Power Board API
The power board can be accessed using the power submodule in sbot:
from sbot import power
Power outputs
The power board's outputs (H0, H1, L0, L1, etc) are identified in the PowerOutputPosition enum (importable from sbot):
power.set_output(PowerOutputPosition.H0, True)
The power board's six outputs can be turned on and off using the
set_output function of the submodule, which takes a boolean on/off value.
All outputs are set on when you set up your robot, so this doesn't need to be called manually. The ports will come on automatically as soon as your robot is ready, before the start button is pressed.
power.set_output(PowerOutputPosition.H0, True)
power.set_output(PowerOutputPosition.L1, False)
You can also get information about and control each output in the group:
from sbot import PowerOutputPosition
power.set_output(PowerOutputPosition.H0, True)
power.set_output(PowerOutputPosition.L3, False)
boolean_value = power.is_output_on(PowerOutputPosition.L2)
current_amps = power.get_output_current(PowerOutputPosition.H1)
The motor and servo boards are powered through these power outputs, whilst the power is off, you won't be able to control your motors or servos. They will register as a missing board and your code will break if you try and control them.
Battery Sensor
The power board has some sensors that can monitor the status of your battery. This can be useful for checking the charge status of your battery.
battery_voltage, battery_current = power.get_battery_data()