def __init__(self, id, initialPosition):
self.id = id
self.initialPosition = initialPosition
self.currentPosition = initialPosition
self.bot = create2api.Create2()
self.bot.start()
self.bot.safe()
cameraThread = CameraThread(self.bot)
cameraThread.start()
def main(): bot = create2api.Create2() #Start the Create2 bot.start() #Put the Create2 into 'safe' mode so we can drive it bot.safe() soya = Roomba_runrun() soya.roomba_go(3,1,0)
def __init__(self):
# ROSのノードを宣言
# ROSシステムの中で唯一の名前にしなけばならない
rospy.init_node('roomber', anonymous=True)
# Publisherのインスタンス
self.msg = Twist()
self.sasaki_mode = 0
self.my_state = 0
self.bot = create2api.Create2()
#Start the Create2
self.bot.start()
#Put the Create2 into 'safe' mode so we can drive it
self.bot.full()
# ルンバディスプレイへの文字表示
self.bot.digit_led_ascii('O_O ')
def __init__(self):
# Runner
rospy.init_node('Runner', anonymous=True)
# instance of publisher
self.pub = rospy.Publisher('Roomba_State', Rstate, queue_size=100)
# instance of subscriber
self.sub = None
# create2api
self.bot = create2api.Create2()
self.bot.start()
self.bot.safe()
# sensor
self.bump = 0
self.uss = 0
# state machine
self.state = myState.myState()
# Goal checker
self.goal = False
def Roomba_bumper():
rospy.init_node('Roomba_bumper_node', anonymous=True)
# nodeの宣言 : publisherのインスタンスを作る
# Roomba_bumperというtopicにInt8型のmessageを送るPublisherをつくった
pub = rospy.Publisher('Roomba_bumper', State, queue_size=100)
# 1秒間にpublishする数の設定
r = rospy.Rate(2)
#Create a Create2. This will automatically try to connect to your
# robot over serial
bot = create2api.Create2()
#Start the Create2
bot.start()
#Put the Create2 into 'safe' mode so we can drive it
bot.safe()
msg = State()
msg.state = 0
#バンパの状態を延々と得る
while not rospy.is_shutdown():
bot.get_packet(7)
Right = bot.sensor_state['wheel drop and bumps']['bump right']
Left = bot.sensor_state['wheel drop and bumps']['bump left']
if Right or Left == True:
msg.state = 1
pub.publish(msg)
else:
msg.state = 0
pub.publish(msg)
r.sleep(1)
def __init__(self):
# ROSのノードを宣言
# ROSシステムの中で唯一の名前にしなけばならない
rospy.init_node('Roomba_runrun_node', anonymous=True)
# Publisherのインスタンス
self.roomba_bumper_pub = rospy.Publisher('roomba_bumper', myState, queue_size=100)
# Subscriberのインスタンス
self.roomba_drive_sub = rospy.Subscriber('operation_state', myState, self.drive_callback)
# bamperのステートを送るためのメッセージ
self.bumper_msg = myState()
if DEBUG == False:
# roombaを動かすために初期化処理
# 初期化のために作った"bot"はクラスの中で共有
# Create a Create2. This will automatically try to connect to your
# robot over serial
self.bot = create2api.Create2()
#Start the Create2
self.bot.start()
#Put the Create2 into 'safe' mode so we can drive it
self.bot.safe()
def right():
bot = create2api.Create2()
bot.turn_clockwise(11)
sleep(0.5)
bot.drive_straight(0)
def stop():
bot = create2api.Create2()
bot.drive_straight(0)
def dock():
bot = create2api.Create2()
bot.start()
bot.seek_dock()
bot.stop()
def spot():
bot = create2api.Create2()
bot.start()
bot.spot()
bot.stop()
def RetrieveCreateTelemetrySensors(dashboard):
create_data = """
{"OFF" : 0,
"PASSIVE" : 1,
"SAFE" : 2,
"FULL" : 3,
"NOT CHARGING" : 0,
"RECONDITIONING" : 1,
"FULL CHARGING" : 2,
"TRICKLE CHARGING" : 3,
"WAITING" : 4,
"CHARGE FAULT" : 5
}
"""
create_dict = json.loads(create_data)
# a timer for issuing a button command to prevent Create2 from sleeping in Passive mode
BtnTimer = datetime.datetime.now() + datetime.timedelta(seconds=30)
battcharging = False
docked = False
connection_attempt = 0
global CLNpin, BRCpin
CLNpin = 17 # GPIO 17 to control CLEAN button
BRCpin = 18 # GPIO 18 to negative pulse BRC pin on miniDIN port
GPIO.setmode(GPIO.BCM) # as opposed to GPIO.BOARD # Uses 'import RPi.GPIO as GPIO'
GPIO.setup(CLNpin, GPIO.OUT) # GPIO pin 17 drives high to switch on BC337 transistor and CLEAN button 'ON'
GPIO.setup(BRCpin, GPIO.OUT) # GPIO pin 18 drives low on Create2 BRC pin
GPIO.output(CLNpin, GPIO.LOW) # initial state
GPIO.output(BRCpin, GPIO.HIGH) # initial state
time.sleep(1)
GPIO.output(BRCpin, GPIO.LOW) # pulse BRC pin LOW to wake up irobot if in Off mode and listen at 115200 baud
time.sleep(1)
GPIO.output(BRCpin, GPIO.HIGH) # rest state
while True and not dashboard.exitflag: # outer loop to handle data link retry connect attempts
if dashboard.dataconn.get() == True:
print "Attempting data link connection"
dashboard.comms_check(-1)
dashboard.master.update()
bot = create2api.Create2()
bot.digit_led_ascii(' ') # clear DSEG before Passive mode
print "Issuing a Start()"
bot.start() # issue passive mode command
#bot.safe()
dist = 0 # reset odometer
connection_attempt += 1
while True and not dashboard.exitflag:
try:
# check if serial is communicating
time.sleep(.3)
if timelimit(3, bot.get_packet, (100, ), {}) == False: # run bot.get_packet(35) with a timeout
print "Data link down"
dashboard.comms_check(0)
bot.destroy()
if connection_attempt > 5:
connection_attempt = 0
print "Attempted 6 communication connections... sleeping for 6 mins..."
time.sleep(360)
print "Simulating a Clean button press"
GPIO.output(CLNpin, GPIO.HIGH) # Single press of Clean button enters Passive mode
time.sleep(.2)
GPIO.output(CLNpin, GPIO.LOW) # Clean button activates on button 'release'
dashboard.dataconn.set(True)
break
else:
# DATA LINK
connection_attempt = 0
if dashboard.dataconn.get() == True:
print "Data link up"
dashboard.dataconn.set(False)
if dashboard.dataretry.get() == True: # retry an unstable (green) connection
print "Data link reconnect"
dashboard.dataretry.set(False)
dashboard.dataconn.set(True)
dashboard.comms_check(0)
bot.destroy()
break
if dashboard.rbcomms.cget('state') == "normal": # flash radio button
dashboard.comms_check(-1)
else:
dashboard.comms_check(1)
# SLEEP PREVENTION
# set BRC pin HIGH
GPIO.output(BRCpin, GPIO.HIGH)
# command a 'Dock' button press (while docked) every 30 secs to prevent Create2 sleep
# pulse BRC pin LOW every 30 secs to prevent Create2 sleep when undocked
# (BRC pin pulse to prevent sleep not working for me)
if datetime.datetime.now() > BtnTimer:
GPIO.output(BRCpin, GPIO.LOW)
print 'BRC pin pulse'
BtnTimer = datetime.datetime.now() + datetime.timedelta(seconds=30)
if docked:
print 'Dock'
bot.buttons(4) # 1=Clean 2=Spot 4=Dock 8=Minute 16=Hour 32=Day 64=Schedule 128=Clock
# switch to safe mode if undocked and detects OI mode is Passive
# (no longer required with Clean button press simulation)
elif bot.sensor_state['oi mode'] == create_dict["PASSIVE"] and \
dashboard.chgmode.get() != 'Seek Dock':
dashboard.chgmode.set('Safe')
bot.safe()
if bot.sensor_state['oi mode'] == create_dict["OFF"]:
dashboard.mode.set("Off")
elif bot.sensor_state['oi mode'] == create_dict["PASSIVE"]:
dashboard.mode.set("Passive")
elif bot.sensor_state['oi mode'] == create_dict["SAFE"]:
dashboard.mode.set("Safe")
elif bot.sensor_state['oi mode'] == create_dict["FULL"]:
dashboard.mode.set("Full")
else:
dashboard.mode.set("")
if dashboard.modeflag.get() == True:
if dashboard.chgmode.get() == 'Off':
bot.digit_led_ascii(' ') # clear DSEG before Off mode
bot.stop()
elif dashboard.chgmode.get() == 'Passive':
bot.digit_led_ascii(' ') # clear DSEG before Passive mode
bot.start()
elif dashboard.chgmode.get() == 'Safe':
bot.safe()
elif dashboard.chgmode.get() == 'Full':
bot.full()
elif dashboard.chgmode.get() == 'Seek Dock':
bot.digit_led_ascii('DOCK') # clear DSEG before Passive mode
bot.start()
bot.seek_dock()
dashboard.modeflag.set(False)
if bot.sensor_state['charging sources available']['home base']:
docked = True
else:
docked = False
# DRIVE
if dashboard.driven.get() == 'Button\ndriven':
if dashboard.driveforward == True:
bot.drive(int(dashboard.speed.get()), 32767)
elif dashboard.drivebackward == True:
bot.drive(int(dashboard.speed.get()) * -1, 32767)
elif dashboard.driveleft == True:
bot.drive(int(dashboard.speed.get()), 1)
elif dashboard.driveright == True:
bot.drive(int(dashboard.speed.get()), -1)
else:
bot.drive(0, 32767)
else:
if dashboard.leftbuttonclick.get() == True:
bot.drive(dashboard.commandvelocity, dashboard.commandradius)
else:
bot.drive(0, 32767)
# 7 SEGMENT DISPLAY
#bot.digit_led_ascii("abcd")
bot.digit_led_ascii(dashboard.mode.get()[:4].rjust(4)) # rjustify and pad to 4 chars
dashboard.master.update() # inner loop to update dashboard telemetry
except Exception: #, e:
print "Aborting telemetry loop"
#print sys.stderr, "Exception: %s" % str(e)
traceback.print_exc(file=sys.stdout)
break
dashboard.master.update()
time.sleep(1) # outer loop to handle data link retry connect attempts
# a Power() command will stop serial communication and the OI will enter into Passive mode.
# a Stop() command will stop serial communication and the OI will enter into Off mode.
# iRobot beeps once to acknowledge it is starting from Off mode when undocked
if bot.SCI.ser.isOpen(): bot.power()
GPIO.cleanup()
dashboard.master.destroy() # exitflag = True
import create2api
import time
bot = create2api.Create2('/dev/ttyUSB0')
bot.start()
bot.safe()
while True:
cmd = input()
if (cmd == 'f'):
bot.drive_straight(20)
elif (cmd == 'b'):
bot.drive_straight(-20)
elif (cmd == 'r'):
bot.turn_clockwise(20)
elif (cmd == 'l'):
bot.turn_counter_clockwise(300)
time.sleep(10)
bot.drive_straight(0)
bot.drive_straight(0)
elif (cmd == 's'):
bot.drive_straight(0)
else:
print("bad command")
def close():
bot = create2api.Create2()
bot.stop()
prevTime = time.time()
# thread data sharing
currentProgram = constants.ProgramInfo()
currMap = map.Map()
# slam thread
slamThread = threading.Thread(
target=rpslam.slam, args=(currentProgram,))
slamThread.daemon = True
slamThread.start()
# robot initialization
while (not currentProgram.roombaPort):
pass
bot = create2api.Create2(currentProgram.roombaPort)
bot.start()
bot.safe()
bot.full()
# move robot thread
moveThread = threading.Thread(
target=move.run, args=(currentProgram, bot))
moveThread.daemon = True
moveThread.start()
# obstacle thread
obstacleThread = threading.Thread(
target=sensors.monitor, args=(currentProgram, currMap, bot))
obstacleThread.daemon = True
obstacleThread.start()
def __init__(self):
self.orientation = 90
self.velocity = 0
self.bot = create2api.Create2()
def backward():
bot = create2api.Create2()
bot.drive_straight(-200) #Normal speed of Roomba is -280
def open():
bot = create2api.Create2()
bot.start()
bot.safe()
def forward():
bot = create2api.Create2()
bot.drive_straight(200) #Normal speed of Roomba is 280
print('Socket created')
#Bind socket to local host and port
try:
s.bind((HOST, PORT))
except socket.error as msg:
print('Bind failed. Error Code : ' + str(msg[0]) + ' Message ' + msg[1])
sys.exit()
print('Socket bind complete')
#Start listening on socket, limit to one connection
s.listen(1)
print('Socket now listening')
roomba = create2api.Create2()
commandQueue = queue.Queue()
queueLock = threading.Lock()
#Function for handling connections. This will be used to create threads
def clientthread(conn, com_queue):
#infinite loop so that function does not terminate and thread does not end.
while True:
#Receiving from client
data = conn.recv(256)
if not data:
break
try:
def go_sleep():
bot = create2api.Create2()
bot.start()
bot.power()
bot.stop()
import create2api
import time
STOP_VELOCITY = 0
STRAIGHT_RADIUS = 32767
ROTATION_VELOCITY = 100
UNIT_ROTATION_TIME = 6.60 / 360.0
bot = create2api.Create2()
bot.start()
bot.safe()
def rotate(angle):
timeToRotate = abs(angle * UNIT_ROTATION_TIME)
if angle >= 0:
bot.drive(ROTATION_VELOCITY, -1)
else:
bot.drive(ROTATION_VELOCITY, 1)
print timeToRotate
time.sleep(timeToRotate)
bot.drive(STOP_VELOCITY, STRAIGHT_RADIUS)
def clean():
bot = create2api.Create2()
bot.start()
bot.clean()
bot.stop()