pywhill

"pywhill" is a Python SDK for WHILL Model CR series.
We also have Model CR Series Technical Support for current and potential Model CR series users.
For general questions and requests, please visit our product page .

Note: "Model CR series" refers to Model CR and Model CR2.

Requirements

• WHILL Model CR / CR2 (Normal Model C / C2 does not support serial communication.)
• Python3.6 or later
• pySerial (https://github.com/pyserial/pyserial)

OS Support

• Windows 10 / 11
• MacOS X
• Ubuntu 16.04
• Ubuntu 18.04

Installation

Clone or download this repository at any place you want, or this package is avalable on PyPI.

python3 -m pip install whill

APIs

Initialize

from whill import ComWHILL
<your_obj_name> = ComWHILL(port=<Your COM Port>)

Initialize WHILL instance with SoftwareSerial.

Power Control

<your_obj_name>.send_power_on()
<your_obj_name>.send_power_off()
<your_obj_name>.set_power(power_state_command=<True/False>)

Turn on/off a WHILL. power_state_command is a bool with True to power WHILL on.

<your_obj_name>.set_battery_voltage_output_mode(vbatt_on_off=<True/False>)

Enable/Disable power supply to the interface connector. True to enable power supply. For Model CR only.

Motor Control

<your_obj_name>.send_joystick(front=<Integer -100~100>, side=<Integer -100~100>)

Manipulate a WHILL via this command. Both front and side are integer values with range -100 ~ 100.

<your_obj_name>.send_velocity(front=<Integer -500~1500>, side=<Integer -750~750>)

Control the speed of a WHILL directly via this command. (Available since v1.3.0) front is integer values with range -500 ~ 1500 [0.004km/h]. side is integer values with range -750 ~ 750 [0.004km/h]. Attention: WHILL moves so quickly using SetVelocity command and so pay enough attention to use SetVelocity command. Basically, send this command to increase speed gradually.

Data Fetching

<your_obj_name>.start_data_stream(interval_msec=<update interval in millisecond>)

Command WHILL to start reporting WHILL status.

<your_obj_name>.refresh()

Fetch serial interface and do internal process.

<your_obj_name>.stop_data_stream()

Command WHILL to stop report WHILL status.

Data Reference

You can refer to the value fetched by the above command (Data Fetching).

Accelerometer (deprecated)

Accelerometer API has been disabled since v1.2.0.

Gyro (deprecated)

Gyro API has been disabled since v1.2.0.

Battery

<your_obj_name>.battery

Remaining battery level[%] and consumpting current[mA].

Motor State

<your_obj_name>.left_motor
<your_obj_name>.right_motor

Motors angle and speed. The angle range is -PI to +PI, Speed unit is km/h. Note that the speed value is low-pass filterd.

Speed Mode

<your_obj_name>.speed_mode_indicator

Current selected speed mode.

Callback

<your_obj_name>.register_callback(event=<either 'data_set_0' or 'data_set_1', func=<your callback function>)

By registering callback functions, you can hook at status is updated. See Example: cr_example3_callback.py

License

MIT License