Helper (Python)

Import

import doly_helper

Minimal working example

Below is the module’s example.py as a starting point.

import doly_helper as helper

def main():
    # Read settings
    res = helper.read_settings()
    if res < 0:
        print(f"[info] Read settings failed with code: {res}")
        return 1

    # Get IMU offsets
    res, gx, gy, gz, ax, ay, az = helper.get_imu_offsets()
    if res < 0:
        print(f"[info] Get IMU offsets failed with code: {res}")
        return 1

    print(f"[info] IMU Offsets - Gx:{gx} Gy:{gy} Gz:{gz} Ax:{ax} Ay:{ay} Az:{az}")
    return 0

if __name__ == "__main__":
    raise SystemExit(main())

Common tasks

• Stop Doly service
• Read settings

Notes

• Platform: Raspberry Pi OS
• Python: 3.11
• Installed on robot: Yes (preinstalled)

API reference

See: API reference