# Loop rate limiters
[](https://github.com/upkie/loop-rate-limiters/actions)
[](https://upkie.github.io/loop-rate-limiters/)
[](https://coveralls.io/github/upkie/loop-rate-limiters?branch=main)
[](https://anaconda.org/conda-forge/loop-rate-limiters)
[](https://pypi.org/project/loop-rate-limiters/)
Simple loop frequency regulators in Python with an API similar to ``rospy.Rate``:
```python
from loop_rate_limiters import RateLimiter
from time import perf_counter
rate = RateLimiter(frequency=400.0)
while True:
print(f"Hello from loop at {perf_counter():.3f} s")
rate.sleep()
```
A similar ``AsyncRateLimiter`` class is available for [asynchronous code](https://github.com/upkie/loop-rate-limiters#asynchronous-io).
## Installation
You can install the library straight from PyPI:
```console
$ pip install loop-rate-limiters
```
Or equivalently from Conda:
```console
$ conda install -c conda-forge loop-rate-limiters
```
## Asynchronous I/O
The ``AsyncRateLimiter`` class provides a loop frequency limiter for [asyncio](https://docs.python.org/3/library/asyncio.html):
```python
import asyncio
from loop_rate_limiters import AsyncRateLimiter
async def main():
rate = AsyncRateLimiter(frequency=400.0)
while True:
loop_time = asyncio.get_event_loop().time()
print(f"Hello from loop at {loop_time:.3f} s")
await rate.sleep()
if __name__ == "__main__":
asyncio.run(main())
```
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"description": "# Loop rate limiters\n\n[](https://github.com/upkie/loop-rate-limiters/actions)\n[](https://upkie.github.io/loop-rate-limiters/)\n[](https://coveralls.io/github/upkie/loop-rate-limiters?branch=main)\n[](https://anaconda.org/conda-forge/loop-rate-limiters)\n[](https://pypi.org/project/loop-rate-limiters/)\n\nSimple loop frequency regulators in Python with an API similar to ``rospy.Rate``:\n\n```python\nfrom loop_rate_limiters import RateLimiter\nfrom time import perf_counter\n\nrate = RateLimiter(frequency=400.0)\nwhile True:\n print(f\"Hello from loop at {perf_counter():.3f} s\")\n rate.sleep()\n```\n\nA similar ``AsyncRateLimiter`` class is available for [asynchronous code](https://github.com/upkie/loop-rate-limiters#asynchronous-io).\n\n## Installation\n\nYou can install the library straight from PyPI:\n\n```console\n$ pip install loop-rate-limiters\n```\n\nOr equivalently from Conda:\n\n```console\n$ conda install -c conda-forge loop-rate-limiters\n```\n\n## Asynchronous I/O\n\nThe ``AsyncRateLimiter`` class provides a loop frequency limiter for [asyncio](https://docs.python.org/3/library/asyncio.html):\n\n```python\nimport asyncio\nfrom loop_rate_limiters import AsyncRateLimiter\n\nasync def main():\n rate = AsyncRateLimiter(frequency=400.0)\n while True:\n loop_time = asyncio.get_event_loop().time()\n print(f\"Hello from loop at {loop_time:.3f} s\")\n await rate.sleep()\n\nif __name__ == \"__main__\":\n asyncio.run(main())\n```\n",
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