Initialization and general functions

To begin using the library, you need to put the following in the beginning of your code.py file:

import yozh
bot = yozh.Yozh()

This creates an object with name bot, representing your robot. From now on, all commands you give to the robot will be functions and properties of bot object. We will not include the name bot in our references below; for example, to use a command stop_motors() described below, you would need to write bot.stop_motors().

By default, creating bot object also initializes the OLED display; it will produce errors if the OLED display is not found. If for some reason you are not using OLED, you can initialize the robot using this form of initialization command:

import yozh
bot = yozh.Yozh(oled = None)

Here are some basic functions:

fw_version()

Returns firmware version as a string. e.g. 2.1.

battery()

Returns battery voltage, in volts. For normal operation it should be at least 4.5 V.