Beagle

Instance declaration

When you add a Beagle block to the workspace, the following instance declaration is automatically inserted into the Python code:

beagle = Beagle(0)
# When there are multiple instances
beagle_1 = Beagle(1)

Parameters

Name	Kind	Description	Range / Type	Default
index	Dropdown option	Instance number (starting from 0)	Integer 0 or greater	0

Set wheel speed

Determines the wheel speed. The speed ranges from -100 to 100.

Parameters

Name	Kind	Description	Range / Type	Default
unit	Dropdown option	Wheel to control	left, right, both	-
speed	Input (block)	Wheel speed	Integer -100 to 100, 0: stop	-

Python

beagle = Beagle(0)

beagle.set_wheel_speed('both', 50)

Move a distance

Moves the specified distance at the current wheel speed.
If the wheel speed has not been set, it moves forward at the default speed.
If the distance is 0, it keeps moving according to the current wheel speed.
If wait is checked, execution waits until the movement is complete.

Parameters

Name	Kind	Description	Range / Type	Default
data	Input (block)	Distance to move	Real number 0 or greater	-
unit	Dropdown option	Distance unit	cm, mm, inch	cm
wait	Checkbox	Whether to wait for completion	TRUE / FALSE	TRUE

Python

beagle = Beagle(0)

beagle.move_distance(50, 'cm', wait=True)

Move for a time

Moves for the specified time at the current wheel speed.
If the wheel speed has not been set, it moves forward at the default speed.
If wait is checked, execution waits until the movement is complete.

Parameters

Name	Kind	Description	Range / Type	Default
data	Input (block)	Time to move (seconds)	Real number 0 or greater	-
wait	Checkbox	Whether to wait for completion	TRUE / FALSE	TRUE

Python

beagle = Beagle(0)

# wait = TRUE
beagle.move_time(5, wait=True)
# wait = FALSE
beagle.move_time(0.5, wait=False)

Turn in place

Sets the direction and angle to rotate in place.
If wait is checked, execution waits until the rotation is complete.

Parameters

Name	Kind	Description	Range / Type	Default
direction	Dropdown option	Direction of rotation	left, right	-
data	Input (block)	Angle of rotation (degrees)	Real number 0 or greater	-
wait	Checkbox	Whether to wait for completion	TRUE / FALSE	TRUE

Python

beagle = Beagle(0)

beagle.turn_degree('left', 90, wait=True)

Change wheel speed

Changes the wheel speed of Beagle.
The new wheel speed is the current wheel speed plus the speed you enter.
The newly set wheel speed is clamped to the range -100 to 100.

Parameters

Name	Kind	Description	Range / Type	Default
unit	Dropdown option	Wheel to control	left, right, both	-
speed	Input (block)	Amount of speed change	Integer -200 to 200	-

Python

beagle = Beagle(0)

beagle.change_wheel_speed('both', 10)

Stop

Stops the movement of Beagle.
The speed of both wheels of Beagle is reset to 0.

Parameters

(none)

Python

beagle = Beagle(0)

beagle.stop()

Is the wheel moving?

Returns true if the wheel is moving, and false if it is stopped.

Parameters

(none)

Python

beagle = Beagle(0)

beagle.wheel_moving()

Set sound buzz

Sets the buzzer sound of Beagle to the specified frequency.
The frequency range that can produce sound is 27.5 Hz to 6553.5 Hz.
If you enter a value outside this range, no buzzer sound is produced.

Parameters

Name	Kind	Description	Range / Type	Default
hz	Input (block)	Frequency (Hz)	Real number 0, or 27.5 to 6553.5 (0 otherwise)	-

Python

beagle = Beagle(0)

beagle.sound_buzz(440)

Play a note

Beagle plays the specified note.

Parameters

Name	Kind	Description	Range / Type	Default
note	Dropdown option	Note	Do (C), Do# (C#), Re (D), Re# (D#), Mi (E), Fa (F), Fa# (F#), Sol (G), Sol# (G#), La (A), La# (A#), Si (B)	-
octave	Dropdown option	Octave	1, 2, 3, 4, 5, 6, 7	4

Python

beagle = Beagle(0)

beagle.sound_note('D', 5)

Play a sound clip

Beagle plays a particular sound clip.
If wait is checked, execution waits until playback is complete.

Parameters

Name	Kind	Description	Range / Type	Default
clip	Dropdown option	Sound clip name	'mute', 'beep', 'siren', 'engine', 'robot', 'dibidibidip', 'happy', 'angry', 'sad', 'sleep', 'march', 'birthday', and so on	-
wait	Checkbox	Whether to wait for completion	TRUE / FALSE	TRUE

Python

beagle = Beagle(0)

beagle.sound_clip('siren', wait=True)

Sound off

Turns off the sound of Beagle.

Parameters

(none)

Python

beagle = Beagle(0)

beagle.sound_off()

Is a sound playing?

Returns true if a sound is playing, and false if it is not.

Parameters

(none)

Python

beagle = Beagle(0)

beagle.sound_playing()

Wheel speed value

The speed of a particular wheel

Parameters

Name	Kind	Description	Range / Type	Default
unit	Dropdown option	Wheel to read	left, right	-

Python

beagle = Beagle(0)

beagle.wheel_speed('left')

Encoder value

The encoder value of a particular wheel

Parameters

Name	Kind	Description	Range / Type	Default
unit	Dropdown option	Wheel to read	left, right	-

Python

beagle = Beagle(0)

beagle.encoder('left')

Gyroscope sensor value

The value of the gyroscope sensor along a particular axis

Parameters

Name	Kind	Description	Range / Type	Default
unit	Dropdown option	Axis to measure	x, y, z	-

Python

beagle = Beagle(0)

beagle.gyroscope('x')

Accelerometer sensor value

The value of the accelerometer sensor along a particular axis

Parameters

Name	Kind	Description	Range / Type	Default
unit	Dropdown option	Axis to measure	x, y, z	-

Python

beagle = Beagle(0)

beagle.accelerometer('x')

Magnetometer sensor value

The value of the magnetometer sensor along a particular axis

Parameters

Name	Kind	Description	Range / Type	Default
unit	Dropdown option	Axis to measure	x, y, z	-

Python

beagle = Beagle(0)

beagle.magnetometer('x')

Temperature sensor value

The temperature sensor value

Parameters

(none)

Python

beagle = Beagle(0)

beagle.temperature()

Signal strength value

The signal strength

Parameters

(none)

Python

beagle = Beagle(0)

beagle.signal_strength()

Battery voltage

The battery voltage

Parameters

(none)

Python

beagle = Beagle(0)

beagle.battery()

Whether the state has changed

Whether the state of the robot has changed

Parameters

Name	Kind	Description	Range / Type	Default
unit	Dropdown option	Kind of state	0 to 5 (see the table below)	-

unit	Condition
0	accelerometer('x') > 0.8
1	accelerometer('x') < -0.8
2	accelerometer('y') > 0.8
3	accelerometer('y') < -0.8
4	accelerometer('z') > 0
5	accelerometer('z') < 0

Python

beagle = Beagle(0)

# unit = 0
beagle.accelerometer('x') > 0.8

Turn the lidar on / off

Enables or disables the lidar sensor.

Parameters

Name	Kind	Description	Range / Type	Default
on	Dropdown option	Lidar ON / OFF	start (True), stop (False)	TRUE

Python

beagle = Beagle(0)

beagle.lidar_power(True)

Distance value of the Nth object from the lidar

The lidar sensor can measure the distance to objects all around, over 360 degrees.
Starting from the front of Beagle (value number 0), the number increases by 1 as you go counterclockwise.

Parameters

Name	Kind	Description	Range / Type	Default
unit	Input (field)	Object number (starting from 0)	Integer 0 or greater	-

Python

beagle = Beagle(0)

beagle.lidar_value(0)

Lidar distance value by direction

Gives the distance measured by the lidar sensor to the front, back, both sides, and the diagonal directions.
It outputs the average of the distance values within 45 degrees to the left and right of that direction.

Parameters

Name	Kind	Description	Range / Type	Default
direction	Dropdown option	Direction to measure	front, left front, left, left back, back, right back, right, right front	-

Python

beagle = Beagle(0)

beagle.lidar_directions('front')

Is the lidar ready?

Returns whether the lidar is on as true (True) / false (False).

Parameters

(none)

Python

beagle = Beagle(0)

beagle.lidar_ready()