIO1	int	No description currently available
DIO2	int	No description currently available
DO0	int	No description currently available
DO1	int	No description currently available
DO2	int	No description currently available
DO3	int	No description currently available

PortDigitalIOS

Bases: IntFlag

Specifies the state of the port DIO lines.

Attributes:

Name	Type	Description
DIO0	int	No description currently available
DIO1	int	No description currently available
DIO2	int	No description currently available

PwmOutputs

Bases: IntFlag

Specifies the state of PWM output lines.

Attributes:

Name	Type	Description
PWM_DO0	int	No description currently available
PWM_DO1	int	No description currently available
PWM_DO2	int	No description currently available
PWM_DO3	int	No description currently available

RgbAllPayload dataclass

RgbAllPayload(Green0: int, Red0: int, Blue0: int, Green1: int, Red1: int, Blue1: int)

Parameters:

Name	Type	Description	Default
Green0	int		required
Red0	int		required
Blue0	int		required
Green1	int		required
Red1	int		required
Blue1	int		required

RgbPayload dataclass

RgbPayload(Green: int, Red: int, Blue: int)

Parameters:

Name	Type	Description	Default
Green	int		required
Red	int		required
Blue	int		required

ServoOutputs

Bases: IntFlag

Specifies servo output enable bits.

Attributes:

Name	Type	Description
SERVO_OUTPUT2	int	No description currently available
SERVO_OUTPUT3	int	No description currently available