Simulated Thymio API¶

This page describe the APIs, methods and VPL blocks available when programming a simulated Thymio. Because the simulated Thymio is in a limited, virtual environment, not all features are implemented. However, in order to be compatible with the real Thymio, all variables, functions and events are available.

If you use them, you will not get a compilation error, however some events might never happen, some functions might do nothing and some variables might never change.

Aseba¶

Variables¶

Variable	Status
`button.backward`, `button.left`, `button.center`, `button.forward`, `button.right`	simulated, 0 by default, 1 when the respective buttons are clicked on with the mouse
`prox.horizontal[0-6]`	simulated, return values depending on what is around the robot in the simulator with the addition of noise
`prox.ground.ambiant[0-1]`	always 0
`prox.ground.reflected[0-1]`	Simulated, return values depending on the colour of the ground with the addition of noise. The simulated environment is 2-dimensional, there can be no holes under Thymio and Thymio cannot be tilted or laid on one side)
`prox.ground.delta[0-1]`	simulated, returns the same as `prox.ground.reflected[0-1]`
`prox.comm.rx`, `prox.comm.tx`	always 0
`acc[0-2]`	always 0
`temperature`	always 220
`motor.left.target`, `motor.right.target`	default 0, can be defined by the user to set the motors’ speeds. The simulated Thymio can move on a plane.
`motor.left.speed`, `motor.right.speed`	returns `motor.left.target`, `motor.right.target`
`motor.left.pwm`, `motor.right.pwm`	always 0
`rc5.address`	always 0
`rc5.command`	always 0
`mic.intensity`	always 0
`mic.threshold`	can be defined by the user but will have no effect
`timer.period[0]`, `timer.period[1]`	can be defined by the user to setup the `timer0` and `timer1` events

Functions¶

Function	Status
`prox.comm.enable(state)`	does nothing
`leds.circle(l0, l1, l2, l3, l4, l5, l6, l7)` `leds.top(r, g, b)` `leds.bottom.left(r, g, b)` `leds.bottom.right(r, g, b)` `leds.buttons(l0, l1, l2, l3)` `leds.prox.h(l0, l1, l2, l3, l4, l5, l6, l7)`	These LEDs are displayed as textures on the simulated robot
`leds.rc(l)` `leds.temperature(r, b)` `leds.sound(l)` `leds.prox.v(l0, l1)`	do nothing
`sound.freq` `sound.wave` `sound.record` `sound.replay` `sound.play`	do nothing
`sd.open(x,status)` `sd.write(data,written)` `sd.read(data,read)` `sd.seek(position,status)`	Simulated

Events¶

Event	Status
`button.backward`, `button.left`, `button.forward`, `button.right`, `button.center`	triggered when the user clicks with the mouse on one of the simulated Thymio’s buttons
`buttons`	regular, 50 Hz
`prox`	regular, 10 Hz
`prox.comm`	never triggered
`tap`	triggered upon shock in the simulator or when the user clicks with the mouse on the simulated Thymio (but not on the buttons)
`acc`	regular, 16 Hz
`mic`	never triggered
`sound.finished`	never triggered
`temperature`	regular, 1Hz
`rc5`	never triggered
`motor`	regular, 100 Hz
`timer0`	triggered when timer 0 period expires, user-defined
`timer1`	triggered when timer 1 period expires, user-defined

VPL Blocks¶

VPL Block	Status
	implemented, triggered when the user clicks with the mouse on one of the simulated Thymio’s buttons
	implemented, detects objects in the simulator
	implemented, detects ground colour in the simulator
	implemented, triggered upon shock in the simulator or when the user clicks with the mouse on the simulated Thymio (but not on the buttons)
	not implemented, never triggered
	implemented, the simulated Thymio can move on a plane
	implemented, displayed as textures on the simulated robot
	implemented, displayed as textures on the simulated robot
	not implemented, does nothing
	implemented, triggered when timer expires
	implemented
	implemented


	implemented, detects objects in the simulator
	implemented, detects ground colour in the simulator
	Thymio cannot be tilted in the simulator
	Thymio cannot be tilted in the simulator