Hamster
Instance declaration
When you add a Hamster block to the workspace, the following instance declaration is automatically inserted into the Python code:
hamster = Hamster(0)
# When there are multiple instances
hamster_1 = Hamster(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
hamster = Hamster(0)
hamster.set_wheel_speed('both', 50)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
hamster = Hamster(0)
# wait = TRUE
hamster.move_time(5, wait=True)
# wait = FALSE
hamster.move_time(0.5, wait=False)Change wheel speed
Changes the wheel speed of Hamster.
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
hamster = Hamster(0)
hamster.change_wheel_speed('both', 10)Stop
Stops the movement of Hamster.
The speed of both wheels of Hamster is reset to 0.
Parameters
(none)
Python
hamster = Hamster(0)
hamster.stop()Move forward one step on the board
Moves one step at a time on the board as configured.
Parameters
(none)
Python
hamster = Hamster(0)
hamster.grid_move()Turn once on the board
Rotates 90 degrees on the board in the specified direction.
Parameters
| Name | Kind | Description | Range / Type | Default |
|---|---|---|---|---|
| direction | Dropdown option | Direction of rotation | left, right | - |
Python
hamster = Hamster(0)
hamster.grid_turn('left')Trace a line with the sensor
Hamster uses its floor sensor to follow a line of a particular color.
Parameters
| Name | Kind | Description | Range / Type | Default |
|---|---|---|---|---|
| floor | Dropdown option | Floor sensor to trace with | left, right, center | - |
| line | Dropdown option | Line color | black, white | black |
Python
hamster = Hamster(0)
hamster.trace_line('left', 'black')Move through an intersection and stop at the next one
Hamster moves in the specified direction at an intersection, then keeps moving until it meets the next intersection.
If wait is checked, execution waits until the movement is complete.
Parameters
| Name | Kind | Description | Range / Type | Default |
|---|---|---|---|---|
| direction | Dropdown option | Direction to take at the intersection | left, right, forward, u-turn (uturn) | - |
| line | Dropdown option | Line color | black, white | black |
| wait | Checkbox | Whether to wait for completion | TRUE / FALSE | TRUE |
Python
hamster = Hamster(0)
hamster.trace_intersection('left', 'black', wait=True)Set line trace speed
Sets the line trace speed. The speed ranges from 1 to 10.
Parameters
| Name | Kind | Description | Range / Type | Default |
|---|---|---|---|---|
| data | Input (block) | Line trace speed | Integer 1 to 10 | - |
Python
hamster = Hamster(0)
hamster.set_trace_speed(5)Stop line tracing
Ends the line tracing function of Hamster.
Parameters
(none)
Python
hamster = Hamster(0)
hamster.stop_trace()Set LED color
Sets the LED color.
Parameters
| Name | Kind | Description | Range / Type | Default |
|---|---|---|---|---|
| unit | Dropdown option | LED to control | left, right, both | - |
| color | Dropdown option | Color | black, blue, green, cyan, red, magenta, yellow, white | - |
Python
hamster = Hamster(0)
hamster.set_led_color('both', 'red')Turn off LED
Removes the LED color.
Parameters
| Name | Kind | Description | Range / Type | Default |
|---|---|---|---|---|
| unit | Dropdown option | LED to control | left, right, both | both |
Python
hamster = Hamster(0)
hamster.turn_off('both')Set sound buzz
Sets the buzzer sound of Hamster to the specified frequency.
The frequency range that can produce sound is 1.0 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 to 6553.5 | - |
Python
hamster = Hamster(0)
hamster.sound_buzz(440)Play a note
Hamster 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
hamster = Hamster(0)
hamster.sound_note('D', 5)Sound off
Turns off the sound of Hamster.
Parameters
(none)
Python
hamster = Hamster(0)
hamster.sound_off()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
hamster = Hamster(0)
hamster.wheel_speed('left')Proximity sensor value
The value of a particular proximity sensor
Parameters
| Name | Kind | Description | Range / Type | Default |
|---|---|---|---|---|
| unit | Dropdown option | Sensor position to measure | left, right | - |
Python
hamster = Hamster(0)
hamster.proximity('left')Floor sensor value
The value of a particular floor sensor
Parameters
| Name | Kind | Description | Range / Type | Default |
|---|---|---|---|---|
| unit | Dropdown option | Sensor position to measure | left, right, center | - |
Python
hamster = Hamster(0)
hamster.floor('left')Gravitational acceleration value
The gravitational acceleration value along a particular axis
Parameters
| Name | Kind | Description | Range / Type | Default |
|---|---|---|---|---|
| unit | Dropdown option | Axis to measure | x, y, z | - |
Python
hamster = Hamster(0)
hamster.acceleration('x')Brightness sensor value
The brightness sensor value
Parameters
(none)
Python
hamster = Hamster(0)
hamster.light()Temperature sensor value
The temperature sensor value
Parameters
(none)
Python
hamster = Hamster(0)
hamster.temperature()Signal strength value
The signal strength
Parameters
(none)
Python
hamster = Hamster(0)
hamster.signal_strength()Battery voltage
The battery voltage
Parameters
(none)
Python
hamster = Hamster(0)
hamster.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 6 (see the table below) | - |
| unit | Condition |
|---|---|
| 0 | acceleration('x') > 5000 |
| 1 | acceleration('x') < -5000 |
| 2 | acceleration('y') > 5000 |
| 3 | acceleration('y') < -5000 |
| 4 | acceleration('z') > 0 |
| 5 | acceleration('z') < -3000 |
| 6 | proximity('left') > 50 or proximity('right') > 50 |
Python
hamster = Hamster(0)
# unit = 0
hamster.acceleration('x') > 5000
# unit = 6
hamster.proximity('left') > 50 or hamster.proximity('right') > 50Set I/O port input mode
Sets the input mode of an I/O port.
Parameters
| Name | Kind | Description | Range / Type | Default |
|---|---|---|---|---|
| unit | Dropdown option | I/O port | A ('a'), B ('b'), both | - |
| option | Dropdown option | I/O mode | analog_input, digital_input, digital_input_pullup, digital_input_pulldown, analog_input_voltage, servo_output, pwm_output, digital_output | - |
Python
hamster = Hamster(0)
hamster.io_mode('both', 'analog_input')Set I/O port output value
Sets the output value of the specified I/O port.
Parameters
| Name | Kind | Description | Range / Type | Default |
|---|---|---|---|---|
| unit | Dropdown option | I/O port | A ('a'), B ('b'), both | - |
| data | Input (block) | Output value | Integer 0 to 180 | - |
Python
hamster = Hamster(0)
hamster.set_output('both', 90)Change I/O port output value
Changes the output value of the specified I/O port.
Parameters
| Name | Kind | Description | Range / Type | Default |
|---|---|---|---|---|
| unit | Dropdown option | I/O port | A ('a'), B ('b'), both | - |
| data | Input (block) | Amount of output change | Integer | - |
Python
hamster = Hamster(0)
hamster.change_output('a', 10)Open / close the gripper
Opens or closes the gripper of Hamster.
Depending on the unit value, one of two methods is called.
Parameters
| Name | Kind | Description | Range / Type | Default |
|---|---|---|---|---|
| unit | Dropdown option | Action | close, open | - |
Python
hamster = Hamster(0)
# unit = "open"
hamster.open_gripper()
# unit = "close"
hamster.close_gripper()Set shooter angle
Sets and controls the shooter angle. The angle ranges from 0 to 180.
Parameters
| Name | Kind | Description | Range / Type | Default |
|---|---|---|---|---|
| data | Input (block) | Shooter angle | Integer 0 to 180 | - |
Python
hamster = Hamster(0)
hamster.shooter(45)I/O port input value
Returns the input value of an I/O port of Hamster.
Parameters
| Name | Kind | Description | Range / Type | Default |
|---|---|---|---|---|
| unit | Dropdown option | I/O port | A ('a'), B ('b') | - |
Python
hamster = Hamster(0)
hamster.get_input('a')