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github-python

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self.ser.close()
return
def _closeSer(self):
""" just disconnects the serial port """
self.ser.close()
return
def _openSer(self):
""" opens the port again """
self.ser.open()
return
def _drive(self, roomba_mm_sec, roomba_radius_mm, turn_dir='CCW'):
""" implements the drive command as specified
the turn_dir should be either 'CW' or 'CCW' for
clockwise or counterclockwise - this is only
used if roomba_radius_mm == 0 (or rounds down to 0)
other drive-related calls are available
"""
# first, they should be ints
# in case they're being generated mathematically
if type(roomba_mm_sec) != type(42):
roomba_mm_sec = int(roomba_mm_sec)
if type(roomba_radius_mm) != type(42):
roomba_radius_mm = int(roomba_radius_mm)
# we check that the inputs are within limits
# if not, we cap them there
if roomba_mm_sec < -500:
roomba_mm_sec = -500
if roomba_mm_sec > 500:
roomba_mm_sec = 500
# if the radius is beyond the limits, we go straight
# it doesn't really seem to go straight, however...
if roomba_radius_mm < -2000:
roomba_radius_mm = 32768
if roomba_radius_mm > 2000:
roomba_radius_mm = 32768
# get the two bytes from the velocity
# these come back as numbers, so we will chr them
velHighVal, velLowVal = _toTwosComplement2Bytes( roomba_mm_sec )
# get the two bytes from the radius in the same way
# note the special cases
if roomba_radius_mm == 0:
if turn_dir == 'CW':
roomba_radius_mm = -1
else: # default is 'CCW' (turning left)
roomba_radius_mm = 1
radiusHighVal, radiusLowVal = _toTwosComplement2Bytes( roomba_radius_mm )
#print 'bytes are', velHighVal, velLowVal, radiusHighVal, radiusLowVal
# send these bytes and set the stored velocities
self._write( DRIVE )
self._write( chr(velHighVal) )
self._write( chr(velLowVal) )
self._write( chr(radiusHighVal) )
self._write( chr(radiusLowVal) )
def setLEDs(self, power_color, power_intensity, play, advance ):
""" The setLEDs method sets each of the three LEDs, from left to right:
the power LED, the play LED, and the status LED.
The power LED at the left can display colors from green (0) to red (255)
and its intensity can be specified, as well. Hence, power_color and
power_intensity are values from 0 to 255. The other two LED inputs
should either be 0 (off) or 1 (on).
"""
# make sure we're within range...
if advance != 0: advance = 1
if play != 0: play = 1
try:
power = int(power_intensity)
powercolor = int(power_color)
except TypeError:
power = 128
powercolor = 128
print 'Type excpetion caught in setAbsoluteLEDs in roomba.py'
print 'Your power_color or power_intensity was not of type int.'
if power < 0: power = 0
if power > 255: power = 255
if powercolor < 0: powercolor = 0
if powercolor > 255: powercolor = 255
# create the first byte
#firstByteVal = (status << 4) | (spot << 3) | (clean << 2) | (max << 1) | dirtdetect
firstByteVal = (advance << 3) | (play << 1)
# send these as bytes
# print 'bytes are', firstByteVal, powercolor, power
self._write( LEDS )
self._write( chr(firstByteVal) )
self._write( chr(powercolor) )
self._write( chr(power) )
return