def start(port):
from pycreate2 import Create2
# Create a Create2.
bot = Create2(port)
bot.start()
# Start the Create 2
#bot.start()
# bot.wake()
# bot.power()
bot.full()
# You are responsible for handling issues, no protection/safety in
# this mode ... becareful
# bot.full()
# time.sleep(1)
# directly set the motor speeds ... move forward
# bot.drive_direct(100, 100)
# time.sleep(1)
# Stop the bot
# bot.drive_stop()
print("turning on pump...")
bot.pump_on()
time.sleep(1)
print("turning pump off")
bot.pump_off()
print("closing")
bot.close()
def rangestate():
port = '/dev/ttyUSB0'
baud = {'default': 115200, 'alt': 19200}
bot = Create2(port=port, baud=baud['default'])
bot.start()
bot.full()
pub = rospy.Publisher('sensor_msg', Int32MultiArray, queue_size=10)
rospy.init_node('rangestate', anonymous=True)
rate = rospy.Rate(1) # 10hz
while not rospy.is_shutdown():
sensor = bot.get_sensors()
x = sensor[35]
y = (
int(x[0]),
int(x[1]),
int(x[2]),
int(x[3]),
int(x[4]),
int(x[5]),
)
z = Int32MultiArray(data=y)
#print(type(sensor.light_bumper))
#state = "Sensors: %s" %str(sensor.light_bumper)
#rospy.loginfo(z)
pub.publish(z)
rate.sleep()
def sensor_state_publisher():
rospy.init_node('sensor_state')
pub = rospy.Publisher('sensor_values', String, queue_size=10)
rate = rospy.Rate(2)
#read sensor range at every 2 seconds
port = '/dev/ttyUSB0'
baud = {
'default': 115200,
'alt': 19200 # shouldn't need this unless you accident$
}
bot = Create2(port=port, baud=baud['default'])
bot.start()
bot.full()
print('Starting ...')
sensor_state = [0, 0, 0, 0, 0, 0]
while not rospy.is_shutdown():
# Packet 100 contains all sensor data.
sensor_state[0] = bot.get_sensors().light_bumper_left
sensor_state[1] = bot.get_sensors().light_bumper_front_left
sensor_state[2] = bot.get_sensors().light_bumper_center_left
sensor_state[3] = bot.get_sensors().light_bumper_center_right
sensor_state[4] = bot.get_sensors().light_bumper_front_right
sensor_state[5] = bot.get_sensors().light_bumper_right
sensor_string = str(
' %d %d %d %d %d %d ' %
(sensor_state[0], sensor_state[1], sensor_state[2],
sensor_state[3], sensor_state[4], sensor_state[5]))
rospy.loginfo(sensor_string)
pub.publish(sensor_string)
rate.sleep()
def angle_state_publisher():
rospy.init_node('angle_state')
pub = rospy.Publisher('angle_values', Int32, queue_size=10)
rate = rospy.Rate(2)
#read sensor range at every 2 seconds
port = '/dev/ttyUSB0'
baud = {
'default': 115200,
'alt': 19200 # shouldn't need this unless you accident$
}
bot = Create2(port=port, baud=baud['default'])
bot.start()
bot.full()
print('Starting ...')
angle_state = 0
while not rospy.is_shutdown():
# Packet 100 contains all sensor data.
angle_state = bot.get_sensors().angle
rospy.loginfo(angle_state)
pub.publish(angle_state)
rate.sleep()
def __init__(self, port, key):
geckopy.init_node()
self.pub = geckopy.pubBinderTCP(key, 'create')
self.sub = geckopy.subConnectTCP(key, 'cmd')
# Create a Create2
self.bot = Create2(port)
self.bot.start()
def main():
if True:
sp = GeckoSimpleProcess()
sp.start(func=core, name='geckocore', kwargs={})
print("<<< Starting Roomba >>>")
port = "/dev/serial/by-id/usb-FTDI_FT231X_USB_UART_DA01NX3Z-if00-port0"
bot = Create2(port)
bot.start()
bot.full()
geckopy.init_node()
rate = geckopy.Rate(10) # loop rate
# s = geckopy.subBinderUDS(key, 'cmd', "/tmp/cmd")
s = geckopy.subBinderTCP(key, 'cmd')
if s is None:
raise Exception("subscriber is None")
# p = geckopy.pubBinderUDS(key,'create2',"/tmp/create")
p = geckopy.pubBinderTCP(key, 'create2')
if p is None:
raise Exception("publisher is None")
print("<<< Starting Loop >>>")
try:
bot.drive_direct(200, 200)
while not geckopy.is_shutdown():
sensors = bot.get_sensors() # returns all data
batt = 100 * sensors.battery_charge / sensors.battery_capacity
# print(">> batter: {:.1f}".format(batt))
bot.digit_led_ascii("{:4}".format(int(batt)))
# bot.digit_led_ascii("80")
# print(">> ir:", sensors.light_bumper)
# print(">> ir:", end=" ")
# for i in range(6):
# print("{:.1f}".format(sensors[35 + i]), end=" ")
# print(" ")
# msg = sensors
# p.publish(msg)
msg = s.recv_nb()
if msg:
print(msg)
rate.sleep()
except KeyboardInterrupt:
print("bye ...")
bot.drive_stop()
# time.sleep(1)
# bot.close()
print("<<< Exiting >>>")
def callback(data):
m=data.data
#rospy.loginfo(m)
print(m)
port = '/dev/ttyUSB0'
baud = {
'default': 115200,
'alt': 19200 # shouldn't need this unless you accident$
}
bot = Create2(port=port, baud=baud['default'])
bot.start()
bot.full()
while not rospy.is_shutdown():
bot.drive_direct(m,m)
def run_robot(ROBOT_DEVICE, odometry, command, state, STATES):
# create Create2 object
bot = Create2(port=ROBOT_DEVICE, baud=115200)
# start robot
bot.start()
# robot drive in safe mode (cliff and wheel drop detection on)
bot.safe()
play_start_music(bot)
print('ROBOT::start')
while command[0] != b'qa':
# if start robot, go find wall
if state[0] is STATES[
'find_wall']: # if in find wall mode, go find the wall
find_wall(bot, odometry, command, state, STATES)
# if wall reached, go follow wall
elif state[0] is STATES['follow_wall']:
follow_wall(bot, odometry, command, state,
STATES) # o.w. follow the wall
print('ROBOT::thread ends')
def interface2robot(orch_2_robot_control, robot_semaphore, interrupt):
port = "/dev/ttyUSB0"
bot = Create2(port)
bot.start()
bot.full()
try:
while True:
robot_semaphore.acquire()
local_command = deepcopy(orch_2_robot_control)
orch_2_robot_control[4] = 0
robot_semaphore.release()
start_time = time.time()
goal_time = start_time+local_command[1]
timecomplete = False
if local_command[4] == 1:
print("[DEBUG] interface2robot new command = {}" .format(local_command))
if local_command[2] != 0.0:
bot.drive_direct(-100,100)
time.sleep(1.6/90 * local_command[2])
bot.drive_direct(0,0)
time.sleep(0.1)
# bot.drive_distance(distance = local_command[3], speed=100, stop=True)
bot.drive_direct(int(local_command[3]), int(local_command[3]))
while (not interrupt[0] and not timecomplete):
if(time.time() >= goal_time):
timecomplete = True
interrupt[0] = False
bot.drive_direct(0,0)
time.sleep(0.2)
except KeyboardInterrupt:
print("[INFO] interface2robot finished working")
bot.drive_direct(0, 0)
def __init__(self):
port = "/dev/ttyUSB0"
self.speed = 200
self.bot = Create2(port)
self.bot.start()
self.bot.full()
from pynput import keyboard
from pycreate2 import Create2
import time
#Robot initialization________________________________________________________________
if __name__ == "__main__":
port = '/dev/ttyUSB0'
baud = {
'default': 115200,
'alt':
19200 # shouldn't need this unless you accidentally set it to this
}
bot = Create2(port=port, baud=baud['default'])
bot.start()
bot.safe()
bot.full()
print('Starting ...')
bot.safe()
cnt = 0
init_flag = 0
coll_flag = 0
lightmax = 0
#Key board controls__________________________________________________________
def on_press(key):
def drive(action, state_enemy):
print("Chosen action: {0}".format(action))
bot = Create2('/dev/ttyUSB0', 115200)
bot.start()
bot.safe()
if (action == "F"):
# hier moet mijn gyro code komen die zorgt dat hij altijd even ver rijdt
bot.drive_distance(1, 100)
bot.drive_stop()
bot.close()
state_enemy += 11
done = check_victory(state_enemy)
elif (action == "B"):
# hier moet mijn gyro code komen die zorgt dat hij altijd even ver rijdt
bot.drive_distance(-1, 100)
bot.drive_stop()
bot.close()
state_enemy -= 11
done = check_victory(state_enemy)
elif (action == "L"):
# hier moet mijn gyro code komen die zorgt dat hij altijd even ver rijdt
bot.turn_angle(90, 50)
bot.drive_stop()
bot.safe()
bot.drive_distance(1, 100)
bot.turn_angle(-90, 50)
bot.drive_stop()
bot.close()
state_enemy -= 1
done = check_victory(state_enemy)
elif (action == "R"):
# hier moet mijn gyro code komen die zorgt dat hij altijd even ver rijdt
bot.turn_angle(-90, 50)
bot.drive_stop()
bot.safe()
bot.drive_distance(1, 100)
bot.turn_angle(90, 50)
bot.drive_stop()
bot.close()
state_enemy += 1
done = check_victory(state_enemy)
elif (action == "S"):
# hier moet mijn gyro code komen die zorgt dat hij altijd even ver rijdt
state_enemy = state_enemy
done = check_victory(state_enemy)
else:
pass
return state_enemy, done
from pycreate2 import Create2 import time # Create a Create2. bot = Create2(port='/dev/serial0') # Start the Create 2 bot.start() # Put the Create2 into 'safe' mode so we can drive it # This will still provide some protection bot.safe() # You are responsible for handling issues, no protection/safety in # this mode ... becareful # bot.full() # directly set the motor speeds ... easier if using a joystick bot.drive_direct(100, 100) bot.drive_straight(50) time.sleep(5) # Stop the bot bot.drive_stop() # Close the connection bot.close()
from pycreate2 import Create2 import time # Create a Create2. port = "COM6" bot = Create2(port) # Start the Create 2 bot.start() # Put the Create2 into 'safe' mode so we can drive it # This will still provide some protection bot.safe() # You are responsible for handling issues, no protection/safety in # this mode ... becareful bot.full() # directly set the motor speeds ... move forward bot.drive_direct(100, 100) time.sleep(2) # turn in place bot.drive_direct(200, -200) # inputs for motors are +/- 500 max time.sleep(2) # Stop the bot bot.drive_stop() # query some sensors sensors = bot.get_sensors() # returns all data
def initBot(port):
bot = Create2(port)
bot.start()
bot.full()
return bot
from pycreate2 import Create2
from time import sleep
bot = Create2('/dev/serial/by-id/usb-FTDI_FT231X_USB_UART_DN026EMT-if00-port0')
bot.start()
bot.full()
sensors = bot.get_sensors()
print(sensors)
print(sensors.battery_charge, sensors.battery_capacity)
# bot.drive_distance(.1, speed=40, stop=True)
# bot.drive_turn(40, 1)
# sleep(2)
#
# bot.drive_turn(40, -1)
# sleep(2)
bot.turn_angle(-3, speed=40)
bot.stop()
#! /usr/bin/env python3
"""
Example: Publish Roomba OI library via XMLRPC
"""
from xmlrpc.server import SimpleXMLRPCServer
from pycreate2 import Create2
from settings import Settings
# Instantiate iRobot OI
cr2 = Create2(Settings.ROOMBA_SERIAL)
cr2.open()
# Create server
with SimpleXMLRPCServer(('', Settings.XMLRPC_PORT), allow_none=True) as server:
server.register_introspection_functions()
server.register_multicall_functions()
server.register_instance(cr2)
server.serve_forever()
from pycreate2 import Create2
import sys, os, time
# See README on how to find the port
PORT = "/dev/ttyUSB0" # Don't remove the /dev/ portion
# Create a Create2
bot = Create2(PORT)
def main():
# Start the Create 2
bot.start()
# The Create has several modes, Off, Passive, Safe, and Full.
# Safe: Roomba stops when it detects a cliff, detects a wheel drop, or if on the charger
# Full: Roomba does not stop when it encounters an event above
# Passive: Roomba sends sensor data but does not accept changes to sensors or wheels
# https://cdn-shop.adafruit.com/datasheets/create_2_Open_Interface_Spec.pdf
bot.safe()
# directly set the motor speeds ... easier if using a joystick
bot.drive_direct(5, 5)
# turn an angle [degrees] at a speed: 45 deg, 100 mm/sec
bot.turn_angle(45, 100)
def drive(action, state_friendly):
action = actions[action]
bot = Create2('/dev/ttyUSB0', 115200)
bot.start()
bot.safe()
if (action == "F"):
# hier moet mijn gyro code komen die zorgt dat hij altijd even ver rijdt
bot.drive_distance(1, 100)
# kan zijn dat dit niet gaat werken en ik dit naar nex_state moet hernoemen, eens kijken
bot.drive_stop()
bot.close()
state_friendly += 11
done = check_victory(state_friendly)
elif (action == "B"):
# hier moet mijn gyro code komen die zorgt dat hij altijd even ver rijdt
bot.drive_distance(-1, 100)
bot.drive_stop()
bot.safe()
bot.close()
state_friendly -= 11
done = check_victory(state_friendly)
elif (action == "L"):
# hier moet mijn gyro code komen die zorgt dat hij altijd even ver rijdt
bot.turn_angle(90, 50)
bot.drive_stop()
bot.safe()
bot.drive_distance(1, 100)
bot.turn_angle(-90, 50)
bot.drive_stop()
bot.close()
state_friendly -= 1
done = check_victory(state_friendly)
elif (action == "R"):
# hier moet mijn gyro code komen die zorgt dat hij altijd even ver rijdt
bot.turn_angle(-90, 50)
bot.drive_stop()
bot.safe()
bot.drive_distance(1, 100)
bot.turn_angle(90, 50)
bot.drive_stop()
bot.close()
state_friendly += 1
done = check_victory(state_friendly)
elif (action == "S"):
# hier moet mijn gyro code komen die zorgt dat hij altijd even ver rijdt
state_friendly = state_friendly
bot.close()
done = check_victory(state_enemy)
else:
pass
return state_friendly, done
def random_walk(bot, ser):
while True:
if (pause):
time.sleep(1)
continue
sensors = bot.get_sensors()
bp = sensors.light_bumper
bp_list = [
bp.left, bp.front_left, bp.center_left, bp.center_right,
bp.front_right, bp.right
]
print(bp_list)
num_falses = bp_list.count(False)
if num_falses == 6:
free_walk(bot, ser)
else:
turn_90(bot, bp_list, ser)
x_pos, y_pos = 62, 62
if __name__ == '__main__':
ser = serial.Serial(port='/dev/ttyUSB0', baudrate=115200)
bot = Create2('/dev/ttyUSB0', 115200)
bot.start()
bot.safe()
# x_pos, y_pos = 62, 62
# cur_ang = 0 # 0-359
random_walk(bot, ser)
#!/usr/bin/env python
# ----------------------------------------------------------------------------
# MIT License
# shows how to get sensor data from the create 2
from __future__ import print_function
from pycreate2 import Create2
import time
if __name__ == "__main__":
config = {}
config["transport"] = 'echo'
config["robot"] = 'Create2'
bot = Create2(config)
bot.start()
bot.safe()
print('Starting ...')
while True:
# Packet 100 contains all sensor data.
sensor_state = ''
try:
sensor_state = bot.get_sensors()
except:
pass
print('==============Updated Sensors==============')
print(sensor_state)
import cv2
from pycreate2 import Create2
import time
from ground_line import process_frame, WebcamVideoStream
bot = Create2("/dev/ttyUSB0")
bot.start()
bot.full()
bot.drive_direct(0.2, 0.2)
time.sleep(5)
"""cap = cv2.VideoCapture(1)
cap.set(3, 600)
cap.set(4, 400)"""
cap = WebcamVideoStream(src=1, size=(600, 400))
cap.start()
while True:
img = cap.read()[1]
horiz_offset, angle_offset, frame = process_frame(img)
s = bot.get_sensors().bumps_wheeldrops
if s.bump_left or s.bump_right:
bot.drive_direct(0.0, 0.0)
break
if horiz_offset is None:
bot.drive_direct(0.0, 0.0)
continue
def __init__(self, port='/dev/ttyUSB0', baud=115200):
self.bot = Create2(port, baud=baud)
self.bot.start()
self.bot.full()
self.bot.drive_stop()
self._bumped = False