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jblitzar
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github-python

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while(timeout<0.0 or total < timeout):
self._write(SENSORS)
self._write(chr(7)) # smallest packet value that I can tell
if self.ser.read(1) != '':
break
time.sleep(interval - 0.5)
total = total + interval
# strip out again, we buffered up lots of junk
while(self.ser.read(8192) != ''):
continue
def _waitForDistance(self, distance_mm):
self._write(WAITDIST)
leftHighVal, leftLowVal = _toTwosComplement2Bytes( distance_mm )
self._write( chr(leftHighVal) )
self._write( chr(leftLowVal) )
return
def _waitForAngle(self, angle_deg):
self._write(WAITANGLE)
leftHighVal, leftLowVal = _toTwosComplement2Bytes( angle_deg )
self._write( chr(leftHighVal) )
self._write( chr(leftLowVal) )
return
def turn(self, angle_deg, deg_per_sec=20):
if angle_deg==0:
return
if deg_per_sec==0:
deg_per_sec=20
if (angle_deg < 0 and deg_per_sec > 0) or (angle_deg > 0 and deg_per_sec < 0):
deg_per_sec = 0 - deg_per_sec
self._startScript(13)
self.go(0, deg_per_sec)
self._waitForAngle(angle_deg)
self.stop()
self._endScript()
#self.sensors([POSE]) # updated by Sean
def move(self, distance_cm, cm_per_sec=10):
if distance_cm==0:
return
if cm_per_sec==0:
cm_per_sec=10
if (distance_cm < 0 and cm_per_sec > 0) or (distance_cm > 0 and cm_per_sec < 0):
cm_per_sec = 0 - cm_per_sec
self._startScript(13)
self.go(cm_per_sec, 0)
self._waitForDistance(distance_cm*10)
self.stop()
self._endScript()
#self.sensors([POSE]) # updated by Sean
# James' syntactic sugar/kludgebox
def senseFunc(self, sensorName):
"""Returns a function which, when called, updates and returns
information for a specified sensor (sensorName).
e.g. cliffState = robot.senseFunc(create.CLIFF_FRONT_LEFT_SIGNAL)
info = cliffState()
No added functionality, just nicer to look at."""
f = lambda: self.sensors([sensorName])[sensorName]
return f
def sleepTill(self, sensorFunc, comparison, value):
"""Have the robot continue what it's doing until some halting
criterion is met, determined by a repeated polling of
sensorFunc until it's comparison (a function) to value is true.
e.g. greater = lambda a,b: a > b
bumpSense = robot.sensorFunc(create.LEFT_BUMP)
robot.go(10)
robot.sleepTill(bumpSense, greater, 0)
This will have the robot go until the left bump sensor is pushed.
"""
while (not comparison(sensorFunc(), value)):
time.sleep(0.05)
# Some new stuff added by PaperPieceCode
#Change Time of Roomba internal Clock to System-Time over Serial Port
def change_Time():
self.write(START)
self.write(CHANGE_TIME)
weekdays = ['Sunday', 'Monday', 'Tuesday', 'Wednesday', 'Thursday', 'Friday', 'Saturday']
i = 0
now = datetime.datetime.now()
for day in weekdays:
if datetime.datetime.today().strftime('%A') == day: daycode = chr(i)
i += 1
self.write(daycode)
self.write(chr(now.hour))
self.write(chr(now.minute))