def topic_key_callback(msg): d = msg.data if d == C.MOVE_DOWN: pici.drive_straight(ser,-VELOCITYCHANGE); if d == C.MOVE_UP: pici.drive_straight(ser,VELOCITYCHANGE); if d == C.MOVE_LEFT: pici.turn(ser,ANGULARCHANGE,cw=False) if d == C.MOVE_RIGHT: pici.turn(ser,ANGULARCHANGE,cw=True) if d == C.FULL: cmd_full(ser); # print "full mode" if d == C.SONG: pici.playSongStart(ser) pici.playSongStop(ser) if d == C.PASSIVE: cmd_passive(ser) # print "passive mode" if d == C.STOP: pici.stop(ser);
def topic_key_callback(msg): d = msg.data if d == C.MOVE_DOWN: pici.drive_straight(ser,-VELOCITYCHANGE); if d == C.MOVE_UP: pici.drive_straight(ser,VELOCITYCHANGE); if d == C.MOVE_LEFT: pici.turn(ser,ANGULARCHANGE,cw=False) if d == C.MOVE_RIGHT: pici.turn(ser,ANGULARCHANGE,cw=True) if d == C.FULL: cmd_full(ser); print "full mode" if d == C.SONG: pici.playSongStart(ser) pici.playSongStop(ser) if d == C.PASSIVE: cmd_passive(ser) print "passive mode" if d == C.STOP: pici.stop(ser); print "now stop"
''' import serial, sys, time, math from time import sleep import pici reload(pici) # Open a serial port at the default baud rate. sPort = '/dev/ttyUSB3' sBaud = 57600 ser = serial.Serial(sPort, sBaud) # Start - start, full mode, lights and song pici.start(ser) # Shift to 9600 baud pici.tx_bytelist(ser, [129, 5]) ser.close() sleep(1.0) # Now try the slower baud rate sBaud = 9600 ser = serial.Serial(sPort, sBaud) # Stop driving, turn off play light, song pici.stop(ser) ser.close()
''' Simple control example - goes straight until it hits a wall then turns ''' import serial, sys, time, math from time import sleep import pici reload(pici) # Open the Create's serial port sPort = '/dev/ttyUSB1' sBaud = 9600 # wireless #sBaud = 57600 # wired, Create default ser = serial.Serial(sPort,sBaud, timeout=1.0) # Start - start, full mode, lights and song pici.start(ser) # stop driving, play stop song, turn off play light pici.stop(ser) ser.close()