def get_version_info(self):
"""
Getting and displaying information about current system installed on mirto robot
:return:
"""
sys_info_service = self.robot.all_services.get("sys_info")
if sys_info_service is not None:
log.info("System version info: %s" % sys_info_service.system_version)
else:
log.warning("Service get_version_info is not enabled!")
def play_tone(self, frequency, duration):
"""
This function allows to play sound with specific frequency for give duration.
:return: None
"""
tone = self.robot.all_services.get("tone")
if tone is not None:
tone.play_tone(frequency, duration)
log.info("Finish playing tone")
else:
log.warning("Service tone is not enabled!")
def stop_motors(self) -> None:
"""
Sending speed value 0 to both motor will cause robot to stop
:return:
"""
motor_1 = self.robot.all_services.get('motor_1')
motor_2 = self.robot.all_services.get('motor_2')
if motor_1 is not None or motor_1 is not None:
motor_1.stop_motor()
motor_2.stop_motor()
log.info("Motors stopped")
else:
log.warning("One of the motors is not enabled!")
def set_motors(self, speed0: int, speed1: int) -> None:
"""
Input is a speed value which is send to robot. Range: -100 -> 100
:param speed0:
:param speed1:
:return:
"""
motor_1 = self.robot.all_services.get('motor_1')
motor_2 = self.robot.all_services.get('motor_2')
if motor_1 or motor_1 is not None:
motor_1.set_motor(speed0)
motor_2.set_motor(speed1)
log.info("Setting motor: '{}': {} motor:'{}': {}".format(motor_1.name, speed0, motor_2.name, speed1))
else:
log.warning("One of the motors is not enabled!")
def get_encoders_values(self, delta: bool=False) -> list:
"""
Function getting encoders count for both wheels. Please provide True if delta value is required.
:return: Encoders counts
:rtype: list
"""
encoders = self.robot.all_services.get('encoders')
if encoders is not None:
values_all = encoders.all_values
if delta:
return values_all
else:
return [values_all[0][1], values_all[1][1]]
else:
log.warning("Service encoders is not enabled!")
def get_right_encoder_values(self, delta: bool=False) -> list:
"""
Retrieving right wheel encoder values. Please provide True or False if delta values required
:param delta:
:return:
"""
encoders = self.robot.all_services.get('encoders')
if encoders is not None:
right_values_all = encoders.right_values
if delta:
return right_values_all
else:
return right_values_all[1]
else:
log.warning("Service encoders is not enabled!")
def get_ir_sensors_values(self) -> list:
"""
Receiving ir sensors values, then appending to the list and returning. Please amend the order list if sensors
are positioned in different order.
:return:
"""
ir_sensors = self.robot.all_services.get('ir_sensors')
if ir_sensors is not None:
ir_sensors_order = [0, 1, 2]
ir_all_values = []
for num in ir_sensors_order:
ir_all_values.append(ir_sensors.ir_all_values[num])
return ir_all_values
else:
log.warning("Service IR sensors is not enabled!")