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Updated warnings for documentation #18

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Merged
mklomp merged 1 commit into from
Jun 17, 2025
Merged

Updated warnings for documentation #18

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17 changes: 8 additions & 9 deletions mirte_robot/robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -464,7 +464,7 @@ def _check_available(self, services: dict[str] | None, id: str) -> bool:
return id in services

def getTimestamp(self) -> float:
"""Gets the elapsed time in seconds since the initialization fo the Robot.
"""Gets the elapsed time in seconds since the initialization of the Robot.

Returns:
float: Time in seconds since the initialization of the Robot. Fractions of a second may be present if the system clock provides them.
Expand Down Expand Up @@ -496,7 +496,7 @@ def getDistance(self, sensor: str) -> float:
float: Range in meters measured by the HC-SR04 sensor. (The distance gets clamped to minimum and maximum range of the HC-SR04 sensor)

Warning:
A maximum of 6 distance sensors is supported.
Depeding on the MCU used, there might be a mamimum of the number of distance sensors one can use.
"""

value = self._call_service(self.distance_services[sensor], GetRange.Request())
Expand Down Expand Up @@ -775,15 +775,14 @@ def setServoAngle(self, servo: str, angle: float) -> bool:
bool: True if set successfully.

Warning:
The servo uses the Servo library from Arduino (through Telemetrix). This also
means that, when a servo is used and the library is enabled, the last timer on
the MCU will be used for timing of the servos. This timer therefore can not be
used for PWM anymore. For Arduino Nano/Uno this means pins D9 and D10 will not
have PWM anymore. For the SMT32 this means pins A1, A2, A3, A15, B3, B10, and B11
will not have PWM anymore.
Servos use PWM signals, which needs MCU timers. Depending on the MCU
and the servo implementation, it might be the case that enabling a servo
can interfere with (or use other) timers. This can lead to PWM signals not
functioning on some pins that used to have PWM (due to used timers).

Warning:
A maximum of 12 servos is supported.
Depeding on the MCU used, there might be a mamimum of the number of servos
one can use.
"""
value = self._call_service(
self.servo_services[servo],
Expand Down