class BumpingRobot(Robot):
def __init__(self):
serial = Serial('/dev/ttyAMA0', baudrate=115200, timeout=0.5)
self.roomba = Roomba(serial)
super(BumpingRobot, self).__init__(self.roomba)
self.bumps_remaining = 4
# listen for bumper events
self.subscribe(self.bumping, 'robot.obstacle.bumping')
# listen for move finished
self.subscribe(self.move_finished, 'robot.move.finished')
def go(self):
# start our inital move
self.roomba.move_by(100, 0, 0.8)
def bumping(self, whichi):
if self.bumps_remaining:
self.roomba.debump()
self.bumps_remaining -= 1
else:
self.shutdown()
def move_finished(self, type, *args):
if type == 'debump':
# rotate a random amount between -180 and 180
if random() > 0.5:
self.roomba.rotate_by(randrange(45, 180, 1), 0.5)
else:
self.roomba.rotate_by(randrange(-180, -45, 1), 0.5)
# start moving again
self.roomba.move_by(100, 0, 0.8)
class BumpingRobot(Robot):
def __init__(self):
serial = Serial('/dev/ttyAMA0', baudrate=115200, timeout=0.5)
self.roomba = Roomba(serial)
super(BumpingRobot, self).__init__(self.roomba)
self.bumps_remaining = 4
# listen for bumper events
self.subscribe(self.bumping, 'robot.obstacle.bumping')
# listen for move finished
self.subscribe(self.move_finished, 'robot.move.finished')
def go(self):
# start our inital move
self.roomba.move_by(100, 0, 0.8)
def bumping(self, whichi):
if self.bumps_remaining:
self.roomba.debump()
self.bumps_remaining -= 1
else:
self.shutdown()
def move_finished(self, type, *args):
if type == 'debump':
# rotate a random amount between -180 and 180
if random() > 0.5:
self.roomba.rotate_by(randrange(45, 180, 1), 0.5)
else:
self.roomba.rotate_by(randrange(-180, -45, 1), 0.5)
# start moving again
self.roomba.move_by(100, 0, 0.8)
def __init__(self):
serial = Serial('/dev/ttyAMA0', baudrate=115200, timeout=0.5)
self.roomba = Roomba(serial)
super(BumpingRobot, self).__init__(self.roomba)
self.bumps_remaining = 4
# listen for bumper events
self.subscribe(self.bumping, 'robot.obstacle.bumping')
# listen for move finished
self.subscribe(self.move_finished, 'robot.move.finished')
def __init__(self):
serial = Serial('/dev/ttyAMA0', baudrate=115200, timeout=0.5)
self.roomba = Roomba(serial)
super(BumpingRobot, self).__init__(self.roomba)
self.bumps_remaining = 4
# listen for bumper events
self.subscribe(self.bumping, 'robot.obstacle.bumping')
# listen for move finished
self.subscribe(self.move_finished, 'robot.move.finished')
#!/usr/bin/env python
from __future__ import absolute_import, division, print_function, \
unicode_literals
from evrobot import Robot, Roomba
from math import sqrt
from serial import Serial
import logging
logging.basicConfig(level=logging.DEBUG,
format='%(asctime)s %(threadName)-10s %(name)-9s '
'%(message)s')
logger = logging.getLogger(__name__)
serial = Serial('/dev/ttyAMA0', baudrate=115200, timeout=0.5)
roomba = Roomba(serial)
robot = Robot(roomba)
# queue up some commands
roomba.move_by(1, 0.5, 2 / 5.0)
roomba.move_by(-sqrt(1.25), 0, 0.5)
roomba.rotate_by(163)
# shutdown
robot.shutdown()
# wait for things to finish
robot.wait()
#!/usr/bin/env python
from __future__ import absolute_import, division, print_function, \
unicode_literals
from evrobot import Robot, Roomba
from math import sqrt
from serial import Serial
import logging
logging.basicConfig(level=logging.DEBUG,
format='%(asctime)s %(threadName)-10s %(name)-9s '
'%(message)s')
logger = logging.getLogger(__name__)
serial = Serial('/dev/ttyAMA0', baudrate=115200, timeout=0.5)
roomba = Roomba(serial)
robot = Robot(roomba)
# queue up some commands
roomba.move_by(1, 0.5, 2 / 5.0)
roomba.move_by(-sqrt(1.25), 0, 0.5)
roomba.rotate_by(163)
# shutdown
robot.shutdown()
# wait for things to finish
robot.wait()
