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jblitzar
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github-python

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rightHighVal, rightLowVal = _toTwosComplement2Bytes( int(right_cm_sec*10) )
# send these bytes and set the stored velocities
self._write( DRIVEDIRECT )
self._write( chr(rightHighVal) )
self._write( chr(rightLowVal) )
self._write( chr(leftHighVal) )
self._write( chr(leftLowVal) )
def stop(self):
""" stop calls go(0,0) """
self.go(0,0)
# we've gotta update pose information
foo = self.sensors([POSE])
def motors ( self, side_brush = 0, main_brush = 0, vacuum = 0):
if (side_brush > 1):
side_brush = 1
elif (side_brush < -1):
side_brush = -1
if (main_brush > 1):
main_brush = 1
elif (main_brush < -1):
main_brush = -1
if (vacuum > 1):
vacuum = 1
elif (vacuum < 0):
vacuum = 0
byteToWrite = chr((16 if main_brush < 0 else 0) |
(8 if side_brush < 0 else 0) |
(4 if main_brush != 0 else 0) |
(2 if vacuum != 0 else 0) |
(1 if side_brush > 0 else 0))
self._write( MOTORS )
self._write( byteToWrite)
def go( self, cm_per_sec=0, deg_per_sec=0 ):
""" go(cmpsec, degpsec) sets the robot's velocity to
cmpsec centimeters per second
degpsec degrees per second
go() is equivalent to go(0,0)
"""
# need to convert to the roomba's drive parameters
#
# for now, just one or the other...
if cm_per_sec == 0:
# just handle rotation
# convert to radians
rad_per_sec = math.radians(deg_per_sec)
# make sure the direction is correct
if rad_per_sec >= 0: dirstr = 'CCW'
else: dirstr = 'CW'
# compute the velocity, given that the robot's
# radius is 258mm/2.0
vel_mm_sec = math.fabs(rad_per_sec) * (WHEEL_SPAN/2.0)
# send it off to the robot
self._drive( vel_mm_sec, 0, dirstr )
elif deg_per_sec == 0:
# just handle forward/backward translation
vel_mm_sec = 10.0*cm_per_sec
big_radius = 32767
# send it off to the robot
self._drive( vel_mm_sec, big_radius )
else:
# move in the appropriate arc
rad_per_sec = math.radians(deg_per_sec)
vel_mm_sec = 10.0*cm_per_sec
radius_mm = vel_mm_sec / rad_per_sec
# check for extremes
if radius_mm > 32767: radius_mm = 32767
if radius_mm < -32767: radius_mm = -32767
self._drive( vel_mm_sec, radius_mm )
return
def _start(self):
""" changes from OFF_MODE to PASSIVE_MODE """
self._write( START )
# they recommend 20 ms between mode-changing commands
time.sleep(0.25)
# change the mode we think we're in...
return
def close(self):
""" tries to shutdown the robot as kindly as possible, by
clearing any remaining odometric data
going to passive mode
closing the serial port
"""
# is there other clean up to be done?
# let's get rid of any lingering odometric data
# we don't call getSensorList, because we don't want to integrate the odometry...
self._getRawSensorDataAsList( [19,20] )
time.sleep(0.1)
self._start() # send Create back to passive mode
time.sleep(0.1)