def move_failed(robot, message):
robot.wait()
robot.stop()
def move1_finished(robot, message):
robot.subscribe('robot.move.finished', move2_finished)
robot.moveby(12, 0, 1)
return True
def done(robot, message):
pass
# create our device
simulator = Simulator(10, 10, 5.5, 2.4, 45)
# create our robot
robot = Robot(simulator)
# subscribe to things
robot.subscribe('robot.ready', ready)
robot.subscribe('robot.move.finished', move1_finished)
robot.subscribe('robot.move.failed', move_failed)
robot.subscribe('robot.done', done)
# start things running
robot.run()
logger.info('ready')
robot.moveby(1, 0.5, 1)
return True
def move_3_finished(robot, message):
logger.info('move 2 finished')
robot.end()
return True
def move_2_finished(robot, message):
logger.info('move 2 finished')
robot.rotateby(163, 1)
robot.subscribe('robot.move.finished', move_3_finished)
return True
def move_finished(robot, message):
logger.info('move finished')
robot.moveby(-sqrt(1.25), 0)
robot.subscribe('robot.move.finished', move_2_finished)
return True
roomba = Roomba700('/dev/ttyAMA0')
robot = Robot(roomba)
robot.subscribe('robot.ready', ready)
robot.subscribe('robot.move.finished', move_finished)
robot.run()
#!/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()
robot.stop()
return True
def move_failed(robot, message):
robot.wait()
robot.stop()
def move1_finished(robot, message):
robot.subscribe('robot.move.finished', move2_finished)
robot.moveby(12, 0, 1)
return True
def done(robot, message):
pass
# create our device
simulator = Simulator(10, 10, 5.5, 2.4, 45)
# create our robot
robot = Robot(simulator)
# subscribe to things
robot.subscribe('robot.ready', ready)
robot.subscribe('robot.move.finished', move1_finished)
robot.subscribe('robot.move.failed', move_failed)
robot.subscribe('robot.done', done)
# start things running
robot.run()
logger = logging.getLogger(__name__)
def ready(robot, message):
logger.info('ready')
robot.moveby(1, 0.5, 1)
return True
def move_3_finished(robot, message):
logger.info('move 2 finished')
robot.end()
return True
def move_2_finished(robot, message):
logger.info('move 2 finished')
robot.rotateby(163, 1)
robot.subscribe('robot.move.finished', move_3_finished)
return True
def move_finished(robot, message):
logger.info('move finished')
robot.moveby(-sqrt(1.25), 0)
robot.subscribe('robot.move.finished', move_2_finished)
return True
roomba = Roomba700('/dev/ttyAMA0')
robot = Robot(roomba)
robot.subscribe('robot.ready', ready)
robot.subscribe('robot.move.finished', move_finished)
robot.run()
