def pulse(sign):
bot = Robot()
bot.playNote('A4', 5)
bot.setTurnSpeed(30 * sign)
time.sleep(0.1)
bot.setTurnSpeed(0)
bot.close()
def main():
#establish robot connection
bot = Robot()
bot.playNote('A4', 50)
# establish control connection
host = "10.7.88.88"
port = 9000
s = socket.socket()
s.bind((host, port))
s.listen(1)
client_socket, client_address = s.accept()
print("Connection established from: " + str(client_address))
# the received message
last_message = 'i'
while 1:
data = client_socket.recv(2).decode('utf-8')
datac = [char for char in data]
print(data)
# Stop the robot when no target is detected
if datac[0] == 's':
bot.setForwardSpeed(0)
if datac[1] == 's':
bot.setTurnSpeed(0)
# set the iRobot to go forward
if datac[0] == 'f':
bot.setForwardSpeed(100)
time.sleep(1)
bot.setForwardSpeed(0)
# set the iRobot to turn left
elif datac[1] == 'l':
bot.setTurnSpeed(25)
time.sleep(1)
bot.setTurnSpeed(0)
# set the iRobot to turn right
elif datac[1] == 'r':
bot.setTurnSpeed(-25)
time.sleep(1)
bot.setTurnSpeed(0)
last_message = datac
client_socket.close()
bot.close()
pipeline.stop()
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
'''
from breezycreate2 import Robot
import time
# Create a Create2. This will automatically try to connect to your robot over serial
bot = Robot(250, 100, "COM3")
# bot.initGrid(1,0,90)
# bot.gridMoveTo(0,0)
# bot.gridMoveTo(-1,0)
# bot.gridMoveTo(2,2)
# bot.gridMoveTo(1,0)
# bot.gridMoveTo(0,-2)
# bot.gridMoveTo(0,0)
# bot.gridMoveTo(2.5,1.25)
# Report bumper hits and wall proximity for 30 seconds
# start_time = time.time()
# while (time.time() - start_time) < 10:
# print('Bumpers: ' + str(bot.getBumpers()) + ' Wall: ' + str(bot.getWallSensor()))
# Close the connection
bot.close()
class IRobotProcessing():
def __init__(self):
self.__vr = 0
self.__vl = 0
self.bot = Robot() # Open the robot
def setVR(self, vr):
self.__vr = vr # Setup the speed of right wheel
def setVL(self, vl):
self.__vl = vl # Setup the speed of left wheel
def getVR(self):
return self.__vr
def getVL(self):
return self.__vl
# Let the robot move by this class data
def run(self):
self.bot.setWheelSpeed(self.__vr, self.__vl)
# Let the robot move by the other class argument
def move(self, vr, vl):
self.bot.setWheelSpeed(vr, vl)
# Turn off the wheel motors.
def stop(self):
self.bot.setWheelSpeed(0, 0)
# Turn off the robot
def close(self):
self.bot.close()
# reset all the internal data of the robot.
def reset(self):
self.bot.reset()
def getDistanceAngle(self, pre_right_encoder, pre_left_encoder):
right_encoder, left_encoder = self.getEncoder()
difference_right = right_encoder - pre_right_encoder
difference_left = left_encoder - pre_left_encoder
# right_distance = difference_right / 508.8 * np.pi * 72
# left_distance = difference_left / 508.8 * np.pi * 72
# Formula for iRobot Create2:
# Distance: (current encoder - pre encodeer) / 508.8 * pi * 72
# Angle: (right distance - left ddstance)/ 235.0
# Note: When the encoder counted to 65536 (2^16), the encoder will count back to O
if difference_right > 60000:
right_distance = ((right_encoder - 65536) -
pre_right_encoder) / 508.8 * np.pi * 72
elif difference_right < -60000:
right_distance = ((65536 - pre_right_encoder) +
right_encoder) / 508.8 * np.pi * 72
else:
right_distance = difference_right / 508.8 * np.pi * 72
if difference_left > 60000:
left_distance = (
(left_encoder - 65536) - pre_left_encoder) / 508.8 * np.pi * 72
elif difference_left < -60000:
left_distance = (
(65536 - pre_left_encoder) + left_encoder) / 508.8 * np.pi * 72
else:
left_distance = difference_left / 508.8 * np.pi * 72
angle = math.degrees((right_distance - left_distance) / 235.0)
distance = (right_distance + left_distance) / 2
return distance, angle, right_distance, left_distance, right_encoder, left_encoder
def getEncoder(self):
right_encoder, left_encoder = self.bot.getEncoderCounts()
'''
if vr < 0:
right_encoder = 65536 - right_encoder
if vl < 0:
left_encoder = 65536 - left_encoder
'''
print "right encoder: " + str(right_encoder)
print "left encoder: " + str(left_encoder)
return right_encoder, left_encoder
def lineFollowing(self, status, expectation_distance, pre_cx, cx,
rotation_direction, small_distance, angle):
# status: check whether there are horizontal lines in images and the robot close to the node(corner). 1 means both of them are ture.
# expectation_distance: The distance the robot need to move when close the the node.
# pre_cx: the pre center of the contour
# cx: the current center of the contour
# small_distance: use to compare with the expectation_distance
if status == 1:
if small_distance < expectation_distance:
self.setVR(15)
self.setVL(15)
self.run()
else:
self.setVR(0)
self.setVL(0)
self.run()
status = 0
'''
if angle >= 85 or angle < -85:
status = 0
distance = 0
angle = 0
'''
else:
if cx == -1:
print 'Out of track'
'''
if rotation_direction < 0 or pre_cx < 320:
self.setVR(15)
self.setVL(-15)
self.run()
elif rotation_direction > 0 or pre_cx > 320:
self.setVR(-15)
self.setVL(15)
self.run()
else:
self.setVR(15)
self.setVL(15)
self.run()
'''
if angle > 0:
self.setVR(15)
self.setVL(-15)
self.run()
else:
self.setVR(-15)
self.setVL(15)
self.run()
else:
if cx >= 340 and cx < 440:
self.setVR(5)
self.setVL(20)
self.run()
print 'Turning right'
# time.sleep(3)
# bot.setTurnSpeed(0)
# time.sleep(2)
elif cx >= 440:
self.setVR(5)
self.setVL(25)
self.run()
print "Turning right"
elif cx < 340 and cx > 300:
if rotation_direction > 0:
self.setVR(20)
self.setVL(5)
self.run()
elif rotation_direction < 0:
self.setVR(5)
self.setVL(25)
self.run()
else:
self.setVR(40)
self.setVL(40)
self.run()
print 'Going forward'
# time.sleep(1)
# bot.setTurnSpeed(0)
# time.sleep(2)
elif cx <= 300 and cx > 200:
self.setVR(20)
self.setVL(5)
self.run()
print 'Turning left'
# time.sleep(3)
# bot.setTurnSpeed(0)
# time.sleep(2)
elif cx <= 200:
self.setVR(25)
self.setVL(5)
self.run()
print "Turning left"
if cx != -1:
return cx, status
else:
return pre_cx, status
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
'''
from breezycreate2 import Robot
import time
# Create a Create2. This will automatically try to connect to your robot over serial
bot = Robot()
# Play a note to let us know you're alive!
bot.playNote('A4', 100)
# Tell the Create2 to turn right slowly
bot.setTurnSpeed(-50)
# Wait a second
time.sleep(1)
# Stop
bot.setTurnSpeed(0)
# Report bumper hits and wall proximity for 30 seconds
start_time = time.time()
while (time.time() - start_time) < 30:
print('Bumpers: ' + str(bot.getBumpers()) + ' Wall: ' + str(bot.getWallSensor()))
# Close the connection
bot.close()