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github-python

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slist[12] = highVal
slist[13] = lowVal
# bytes 14, 15: angle
highVal, lowVal = _toTwosComplement2Bytes( self.rawAngle )
slist[14] = highVal
slist[15] = lowVal
# Third Frame
# byte 16: charging state
slist[16] = self.chargingState
# bytes 17, 18: voltage
slist[17] = (self.voltage >> 8) & 0xFF
slist[18] = self.voltage & 0xFF
# bytes 19, 20: current
highVal, lowVal = _toTwosComplement2Bytes( self.current )
slist[19] = highVal
slist[20] = lowVal
# byte 21: temperature
slist[21] = self.temperature
# bytes 22, 23: charge
slist[22] = (self.charge >> 8) & 0xFF
slist[23] = self.charge & 0xFF
# bytes 24, 25: capacity
slist[24] = (self.capacity >> 8) & 0xFF
slist[25] = self.capacity & 0xFF
# convert to a string
s = ''.join([ chr(x) for x in slist ])
return s
#
# the robot class
#
class Create:
""" the Create class is an abstraction of the iRobot Create's
SCI interface, including communication and a bit
of processing of the strings passed back and forth
when you create an object of type Create, the code
will try to open a connection to it - so, it will fail
if it's not attached!
"""
# to do: check if we can start in other modes...
def __init__(self, PORT, BAUD_RATE=115200, startingMode=SAFE_MODE):
""" the constructor which tries to open the
connection to the robot at port PORT
"""
_debug = False
# to do: find the shortest safe serial timeout value...
# to do: use the timeout to do more error checking than
# is currently done...
#
# the -1 here is because windows starts counting from 1
# in the hardware control panel, but not in pyserial, it seems
# if PORT is the string 'simulated' (or any string for the moment)
# we use our SRSerial class
print 'PORT is', PORT
if type(PORT) == type('string'):
if PORT == 'sim':
print 'In simulated mode...'
self.ser = 'sim'; # SRSerial('mapSquare.txt')
else:
# for Mac/Linux - use whole port name
# print 'In Mac/Linux mode...'
self.ser = serial.Serial(PORT, baudrate=BAUD_RATE, timeout=0.5)
# otherwise, we try to open the numeric serial port...
else:
# print 'In Windows mode...'
self.ser = serial.Serial(PORT-1, baudrate=BAUD_RATE, timeout=0.5)
# did the serial port actually open?
if self.ser != 'sim' and self.ser.isOpen():
print 'Serial port did open, presumably to a roomba...'
else:
print 'Serial port did NOT open, check the'
print ' - port number'
print ' - physical connection'
print ' - baud rate of the roomba (it\'s _possible_, if unlikely,'
print ' that it might be set to 19200 instead'
print ' of the default 57600 - removing and'
print ' reinstalling the battery should reset it.'
# our OI mode
self.sciMode = OFF_MODE
# our sensor dictionary, currently empty
self.sensord = {}
# here are the variables that constitute the robot's