def __init__(self, server_address, server_handler, serial_port, brc_pin):
super().__init__(server_address, server_handler)
self.logger = logging.getLogger('Roomberry')
#Initialize camera
self.camera_lock = Lock()
# self.start_camera()
self.last_camera_operation = time()
#Wake up an initialize roomba
self.roomba = Create2(serial_port,
self.logger,
brc_pin,
enable_quirks=False)
self.roomba.logger.disabled = False
# boot_message = self.roomba.firmware_version.split('\r\n')
self.roomba_lock = Lock()
self.distance = 0
self.angle = 0
self.roomba.client = mqtt.Client(socket.gethostname())
#Start watchdog thread
self.battery_watchdog_thread = Thread(target=self.battery_watchdog)
self.battery_watchdog_thread.setDaemon(True)
def main():
import code
import atexit
import os
import readline
import rlcompleter
historyPath = os.path.expanduser("~/.pyhistory")
def save_history(historyPath=historyPath):
import readline
readline.write_history_file(historyPath)
if os.path.exists(historyPath):
readline.read_history_file(historyPath)
atexit.register(save_history)
del os, atexit, readline, rlcompleter, save_history, historyPath
print('Launching REPL')
port = input('Serial Port> ')
brc_pin = int(input('BRC Pin> '))
print()
# give the user a way out before we launch into interactive mode
if port.lower() == 'quit()':
return
try:
robot = Create2(port,brc_pin)
except RobotConnectionError as e:
print(e, '\nInner Exception:', e.__cause__)
return
except ModeChangeError:
print('Failed to enter Passive mode')
return
# add methods to turn logging to console on/off
logger = _configure_logger()
def enable_logging():
logger.disabled = False
def disable_logging():
logger.disabled = True
# determine if we need to handle the issue with angle/distance
check_for_quirks(robot)
# add our goodies to the scope
# I hope the Python powers don't come to get me foe doing this
vars = globals().copy()
vars.update(locals())
# punch user out to a repl
shell = code.InteractiveConsole(vars)
shell.interact(banner='Create2 attached as robot on {0}\nMay it serve you well'.format(port))
def connect():
"""Connect to the create - must be called before anything else is used."""
global robot
global create_initialized
create_initialized = True
try:
robot = Create2(port)
except Exception:
print('The Create is either not connected or is powered off.')
exit(1)
robot.oi_mode = MODES.SAFE
_set_initial_counts()
def __init__(self, server_address, server_handler, serial_port, brc_pin):
super().__init__(server_address, server_handler)
self.logger = logging.getLogger('Roomberry')
#Initialize camera
self.camera_lock = Lock()
self.start_camera()
self.last_camera_operation = time()
#Wake up an initialize roomba
self.roomba = Create2(serial_port, brc_pin, enable_quirks=False)
self.roomba.logger.disabled = True
self.roomba_lock = Lock()
self.distance = 0
self.angle = 0
#Start watchdog thread
self.battery_watchdog_thread = Thread(target=self.battery_watchdog)
self.battery_watchdog_thread.setDaemon(True)
def main():
import code
print('Launching REPL')
port = input('Serial Port> ')
print()
# give the user a way out before we launch into interactive mode
if port.lower() == 'quit()':
return
try:
robot = Create2(port)
except RobotConnectionError as e:
print(e, '\nInner Exception:', e.__cause__)
return
except ModeChangeError:
print('Failed to enter Passive mode')
return
# add methods to turn logging to console on/off
logger = _configure_logger()
def enable_logging():
logger.disabled = False
def disable_logging():
logger.disabled = True
# determine if we need to handle the issue with angle/distance
check_for_quirks(robot)
# add our goodies to the scope
# I hope the Python powers don't come to get me foe doing this
vars = globals().copy()
vars.update(locals())
# punch user out to a repl
shell = code.InteractiveConsole(vars)
shell.interact(banner='Create2 attached as robot on {0}\nMay it serve you well'.format(port))
print('\t' * level, obj)
else:
for prop in [prop for prop in dir(obj) if not prop.startswith('_')]:
prop_val = getattr(obj, prop)
if not hasattr(prop_val, '__dict__'):
print('\t' * level, prop + ':', prop_val)
else:
print('\t' * level, prop + ':')
print_properties(prop_val, level + 1)
def get_all_sensor_readings(robot):
print('Reading all sensors')
for p in [
p for p in dir(Create2)
if isinstance(getattr(Create2, p), property) and p not in
['enable_quirks', 'enable_logging', 'firmware_version']
]:
print(p)
print_properties(getattr(robot, p))
print()
sleep(.03)
if __name__ == "__main__":
print('Launching robots Tests')
port = input('Serial Port?> ')
robot = Create2(port, enable_quirks=True)
get_all_sensor_readings(robot)
robot.stop()
from irobot.robots.create2 import Create2 from irobot.openinterface.constants import MODES import time port = '/dev/ttyUSB0' robot = Create2(port) print(robot.left_encoder_counts) robot.ou_mode = MODES.SAFE #robot.seek_dock() robot.wake()
from irobot.robots.create2 import Create2 from irobot.openinterface.constants import MODES # instantiate robot robot = Create2(port='/dev/serial0') robot.set_baud(115200) # read sensor # print(robot.left_encoder_counts) # change mode to drive (SAFE|FULL) robot.oi_mode = MODES.SAFE robot.drive_straight(50) # stop driving robot.drive_straight(0) # return to passive mode robot.oi_mode = MODES.PASSIVE # shutdown OI robot.stop()