#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"