evo_hl_library

Shared reusable library for Evolutek competition robots.

What is this?

A Python library providing bus-agnostic drivers for sensors, actuators, and GPIO, along with shared infrastructure (config loader, logging, LocalBus) and common utilities. Each driver comes with a simulation/fake implementation for testing without hardware.

This library has no dependency on cellaserv, competition rules, or robot-specific logic. It can be used by any project in the ecosystem: omnissiah, simulator, PAMIs, or debug tools.

Ecosystem

Repo	Role
evo_hl_library (this repo)	Shared library — drivers, utilities, config loader, logging, LocalBus
evo_hl_omnissiah	Robot brain, consumes this library
evo_robot_configs	JSON5 configuration per robot and year
evo_tools	Standalone tools — CLI, config verifier, debug scripts

What goes here

Drivers consumed by Omnissiah's Action and Trajman briques:

Driver	Hardware	Bus	Used by
PCA9685Driver	PWM servo controller	I2C	Action
AX12Driver	Dynamixel servos	Serial (USB2AX) or CAN proxy	Action
CANDriver	Carte asserv communication	CAN (MCP2515 SPI)	Trajman
TCA9548ADriver	I2C multiplexer → color sensors	I2C	Action
ADS1115Driver	ADC → recalibration sensors	I2C	Action
LidarDriver	RPLidar 2D	UART	Orchestrator

Each driver follows the same structure:

evo_hl/<driver>/
├── base.py       # Abstract base class (interface)
├── rpi.py        # Real RPi implementation
├── fake.py       # Simulation implementation
└── config.py     # Pydantic model for this driver's config

Boundary rule

If the code can be reused on a completely different robot (industrial arm, drone, another competition robot), or if it is shared across multiple projects in the ecosystem (omnissiah, simulator, PAMIs, CLI), it belongs here. If it is specific to Evolutek's match logic, it belongs in evo_hl_omnissiah.