libstp.hal
==========

.. py:module:: libstp.hal

.. autoapi-nested-parse::

   Python bindings for libstp-hal



Classes
-------

.. autoapisummary::

   libstp.hal.AnalogSensor
   libstp.hal.DigitalSensor
   libstp.hal.IMU
   libstp.hal.Motor
   libstp.hal.Servo


Module Contents
---------------

.. py:class:: AnalogSensor(port: int)

   .. py:attribute:: port
      :type:  int


   .. py:method:: read() -> int


.. py:class:: DigitalSensor(port: int)

   .. py:attribute:: port
      :type:  int


   .. py:method:: read() -> bool


.. py:class:: IMU

   .. py:method:: calibrate() -> None

      Calibrate the IMU sensor



   .. py:method:: get_heading() -> float

      Get firmware-computed heading in radians



   .. py:method:: get_linear_acceleration() -> tuple[float, float, float]

      Get gravity-compensated linear acceleration as (x, y, z) in m/s²



   .. py:method:: get_integrated_velocity() -> tuple[float, float, float]

      Get firmware-integrated velocity as (x, y, z) in m/s



   .. py:method:: reset_integrated_velocity() -> None

      Reset the firmware-integrated velocity accumulator



   .. py:method:: read() -> tuple

      Read acceleration, gyroscope, and magnetometer data



.. py:class:: Motor(port: int, inverted: bool = False, calibration: libstp.foundation.MotorCalibration = ...)

   .. py:method:: disable_all() -> None
      :staticmethod:



   .. py:method:: brake() -> None


   .. py:method:: off() -> None

      Disable motor completely (no power, no brake — free-spinning)



   .. py:method:: get_calibration() -> libstp.foundation.MotorCalibration


   .. py:method:: get_position() -> int


   .. py:method:: is_done() -> bool


   .. py:method:: move_relative(velocity: int, delta_position: int) -> None


   .. py:method:: move_to_position(velocity: int, goal_position: int) -> None


   .. py:method:: set_speed(percent: int) -> None


   .. py:method:: set_velocity(velocity: int) -> None


   .. py:property:: inverted
      :type: bool



   .. py:property:: port
      :type: int



.. py:class:: Servo(port: int)

   .. py:attribute:: port
      :type:  int


   .. py:method:: fully_disable_all() -> None
      :staticmethod:



   .. py:method:: disable() -> None


   .. py:method:: enable() -> None


   .. py:method:: get_position() -> int


   .. py:method:: set_position(position: int) -> None