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jblitzar
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github-python

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CLIFF_LEFT_SIGNAL = 28
CLIFF_FRONT_LEFT_SIGNAL = 29
CLIFF_FRONT_RIGHT_SIGNAL = 30
CLIFF_RIGHT_SIGNAL = 31
CARGO_BAY_DIGITAL_INPUTS = 32
CARGO_BAY_ANALOG_SIGNAL = 33
CHARGING_SOURCES_AVAILABLE = 34
OI_MODE = 35
SONG_NUMBER = 36
SONG_PLAYING = 37
NUM_STREAM_PACKETS = 38
REQUESTED_VELOCITY = 39
REQUESTED_RADIUS = 40
REQUESTED_RIGHT_VELOCITY = 41
REQUESTED_LEFT_VELOCITY = 42
ENCODER_LEFT = 43
ENCODER_RIGHT = 44
LIGHTBUMP = 45
LIGHTBUMP_LEFT = 46
LIGHTBUMP_FRONT_LEFT = 47
LIGHTBUMP_CENTER_LEFT = 48
LIGHTBUMP_CENTER_RIGHT = 49
LIGHTBUMP_FRONT_RIGHT = 50
LIGHTBUMP_RIGHT = 51
# others just for easy access to particular parts of the data
POSE = 100
LEFT_BUMP = 101
RIGHT_BUMP = 102
LEFT_WHEEL_DROP = 103
RIGHT_WHEEL_DROP = 104
CENTER_WHEEL_DROP = 105
LEFT_WHEEL_OVERCURRENT = 106
RIGHT_WHEEL_OVERCURRENT = 107
ADVANCE_BUTTON = 108
PLAY_BUTTON = 109
# 0 1 2 3 4 5 6 7 8 9101112131415161718192021222324252627282930313233343536373839404142434445464748495051
SENSOR_DATA_WIDTH = [0,0,0,0,0,0,0,1,1,1,1,1,1,1,1,1,1,1,1,2,2,1,2,2,1,2,2,2,2,2,2,2,1,2,1,1,1,1,1,2,2,2,2,2,2,1,2,2,2,2,2,2]
#The original value was 258.0 but my roomba has 235.0
WHEEL_SPAN = 235.0
WHEEL_DIAMETER = 72.0
TICK_PER_REVOLUTION = 508.8 # original 508.8
TICK_PER_MM = TICK_PER_REVOLUTION/(math.pi*WHEEL_DIAMETER)
# on my floor, a full turn is measured as sth like 450 deg
# add an error to the computation to account for that.
ANGULAR_ERROR = 360.0/450.0
# for printing the SCI modes
def modeStr( mode ):
""" prints a string representing the input SCI mode """
if mode == OFF_MODE: return 'OFF_MODE'
if mode == PASSIVE_MODE: return 'PASSIVE_MODE'
if mode == SAFE_MODE: return 'SAFE_MODE'
if mode == FULL_MODE: return 'FULL_MODE'
print 'Warning: unknown mode', mode, 'seen in modeStr'
return 'UNKNOWN_MODE'
#
# some module-level functions for dealing with bits and bytes
#
def _bytesOfR( r ):
""" for looking at the raw bytes of a sensor reply, r """
print 'raw r is', r
for i in range(len(r)):
print 'byte', i, 'is', ord(r[i])
print 'finished with formatR'
def _bitOfByte( bit, byte ):
""" returns a 0 or 1: the value of the 'bit' of 'byte' """
if bit < 0 or bit > 7:
print 'Your bit of', bit, 'is out of range (0-7)'
print 'returning 0'
return 0
return ((byte >> bit) & 0x01)
def _toBinary( val, numbits ):
""" prints numbits digits of val in binary """
if numbits == 0: return
_toBinary( val>>1 , numbits-1 )
print (val & 0x01), # print least significant bit
def _fromBinary( s ):
""" s is a string of 0's and 1's """
if s == '': return 0
lowbit = ord(s[-1]) - ord('0')
return lowbit + 2*_fromBinary( s[:-1] )
def _twosComplementInt1byte( byte ):
""" returns an int of the same value of the input
int (a byte), but interpreted in two's
complement
the output range should be -128 to 127
"""
# take everything except the top bit
topbit = _bitOfByte( 7, byte )