def script_square(self, robot, _log):
""" Same as 'square' demo, but using a script with 'wait distance'
and 'wait angle' statements."""
robot.define_script(irobot.make_script(
# 1st side
irobot.Command.drive(200),
irobot.Command.wait_distance(300),
irobot.Command.drive(200, irobot.OI_SPIN_CCW),
irobot.Command.wait_angle(90),
# 2nd side
irobot.Command.drive(200),
irobot.Command.wait_distance(300),
irobot.Command.drive(200, irobot.OI_SPIN_CCW),
irobot.Command.wait_angle(90),
irobot.Command.drive(200),
# 3rd side
irobot.Command.wait_distance(300),
irobot.Command.drive(200, irobot.OI_SPIN_CCW),
irobot.Command.wait_angle(90),
irobot.Command.drive(200),
# 4th side, ended by a reciprocal spi
irobot.Command.wait_distance(300),
irobot.Command.drive(200, irobot.OI_SPIN_CW),
irobot.Command.wait_angle(-270),
# that's all folks
irobot.Command.stop()
)
)
robot.play_script()
def script_leds(self, robot, _log):
""" Execute a script which lights the "play" LED when the bumper is pressed."""
robot.define_script(irobot.make_script(
irobot.Command.wait_event(irobot.OI_WAIT_BUMP),
irobot.Command.wait_event(irobot.inverse(irobot.OI_WAIT_BUMP)),
irobot.Command.leds(irobot.OI_LED_PLAY, irobot.OI_LED_OFF, irobot.OI_LED_OFF),
irobot.Command.wait_event(irobot.OI_WAIT_BUMP),
irobot.Command.wait_event(irobot.inverse(irobot.OI_WAIT_BUMP)),
irobot.Command.leds(irobot.OI_LED_OFF, irobot.OI_LED_OFF, irobot.OI_LED_OFF),
irobot.Command.play_script()
)
)
robot.play_script()
