Cortano

Remote Interface for Jetson Nano + Vex Cortex, which connects to the robot. The partner component that should be installed first on the robot's Jetson Nano can be found at CortexNanoBridge.

Getting Started

1. Get your Jetson's IP address. This can be done by typing the following into a new terminal:

ifconfig

Your IP Address should be the IPv4 address (ie. 192.168.1.100) under wlan0.

2. Install this repository to to your laptop/desktop.

python3 -m pip install .

3. You can now run an example program to read sensor data and camera frames from the robot

from cortano import RemoteInterface

if __name__ == "__main__":
  robot = RemoteInterface("192.168.1.100") # remember to put your ip here
  while robot.running():
    color, depth, sensors, info = robot.read()

To control a robot, set the motor values (0-10) to anywhere between [-1, 1]

from cortano import RemoteInterface

if __name__ == "__main__":
  robot = RemoteInterface("192.168.1.100")
  while robot.running():
    forward = robot.keys["w"] - robot.keys["s"]
    robot.motor[0] = forward * 0.5
    robot.motor[9] = forward * -0.5

The info struct contains additional information:

battery	0.0 - 14.0V or 0-100%
cam2	second camera's color frame (optional)
time	timestamp on robot when data was sent

API

Method	Description	Return
RemoteInterface(host, port)	Constructor. Initialize socket connection to robot using host and port=(default: 9999)	RemoteInterface
running()	Inspect whether or not a robot is still running	bool
read()	Get sensor values, camera frames, and power level from the robot	color: uint8[360, 640, 3] depth: uint16[360, 640] sensors: float[20] info: {...}
motor[port]	Set a motor port value between [-1, 1]	ref(float)
keys[keyname]	Given a keyname:char, returns if pressed down or not	1 if pressed, 0 otherwise