def drive(self, meters, avoid=0):
param = []
param.append(meters)
if avoid:
param.append(1)
command = call()
command.call = "forwardByMeters"
command.param = param
return self.job(command.call, command.param)
def turn(self, angle):
param = []
command = call()
if angle > 0:
command.call = "turnRigthByAngle"
else:
command.call = "turnLeftByAngle"
angle = 0 - angle
param.append(angle)
command.param = param
return self.job(command.call, command.param)
def cancel(self):
self.stop = True
self.coord = [0, 0]
self.orientation = [1, 0]
if self.enable_dock:
self.dock_client.cancel_all_goals()
param = []
command = call()
command.call = "stopp"
command.param = param
self.stopper(command.call, command.param)
def push(self):
param = []
command = call()
command.call = "push"
command.param = param
return self.job(command.call, command.param)
def home(self):
param = []
command = call()
command.call = "home"
command.param = param
return self.job(command.call, command.param)