API reference¶

The public MARLIN API is imported from the marlin package:

from marlin import (
    Button,
    Controller,
    Effector,
    IMU,
    ImuReading,
    Joystick,
    RadioBeacon,
    RadioBeaconReading,
    Reading,
    Robot,
    Sensor,
    Servo,
    Thruster,
)

These pages are written in Python terms: classes, methods, attributes, and arguments. If those words are unfamiliar, read Python basics first, then come back.

How to read a signature¶

Reference pages start each method with a signature: a summary of what the method takes and gives back. A signature is not code you type.

servo.angle(deg: float) -> None

You write the call, not the signature:

robot.servo("M2").angle(90)

The names you may meet after the : are int (whole number), float (decimal number), str (text), bool (True or False), and None (nothing). A | between two of them means either is allowed.

Reference pages¶

Anything not listed above is an implementation detail and may change between releases.

Some constructors show a state_mirror parameter. The library uses state_mirror internally to share live data. You never set this parameter.