#ROOMBA_BAUD="115200"
##Haptics!!
#HAPTICS_PORT="/dev/rfcomm0"
#HAPTICS_BAUD="9600"
#launcher = launchControl()
#roomba = RoombaAPI(ROOMBA_PORT, ROOMBA_BAUD)
##Haptics!!
#haptics = hapticFeedback(roomba,HAPTICS_PORT,HAPTICS_BAUD)
#emg = EmgInterface(EMG_PORT, EMG_BAUD);
#emg = EmgInterface("/dev/tty.M13762-BluetoothSerialP",115200)
#emg = EmgInterface('00:07:80:4B:F4:2B',5)
emg = EmgInterface('00:07:80:16:B6:07',1)
#ui = RemoteUI()
#State variable [forward,left,right,vacuum on,vacuum off,m-up,m-down,m-fire]
#roomba.connect()
#roomba.safe() #set safe control mode ///Use other mode
#roomba.full()
emg.start()
"""def processState(state,oldstate):
if state[0:3] == [0,0,0]: #roomba stop condition
roomba.stop()
print "stop"
#!/usr/bin/env python
from RoombaSCI import RoombaAPI
from stormLauncher import launchControl
import pyserial
from EmgInterface import EmgInterface
ROOMBA_PORT = "/dev/tty.usbserial-A2001n69"
ROOMBA_BAUD = "115200"
HAPTICS_PORT = "/dev/rfcomm0"
HAPTICS_BAUD = "115200"
EMG_PORT = "/dev/rfcomm1"
EMG_BAUD = "115200"
launcher = launchControl()
roomba = RoombaAPI(ROOMBA_PORT, ROOMBA_BAUD)
emg = EmgInterface(EMG_PORT, EMG_BAUD)
emg = EmgInterface("/dev/tty.M13762-BluetoothSerialP", 115200)
ROOMBA_PORT = "/dev/ttyUSB0"
ROOMBA_BAUD="115200"
HAPTICS_PORT="/dev/rfcomm0"
HAPTICS_BAUD="9600"
launcher = launchControl()
roomba = RoombaAPI(ROOMBA_PORT, ROOMBA_BAUD)
haptics = hapticFeedback(roomba,HAPTICS_PORT,HAPTICS_BAUD)
#emg = EmgInterface(EMG_PORT, EMG_BAUD);
#emg = EmgInterface("/dev/tty.M13762-BluetoothSerialP",115200)
emg = EmgInterface('00:07:80:4B:F4:2B',5)
#ui = RemoteUI()
#State variable [forward,left,right,vacuum on,vacuum off,m-up,m-down,m-fire]
roomba.connect()
roomba.safe() #set safe control mode ///Use other mode
#roomba.full()
emg.start()
def processState(state,oldstate):
if state[0:3] == [0,0,0]: #roomba stop condition
roomba.stop()
print "stop"