Features

Introduction

Py4bot is written in pure ​python, so do not require any (annoying) (cross-)compilation! Its goal is to build simple, efficient and robust applications to drive your multi-legs robots.

Main

Here are the main planned feature of Py4bot:

• number and arrangement of legs fully configurable
• number of degrees of freedom for each leg totally configurable
• expandable gaits
• control from several types of controllers simultaneously (gamepad, keyboard, microphone, wireless / ReST, custom ...)
• sending information to controllers
• autopilot (total or partial):
  • path planner/recorder
  • use of sensors to keep trim, detect ground...

The main target is ​BeagleBoneBlack, as it can run Python, and has 2 real time units (PRU) which are great to implement a ​servo driver; this makes a great plateform to drive a multi-legs robots, and many extensions can be implemented as well (camera, grip arm...). Py4bot can run on any other plateform, as long as using one of the supported external servo drivers.

Roadmap

Supported plateforms

Every plateform supporting python can run Py4bot. This includes:

• generic gnu/linux
• Windows 2000, XP, Vista, 7, 8, 9, 10... 42
• MacOS

Unsupported plateforms

For the same reasons, these plateforms are not - and will probably never be - supported:

• Palm
• Play stations
• Amstrad
• ZX81
• Washing machines
• ...