class Robot(object):
def __init__(self, a_star=None):
self.a_star = a_star or AStar()
self.encoders = Encoders(self.a_star)
self.odometer = Odometer(self.encoders)
self.motors = Motors(self.a_star, self.odometer)
self.camera = Camera()
self.log = logging.getLogger('romi')
self.motors.stop()
def set_speed_target(self, left, right):
self.motors.set_speed_target(left, right)
def stop(self):
if self.is_romi_board_connected():
self.motors.stop()
def get_camera_frame(self):
return self.camera.get_camera_frame()
def read_buttons(self):
return self.a_star.read_buttons()
def play_welcome_message(self):
pattern = (LED1, LED2, LED3, LED1, LED2, LED3, NO_LED, ALL_LEDS, NO_LED, ALL_LEDS, NO_LED)
for leds in pattern:
self.a_star.leds(*leds)
time.sleep(0.2)
def play_goodbye_message(self):
pattern = (ALL_LEDS, (1, 1, 0), (1, 0, 0), NO_LED)
for leds in pattern:
self.a_star.leds(*leds)
time.sleep(0.4)
def get_position_xy(self):
situation = self.odometer.get_situation()
return situation.x, situation.y
def get_encoders(self):
return self.encoders.read_encoders()
def get_yaw(self):
return self.odometer.get_situation().yaw
def get_distance(self):
return self.odometer.get_situation().dist
def get_speed(self):
return self.odometer.get_situation().dist
def set_leds(self, red, yellow, green):
self.a_star.leds(red, yellow, green)
def reset_odometry(self):
self.odometer.reset_odometry()
def play_notes(self, notes):
self.a_star.play_notes(notes)
def get_battery(self):
try:
mv, = self.a_star.read_battery_millivolts()
return mv
except IOError:
return None
def is_romi_board_connected(self):
try:
self.a_star.read_battery_millivolts()
return True
except IOError:
return False
def rotate(self, angle, speed):
speed = self._cap(speed)
self.motors.rotate(angle, speed)
def move_forward(self, distance, speed):
speed = self._cap(speed)
self.motors.move_forward(distance, speed)
def _cap(self, x):
if x > 1:
return 1
if x < -1:
return -1
return x
