def bumpWheelDrop(index):
# requests sensor packet data
connection.write(142)
# wait for command to be sent
sleep()
# request the bump sensor packet
connection.write(7)
sleep()
data = connection.read(1)
# interbret data as byte
byte = struct.unpack('B', data)[0]
# right bump sensor
bumpRight = bool(byte & 0x01)
bumpLeft = bool(byte & 0x02)
wheelDropRight = bool(byte & 0x04)
wheelDropLeft = bool(byte & 0x08)
# return bumpRight
if (index == 0):
return bumpRight
elif (index == 1):
return bumpLeft
elif (index == 2):
return wheelDropRight
elif (index == 3):
return wheelDropLeft
elif (index == 4):
return bool(byte != 0)
else:
return byte
def distanceRead():
connection.write(142)
sleep()
connection.write(19)
sleep()
data = connection.read(1)
# print data
byte = struct.unpack('i', data)[0]
print byte
def angleRead():
connection.write(142)
# packet 20 is angle
sleep()
connection.write(20)
# returns signed 2 bytes
sleep()
data = connection.read(1)
# print data
byte = struct.unpack('i', data)[0]
print byte
def cliffRead():
# declare array to hold results from cliffArray
cliffArr = [0,0,0,0,0]
counter = 0
for i in range(9,14):
# requests sensor data
connection.write(142)
#requests each cliff sensor
connection.write(i)
data = connection.read(1)
byte = struct.unpack('B', data)[0]
cliffArr[counter] = byte
counter += 1
return cliffArr
def readButton():
# requests sensor packet data.
connection.write(142)
# waits 0.015 seconds for the code to process.
sleep()
# requests button packet data.
# should read 1 byte which is returned.
connection.write(18)
# waits 0.015 seconds for the code to process.
sleep()
# reads data from the buttons.
data = connection.read(1)
# unpacks the data read to byte.
byte = struct.unpack('B' ,data)[0]
return byte