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Powered Up Device

class PUPDevice(port)

Powered Up motor or sensor.

Parameters:

port (Port) – Port to which the device is connected.

info() → Dict

Gets information about the device.

For passive devices (such as DC motors or lights), returns a dictionary with only the id key.

For UART devices, returns a dictionary with an id key and a modes key. The modes value is a tuple of tuples, one per mode, each containing the mode name, number of values, and data type.

Returns:

Dictionary with device information.

awaitread(mode) → Tuple

Reads values from a given mode.

For passive touch sensors, this returns a single boolean value indicating whether the sensor is pressed, regardless of the mode argument.

Raises an error for other passive devices such as DC motors and lights, which do not support reading.

Parameters:

mode (int) – Device mode.

Returns:

Values read from the device.

Raises:

OSError – If the device is a passive device that does not support reading (e.g. a DC motor or light).

awaitwrite(mode, data)

Writes values to the device. Only selected UART devices and modes support this.

Parameters:

• mode (int) – Device mode.

• data (tuple) – Values to be written. The number of values and their types must match what the device expects for the given mode.

Raises:

• OSError – If the device is a passive device that does not support writing.

• ValueError – If the mode is invalid, the mode is not writable, the number of values does not match, or a value is out of range for its data type.

reset()

Resets the UART device. After this, it should automatically synchronize and be ready for use after a few seconds. This is useful to forcefully re-trigger what such a sensor does when plugged in.

Raises:

OSError – If the device is a passive device that does not support reset.

Examples

Detecting devices

from pybricks.iodevices import PUPDevice
from pybricks.parameters import Port
from uerrno import ENODEV

# Dictionary of device identifiers along with their name.
device_names = {
    # pybricks.pupdevices.DCMotor
    1: "Wedo 2.0 Medium Motor",
    2: "Powered Up Train Motor",
    # pybricks.pupdevices.Light
    8: "Powered Up Light",
    # pybricks.pupdevices.Motor
    38: "BOOST Interactive Motor",
    46: "Technic Large Motor",
    47: "Technic Extra Large Motor",
    48: "SPIKE Medium Angular Motor",
    49: "SPIKE Large Angular Motor",
    65: "SPIKE Small Angular Motor",
    75: "Technic Medium Angular Motor",
    76: "Technic Large Angular Motor",
    # pybricks.pupdevices.TiltSensor
    34: "Wedo 2.0 Tilt Sensor",
    # pybricks.pupdevices.InfraredSensor
    35: "Wedo 2.0 Infrared Motion Sensor",
    # pybricks.pupdevices.ColorDistanceSensor
    37: "BOOST Color Distance Sensor",
    # pybricks.pupdevices.ColorSensor
    61: "SPIKE Color Sensor",
    # pybricks.pupdevices.UltrasonicSensor
    62: "SPIKE Ultrasonic Sensor",
    # pybricks.pupdevices.ForceSensor
    63: "SPIKE Force Sensor",
    # pybricks.pupdevices.ColorLightMatrix
    64: "SPIKE 3x3 Color Light Matrix",
}

# Make a list of known ports.
ports = [Port.A, Port.B]

# On hubs that support it, add more ports.
try:
    ports.append(Port.C)
    ports.append(Port.D)
except AttributeError:
    pass

# On hubs that support it, add more ports.
try:
    ports.append(Port.E)
    ports.append(Port.F)
except AttributeError:
    pass

# Go through all available ports.
for port in ports:

    # Try to get the device, if it is attached.
    try:
        device = PUPDevice(port)
    except OSError as ex:
        if ex.args[0] == ENODEV:
            # No device found on this port.
            print(port, ": ---")
            continue
        else:
            raise

    # Get the device id
    id = device.info()["id"]

    # Look up the name.
    try:
        print(port, ":", device_names[id])
    except KeyError:
        print(port, ":", "Unknown device with ID", id)