def __init__(self): serial = Serial('/dev/ttyAMA0', baudrate=115200, timeout=0.5) self.roomba = Roomba(serial) super(BumpingRobot, self).__init__(self.roomba) self.bumps_remaining = 4 # listen for bumper events self.subscribe(self.bumping, 'robot.obstacle.bumping') # listen for move finished self.subscribe(self.move_finished, 'robot.move.finished')
#!/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()