class NeatoNode:
def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('teleop04', anonymous=True)
self.port = rospy.get_param('~port', "/dev/ttyACM0")
rospy.loginfo("Using port: %s" % (self.port))
self.robot = Botvac(self.port)
rospy.Subscriber("/joy04", Joy, self.joy_handler, queue_size=10)
self.Axess = (-0.0, -0.0, 1.0, -0.0, -0.0, 1.0, -0.0, -0.0)
self.Butt = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
self.SPEED = 0
self.DIST = 20
self.SPEEDSET = 0
self.SPEEDRAMP = 0
self.lastx = 0
self.lasty = 0
self.xramp = 0
self.yramp = 0
def spin(self):
# main loop of driver
r = rospy.Rate(20)
while not rospy.is_shutdown():
Lft_t = self.Axess[0]
Lft_d = self.Axess[1]
Rgh_t = self.Axess[3]
Rgh_d = self.Axess[4]
AageL = self.Axess[2]
AageR = self.Axess[5]
L_R = self.Axess[6]
F_B = self.Axess[7]
sq = self.Butt[0]
xx = self.Butt[1]
ci = self.Butt[2]
tr = self.Butt[3]
self.SPEED_s = self.Butt[4]
self.SPEED_f = self.Butt[5]
AageL_Button = self.Butt[6]
AageR_Button = self.Butt[7]
share = self.Butt[8]
options = self.Butt[9]
pressL = self.Butt[10]
pressR = self.Butt[11]
power = self.Butt[12]
self.SPEED -= ((AageR - 1) * 10)
self.SPEED += ((AageL - 1) * 10)
self.SPEED = int(self.SPEED)
if (self.SPEED < 0):
self.SPEED = 0
elif (self.SPEED > 330):
self.SPEED = 330
self.SPEEDSET = self.SPEED
ll = (Lft_d * self.DIST)
rr = (Rgh_t * self.DIST)
if (rr >= 0):
x = (-ll - rr)
y = (-ll + rr)
else:
x = (-ll - rr)
y = (-ll + rr)
x = int(x)
y = int(y)
speeddif = abs(self.SPEEDRAMP - self.SPEEDSET)
if (self.SPEEDRAMP < self.SPEEDSET):
self.SPEEDRAMP += (speeddif / 20)
else:
self.SPEEDRAMP -= (speeddif / 20)
if (self.SPEEDRAMP < 0):
self.SPEEDRAMP = 0
elif (self.SPEEDRAMP > 330):
self.SPEEDRAMP = 330
if (self.SPEEDSET > 150):
if (0 < x < 10):
x = 10
if (self.SPEEDRAMP > 150):
self.SPEEDRAMP = 150
elif (-10 < x < 0):
x = -10
if (self.SPEEDRAMP > 150):
self.SPEEDRAMP = 150
if (0 < y < 10):
y = 10
if (self.SPEEDRAMP > 150):
self.SPEEDRAMP = 150
elif (-10 < y < 0):
y = -10
if (self.SPEEDRAMP > 150):
self.SPEEDRAMP = 150
else:
if (0 < x < 5):
x = 5
elif (-5 < x < 0):
x = -5
if (0 < y < 5):
y = 5
elif (-5 < y < 0):
y = -5
#self.xramp = x
#self.yramp = y
if (self.xramp < self.lastx):
self.xramp += 1
elif (self.xramp == self.lastx):
pass
else:
self.xramp -= 1
if (self.yramp < self.lasty):
self.yramp += 1
elif (self.yramp == self.lasty):
pass
else:
self.yramp -= 1
if (x == 0 and y == 0):
self.SPEEDRAMP -= (self.SPEEDSET / 10)
else:
if ((abs(self.xramp - x) > 20) or (abs(self.yramp - y) > 20)):
self.SPEEDRAMP = 50
if (self.SPEEDRAMP < 0):
self.SPEEDRAMP = 0
self.lastx = x
self.lasty = y
print(self.xramp, x, self.lastx, self.yramp, y, self.lasty,
self.SPEEDRAMP, self.SPEEDSET)
self.robot.setMotors(self.xramp, self.yramp, self.SPEEDRAMP)
self.robot.flushing()
if tr == 1:
self.optiona()
if ci == 1:
self.optionb()
if xx == 1:
self.optionc()
if sq == 1:
self.optiond()
# wait, then do it again
r.sleep()
# shut down
self.robot.setLDS("off")
self.robot.setTestMode("off")
def optiona(self):
#forward
SPEED = 300
#right
self.robot.setMotors(-50, 50, SPEED)
rospy.sleep(1)
#left
self.robot.setMotors(100, -100, SPEED)
rospy.sleep(1)
self.robot.setMotors(-50, 50, SPEED)
rospy.sleep(1)
def optionb(self):
SPEED = 100
self.robot.setMotors(-100, -100, SPEED)
rospy.sleep(1)
self.robot.setMotors(100, 100, SPEED)
rospy.sleep(1)
def optionc(self):
SPEED = 200
self.robot.setMotors(-100, -100, SPEED / 2)
rospy.sleep(1)
self.robot.setMotors(200, 200, SPEED * (1.5))
rospy.sleep(1)
def optiond(self):
SPEED = 200
for _ in range(2):
self.robot.setMotors(-100, -100, SPEED)
rospy.sleep(1)
self.robot.setMotors(100, 100, SPEED)
rospy.sleep(1)
def joy_handler(self, ps):
self.Butt = ps.buttons
self.Axess = ps.axes
class NeatoNode:
def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('teleop04', anonymous=True)
self.port = rospy.get_param('~port1 ', "/dev/ttyACM1")
rospy.loginfo("Using port: %s"%(self.port))
self.robot = Botvac(self.port)
rospy.Subscriber("/joy04", Joy, self.joy_handler, queue_size=10)
rospy.Subscriber("/cbon04", Int8, self.cbon04, queue_size=10)
rospy.Subscriber('/touches04', Int8, self.touch_handler, queue_size=10)
self.Axess = (-0.0, -0.0, 1.0, -0.0, -0.0, 1.0, -0.0, -0.0)
self.Butt = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
self.SPEED = 0
self.DIST = 20
self.SPEEDSET = 0
self.SPEEDRAMP = 0
self.lastx = 0
self.lasty = 0
self.xramp = 0
self.yramp = 0
self.touch_number = -1
self.touch0 = False
self.touch1 = False
self.touch2 = False
self.touch3 = False
self.touch4 = False
self.touch5 = False
self.touch6 = False
self.touch7 = False
self.touch8 = False
def spin(self):
# main loop of driver
r = rospy.Rate(20)
while not rospy.is_shutdown():
Lft_t = self.Axess[0]
Lft_d = self.Axess[1]
Rgh_t = self.Axess[3]
Rgh_d = self.Axess[4]
AageL = self.Axess[2]
AageR = self.Axess[5]
L_R = self.Axess[6]
F_B = self.Axess[7]
sq = self.Butt[0]
xx = self.Butt[1]
ci = self.Butt[2]
tr = self.Butt[3]
self.SPEED_s = self.Butt[4]
self.SPEED_f = self.Butt[5]
AageL_Button = self.Butt[6]
AageR_Button = self.Butt[7]
share = self.Butt[8]
options = self.Butt[9]
pressL = self.Butt[10]
pressR = self.Butt[11]
power = self.Butt[12]
self.SPEED -= ((AageR-1)*10)
self.SPEED += ((AageL-1)*10)
self.SPEED = int(self.SPEED)
if (self.SPEED<0):
self.SPEED=0
elif (self.SPEED>330):
self.SPEED=330
self.SPEEDSET = self.SPEED
ll = (Lft_d*self.DIST)
rr = (Rgh_t*self.DIST)
if (rr>=0):
x = (-ll - rr)
y = (-ll + rr)
else:
x = (-ll - rr)
y = (-ll + rr)
x=int(x)
y=int(y)
speeddif = abs(self.SPEEDRAMP - self.SPEEDSET)
if (self.SPEEDRAMP<self.SPEEDSET):
self.SPEEDRAMP += (speeddif/20)
else:
self.SPEEDRAMP -= (speeddif/20)
if (self.SPEEDRAMP<0):
self.SPEEDRAMP=0
elif (self.SPEEDRAMP>330):
self.SPEEDRAMP=330
if (self.SPEEDSET > 150):
if (0<x<10):
x=10
if (self.SPEEDRAMP>150):
self.SPEEDRAMP = 150
elif (-10<x<0):
x=-10
if (self.SPEEDRAMP>150):
self.SPEEDRAMP = 150
if (0<y<10):
y=10
if (self.SPEEDRAMP>150):
self.SPEEDRAMP = 150
elif (-10<y<0):
y=-10
if (self.SPEEDRAMP>150):
self.SPEEDRAMP = 150
else:
if (0<x<5):
x=5
elif (-5<x<0):
x=-5
if (0<y<5):
y=5
elif (-5<y<0):
y=-5
#self.xramp = x
#self.yramp = y
if (self.xramp < self.lastx):
self.xramp += 1
elif (self.xramp == self.lastx):
pass
else:
self.xramp -= 1
if (self.yramp < self.lasty):
self.yramp += 1
elif (self.yramp == self.lasty):
pass
else:
self.yramp -= 1
if (x==0 and y==0):
self.SPEEDRAMP -= (self.SPEEDSET/10)
else:
if ((abs(self.xramp-x)>20) or (abs(self.yramp-y)>20)):
self.SPEEDRAMP = 50
if (self.SPEEDRAMP<0):
self.SPEEDRAMP=0
self.lastx = x
self.lasty = y
print (self.xramp, x, self.lastx, self.yramp, y, self.lasty, self.SPEEDRAMP, self.SPEEDSET)
# if (self.touch6):
self.robot.setMotors(self.xramp, self.yramp, self.SPEEDRAMP)
self.robot.flushing()
if tr == 1:
self.optiona()
if ci == 1:
self.optionb()
if xx == 1:
self.optionc()
if sq == 1:
self.optiond()
if (self.touch6):
pub_LED.publish(1)
if (self.touch0 or self.touch1):
self.left()
if (self.touch3 or self.touch2):
self.right()
if (self.touch4):
self.back()
if (self.touch5):
self.fwd()
elif (self.touch7):
pub_LED.publish(1)
if (self.touch0 or self.touch1):
self.leftFast()
if (self.touch3 or self.touch2):
self.rightFast()
if (self.touch4):
self.backFast()
if (self.touch5):
self.fwdFast()
else:
pub_LED.publish(0)
# wait, then do it again
r.sleep()
# shut down
self.robot.setLDS("off")
self.robot.setTestMode("off")
# SQUARE
def optiona(self):
SPEED = 125
self.robot.setMotors(-420,420,SPEED)
rospy.sleep(3.5)
self.robot.setMotors(50,50,SPEED)
rospy.sleep(1)
# TRIANGLE
def optionb(self):
SPEED=100
self.robot.setMotors(-100,-100,SPEED)
rospy.sleep(1)
self.robot.setMotors(100,100,SPEED)
rospy.sleep(1)
# CIRCLE
def optionc(self):
SPEED=200
self.robot.setMotors(-100,-100,SPEED/2)
rospy.sleep(1)
self.robot.setMotors(200,200,SPEED*(1.5))
rospy.sleep(1)
# X
def optiond(self):
SPEED=200
for _ in range(2):
self.robot.setMotors(-100,-100,SPEED)
rospy.sleep(1)
self.robot.setMotors(100,100,SPEED)
rospy.sleep(1)
def fwdFast(self):
SPEED=300
self.robot.setMotors(-300,-300,SPEED)
rospy.sleep(1)
def backFast(self):
SPEED=200
self.robot.setMotors(200,200,SPEED)
rospy.sleep(1)
def rightFast(self):
SPEED=150
self.robot.setMotors(150,-150,SPEED)
rospy.sleep(1)
def leftFast(self):
SPEED=150
self.robot.setMotors(-150,150,SPEED)
rospy.sleep(1)
def fwd(self):
SPEED=100
self.robot.setMotors(-100,-100,SPEED)
rospy.sleep(1)
def back(self):
SPEED=50
self.robot.setMotors(50,50,SPEED)
rospy.sleep(1)
def right(self):
SPEED=50
self.robot.setMotors(50,-50,SPEED)
rospy.sleep(1)
def left(self):
SPEED=50
self.robot.setMotors(-50,50,SPEED)
rospy.sleep(1)
def turnRight(self):
SPEED=100
self.robot.setMotors(220,-220,150)
rospy.sleep(2.25)
def turnLeft(self):
SPEED=100
self.robot.setMotors(-210,210,SPEED)
rospy.sleep(2.25)
def stop(self):
SPEED=00
self.robot.setMotors(00,00,SPEED)
rospy.sleep(1)
self.robot.setMotors(00,00,SPEED)
def joy_handler(self, ps):
self.Butt = ps.buttons
self.Axess = ps.axes
def cbon04(self, on):
pub_LED.publish(on.data)
print(on.data)
if on.data == 1:
self.touch6=True
elif on.data == 0:
self.touch6=False
def touch_handler(self, msg):
self.touch_number = msg.data
print self.touch_number
if self.touch_number == 0:
self.touch0 = True
if self.touch_number == 1:
self.touch1 = True
if self.touch_number == 2:
self.touch2 = True
if self.touch_number == 3:
self.touch3 = True
if self.touch_number == 4:
self.touch4 = True
if self.touch_number == 5:
self.touch5 = True
if self.touch_number == 6:
self.touch6 = not self.touch6
if self.touch7 == True:
self.touch7 = False
if self.touch_number == 7:
self.touch7 = not self.touch7
if self.touch6 == True:
self.touch6 = False
if self.touch_number == 8:
self.touch8 = True
if self.touch_number == 12:
self.touch0 = False
if self.touch_number == 13:
self.touch1 = False
if self.touch_number == 14:
self.touch2 = False
if self.touch_number == 15:
self.touch3 = False
if self.touch_number == 16:
self.touch4 = False
if self.touch_number == 17:
self.touch5 = False
if self.touch_number == 20:
self.touch8 = False
class NeatoNode:
def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('teleop03', anonymous=True)
self.port = rospy.get_param('~port', "/dev/ttyACM0")
rospy.loginfo("Using port: %s" % (self.port))
self.robot = Botvac(self.port)
rospy.Subscriber("/joy03", Joy, self.joy_handler, queue_size=10)
self.Axess = (-0.0, -0.0, 1.0, -0.0, -0.0, 1.0, -0.0, -0.0)
self.Butt = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
self.SPEED = 0
self.DIST = 20
'''
def optiona(self):
#forward
self.SPEED = 300
#right
self.robot.setMotors(-50,50,self.SPEED)
rospy.sleep(1)
#left
self.robot.setMotors(100,-100,self.SPEED)
rospy.sleep(1)
self.robot.setMotors(-50,50,self.SPEED)
rospy.sleep(1)
def optionb(self):
self.SPEED=100
self.robot.setMotors(-100,-100,self.SPEED)
rospy.sleep(1)
self.robot.setMotors(100,100,self.SPEED)
rospy.sleep(1)
def optionc(self):
self.SPEED=200
self.robot.setMotors(-100,-100,self.SPEED/2)
rospy.sleep(1)
self.robot.setMotors(200,200,self.SPEED*(1.5))
rospy.sleep(1)
def optiond(self):
self.SPEED=200
for _ in range(2):
self.robot.setMotors(-100,-100,self.SPEED)
rospy.sleep(1)
self.robot.setMotors(100,100,self.SPEED)
rospy.sleep(1)
'''
def spin(self):
# main loop of driver
r = rospy.Rate(20)
while not rospy.is_shutdown():
Lft_t = self.Axess[0]
Lft_d = self.Axess[1]
Rgh_t = self.Axess[3]
Rgh_d = self.Axess[4]
AageL = self.Axess[2]
AageR = self.Axess[5]
L_R = self.Axess[6]
F_B = self.Axess[7]
sq = self.Butt[0]
xx = self.Butt[1]
ci = self.Butt[2]
tr = self.Butt[3]
self.SPEED_s = self.Butt[4]
self.SPEED_f = self.Butt[5]
AageL_Button = self.Butt[6]
AageR_Button = self.Butt[7]
share = self.Butt[8]
options = self.Butt[9]
pressL = self.Butt[10]
pressR = self.Butt[11]
power = self.Butt[12]
self.SPEED -= ((AageR - 1) * 10)
self.SPEED += ((AageL - 1) * 10)
self.SPEED = int(self.SPEED)
if (self.SPEED < 0):
self.SPEED = 0
elif (self.SPEED > 330):
self.SPEED = 330
ll = (Lft_d * self.DIST)
rr = (Rgh_t * self.DIST)
if (rr >= 0):
x = (-ll - rr)
y = (-ll + rr)
else:
x = (-ll - rr)
y = (-ll + rr)
x = int(x)
y = int(y)
print(x, y, self.SPEED)
self.robot.setMotors(x, y, self.SPEED)
self.robot.flushing()
'''
if tr == 1:
self.optiona()
if ci == 1:
self.optionb()
if xx == 1:
self.optionc()
if sq == 1:
self.optiond()
'''
# wait, then do it again
r.sleep()
# shut down
self.robot.setLDS("off")
self.robot.setTestMode("off")
def joy_handler(self, ps):
self.Butt = ps.buttons
self.Axess = ps.axes
class NeatoNode:
def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('teleop04', anonymous=True)
self.port = rospy.get_param('~port1 ', "/dev/ttyACM1")
rospy.loginfo("Using port: %s"%(self.port))
self.robot = Botvac(self.port)
rospy.Subscriber("/joy04", Joy, self.joy_handler, queue_size=10)
rospy.Subscriber('/touches04', Int8, self.touch_handler, queue_size=10)
self.Axess = (-0.0, -0.0, 1.0, -0.0, -0.0, 1.0, -0.0, -0.0)
self.Butt = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
self.SPEED = 150
self.DIST = 20
self.SPEEDSET = 0
self.SPEEDRAMP = 0
self.lastx = 0
self.lasty = 0
self.xramp = 0
self.yramp = 0
self.touch_number = -1
self.touch0 = False
self.touch1 = False
self.touch2 = False
self.touch3 = False
self.touch4 = False
self.touch5 = False
self.touch6 = False
self.touch7 = False
self.touch8 = False
def spin(self):
# main loop of driver
r = rospy.Rate(20)
while not rospy.is_shutdown():
Lft_t = self.Axess[0]
Lft_d = self.Axess[1]
Rgh_t = self.Axess[3]
Rgh_d = self.Axess[4]
AageL = self.Axess[2]
AageR = self.Axess[5]
L_R = self.Axess[6]
F_B = self.Axess[7]
sq = self.Butt[0]
xx = self.Butt[1]
ci = self.Butt[2]
tr = self.Butt[3]
leftButt = self.Butt[4]
rightButt = self.Butt[5]
self.SPEED_s = self.Butt[4]
self.SPEED_f = self.Butt[5]
AageL_Button = self.Butt[6]
AageR_Button = self.Butt[7]
share = self.Butt[8]
options = self.Butt[9]
pressL = self.Butt[10]
pressR = self.Butt[11]
power = self.Butt[12]
self.SPEED -= ((AageR-1)*10)
self.SPEED += ((AageL-1)*10)
self.SPEED = int(self.SPEED)
if (self.SPEED<0):
self.SPEED=0
elif (self.SPEED>330):
self.SPEED=330
self.SPEEDSET = self.SPEED
ll = (Lft_d*self.DIST)
rr = (Rgh_t*self.DIST)
if (rr>=0):
x = (-ll - rr)
y = (-ll + rr)
else:
x = (-ll - rr)
y = (-ll + rr)
x=int(x)
y=int(y)
speeddif = abs(self.SPEEDRAMP - self.SPEEDSET)
if (self.SPEEDRAMP<self.SPEEDSET):
self.SPEEDRAMP += (speeddif/20)
else:
self.SPEEDRAMP -= (speeddif/20)
if (self.SPEEDRAMP<0):
self.SPEEDRAMP=0
elif (self.SPEEDRAMP>330):
self.SPEEDRAMP=330
if (self.SPEEDSET > 150):
if (0<x<10):
x=10
if (self.SPEEDRAMP>150):
self.SPEEDRAMP = 150
elif (-10<x<0):
x=-10
if (self.SPEEDRAMP>150):
self.SPEEDRAMP = 150
if (0<y<10):
y=10
if (self.SPEEDRAMP>150):
self.SPEEDRAMP = 150
elif (-10<y<0):
y=-10
if (self.SPEEDRAMP>150):
self.SPEEDRAMP = 150
else:
if (0<x<5):
x=5
elif (-5<x<0):
x=-5
if (0<y<5):
y=5
elif (-5<y<0):
y=-5
#self.xramp = x
#self.yramp = y
if (self.xramp < self.lastx):
self.xramp += 1
elif (self.xramp == self.lastx):
pass
else:
self.xramp -= 1
if (self.yramp < self.lasty):
self.yramp += 1
elif (self.yramp == self.lasty):
pass
else:
self.yramp -= 1
if (x==0 and y==0):
self.SPEEDRAMP -= (self.SPEEDSET/10)
else:
if ((abs(self.xramp-x)>20) or (abs(self.yramp-y)>20)):
self.SPEEDRAMP = 50
if (self.SPEEDRAMP<0):
self.SPEEDRAMP=0
self.lastx = x
self.lasty = y
print (self.xramp, x, self.lastx, self.yramp, y, self.lasty, self.SPEEDRAMP, self.SPEEDSET)
# if (self.touch6):
self.robot.setMotors(self.xramp, self.yramp, self.SPEEDRAMP)
self.robot.flushing()
if tr == 1:
self.optiona()
if ci == 1:
self.optionb()
if xx == 1:
self.optionc()
if sq == 1:
self.optiond()
if leftButt == 1:
self.optione()
if rightButt == 1:
self.optionf()
if (self.touch6):
pub_LED.publish(1)
else:
pub_LED.publish(0)
if (self.touch0):
self.right()
if (self.touch1):
self.fwd()
if (self.touch2):
self.left()
if (self.touch3):
self.back()
# wait, then do it again
r.sleep()
# shut down
self.robot.setLDS("off")
self.robot.setTestMode("off")
# TRIANGLE - GREET
def optionb(self):
self.lightup()
self.turn360Left()
rospy.sleep(0.5)
self.turn180Left()
# CIRCLE - BRING TO TABLE 1
def optionc(self):
self.walk10Forward()
self.walk3Forward()
self.walk1Backward()
self.turn45Left()
self.turn90Right()
self.turn45Left()
self.turn180Right()
# CROSS - BRING TO TABLE 2
def optiond(self):
self.turn45Right()
self.walk10Forward()
self.walk10Forward()
self.walk1Backward()
self.turn45Left()
self.turn90Right()
self.turn45Left()
self.turn180Right()
# SQUARE - BRING TO TABLE 1 / OFFER UP
def optiona(self):
self.walk10Forward()
self.walk3Forward()
self.walk1Backward()
self.turn45Left()
self.turn90Right()
self.turn45Left()
self.turn270Right()
self.walk3Backward()
# LEFT BUTTON - RETURN TO STATION FROM TABLE 1
def optione(self):
self.walk10Forward()
self.walk3Forward()
# RIGHT BUTTON - RETURN TO STATION FROM TABLE 2
def optionf(self):
self.walk10Forward()
self.walk10Forward()
self.turn45Left()
# WALK FORWARD
def walk1Forward(self):
SPEED=200
self.robot.setMotors(-100,-100,SPEED)
rospy.sleep(1)
def walk3Forward(self):
SPEED=200
self.robot.setMotors(-300,-300,SPEED)
rospy.sleep(2)
def walk5Forward(self):
SPEED=200
self.robot.setMotors(-500,-500,SPEED)
rospy.sleep(3)
def walk10Forward(self):
SPEED=200
self.robot.setMotors(-1200,-1200,SPEED)
rospy.sleep(6)
# WALK BACKWARD
def walk1Backward(self):
SPEED=200
self.robot.setMotors(100,100,SPEED)
rospy.sleep(1)
def walk3Backward(self):
SPEED=200
self.robot.setMotors(300,300,SPEED)
rospy.sleep(2)
def walk5Backward(self):
SPEED=200
self.robot.setMotors(500,500,SPEED)
rospy.sleep(3)
def walk10Backward(self):
SPEED=200
self.robot.setMotors(1200,1200,SPEED)
rospy.sleep(6)
# TURN LEFT
def turn45Left(self):
SPEED=200
self.robot.setMotors(-110,110,SPEED)
rospy.sleep(1)
def turn90Left(self):
SPEED=200
self.robot.setMotors(-200,200,SPEED)
rospy.sleep(1.60)
def turn180Left(self):
SPEED=200
self.robot.setMotors(-400,400,SPEED)
rospy.sleep(3)
def turn270Left(self):
SPEED=200
self.robot.setMotors(-605,605,SPEED)
rospy.sleep(4.25)
def turn360Left(self):
SPEED=200
self.robot.setMotors(-805,805,SPEED)
rospy.sleep(5)
def turn450Left(self):
SPEED=200
self.robot.setMotors(-1005,1005,SPEED)
rospy.sleep(6.5)
# TURN RIGHT
def turn45Right(self):
SPEED=200
self.robot.setMotors(120,-120,SPEED)
rospy.sleep(1)
def turn90Right(self):
SPEED=200
self.robot.setMotors(225,-225,SPEED)
rospy.sleep(1.75)
def turn180Right(self):
SPEED=200
self.robot.setMotors(425,-425,SPEED)
rospy.sleep(3)
def turn270Right(self):
SPEED=200
self.robot.setMotors(625,-625,SPEED)
rospy.sleep(4.25)
def turn360Right(self):
SPEED=200
self.robot.setMotors(825,-825,SPEED)
rospy.sleep(5)
def turn450Right(self):
SPEED=200
self.robot.setMotors(1025,-1025,SPEED)
rospy.sleep(6.5)
def shakeNo(self):
SPEED=275
self.robot.setMotors(-120,120,SPEED)
rospy.sleep(1.15)
self.robot.setMotors(235,-235,SPEED)
rospy.sleep(1.50)
self.robot.setMotors(-210,210,SPEED)
rospy.sleep(1.25)
self.robot.setMotors(120,-120,SPEED)
rospy.sleep(1.15)
def lightup(self):
pub_LED.publish(1)
rospy.sleep(0.5)
pub_LED.publish(0)
rospy.sleep(0.5)
pub_LED.publish(1)
rospy.sleep(0.5)
pub_LED.publish(0)
rospy.sleep(0.5)
# TOUCH SENSOR FUNCTIONS
def fwd(self):
SPEED=150
self.robot.setMotors(-500,-500,SPEED)
rospy.sleep(1.75)
def back(self):
SPEED=150
self.robot.setMotors(500,500,SPEED)
rospy.sleep(1.75)
def right(self):
SPEED=150
self.robot.setMotors(200,-200,SPEED)
rospy.sleep(1)
def left(self):
SPEED=150
self.robot.setMotors(-200,200,SPEED)
rospy.sleep(1)
def joy_handler(self, ps):
self.Butt = ps.buttons
self.Axess = ps.axes
def touch_handler(self, msg):
self.touch_number = msg.data
if self.touch_number == 0:
self.touch0 = True
if self.touch_number == 1:
self.touch1 = True
if self.touch_number == 2:
self.touch2 = True
if self.touch_number == 3:
self.touch3 = True
if self.touch_number == 4:
self.touch4 = True
if self.touch_number == 5:
self.touch5 = True
if self.touch_number == 6:
self.touch6 = not self.touch6
if self.touch_number == 7:
self.touch7 = True
if self.touch_number == 8:
self.touch8 = True
if self.touch_number == 12:
self.touch0 = False
if self.touch_number == 13:
self.touch1 = False
if self.touch_number == 14:
self.touch2 = False
if self.touch_number == 15:
self.touch3 = False
if self.touch_number == 16:
self.touch4 = False
if self.touch_number == 17:
self.touch5 = False
if self.touch_number == 19:
self.touch7 = False
if self.touch_number == 20:
self.touch8 = False
class NeatoNode:
def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('teleop04', anonymous=True)
self.port = rospy.get_param('~port1 ', "/dev/ttyACM1")
rospy.loginfo("Using port: %s" % (self.port))
self.robot = Botvac(self.port)
rospy.Subscriber("/joy04", Joy, self.joy_handler, queue_size=10)
rospy.Subscriber("/cbon04", Int8, self.cbon04, queue_size=10)
rospy.Subscriber('/touches04', Int8, self.touch_handler, queue_size=10)
self.Axess = (-0.0, -0.0, 1.0, -0.0, -0.0, 1.0, -0.0, -0.0)
self.Butt = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
self.SPEED = 150
self.DIST = 20
self.SPEEDSET = 0
self.SPEEDRAMP = 0
self.lastx = 0
self.lasty = 0
self.xramp = 0
self.yramp = 0
self.touch_number = -1
self.touch0 = False
self.touch1 = False
self.touch2 = False
self.touch3 = False
self.touch4 = False
self.touch5 = False
self.touch6 = False
self.touch7 = False
self.touch8 = False
self.touch9 = False
self.touch10 = False
self.touch11 = False
def spin(self):
# main loop of driver
r = rospy.Rate(20)
while not rospy.is_shutdown():
Lft_t = self.Axess[0]
Lft_d = self.Axess[1]
Rgh_t = self.Axess[3]
Rgh_d = self.Axess[4]
AageL = self.Axess[2]
AageR = self.Axess[5]
L_R = self.Axess[6]
F_B = self.Axess[7]
sq = self.Butt[0]
xx = self.Butt[1]
ci = self.Butt[2]
tr = self.Butt[3]
leftButt = self.Butt[4]
rightButt = self.Butt[5]
self.SPEED_s = self.Butt[4]
self.SPEED_f = self.Butt[5]
AageL_Button = self.Butt[6]
AageR_Button = self.Butt[7]
share = self.Butt[8]
options = self.Butt[9]
pressL = self.Butt[10]
pressR = self.Butt[11]
power = self.Butt[12]
self.SPEED -= ((AageR - 1) * 10)
self.SPEED += ((AageL - 1) * 10)
self.SPEED = int(self.SPEED)
if (self.SPEED < 0):
self.SPEED = 0
elif (self.SPEED > 330):
self.SPEED = 330
self.SPEEDSET = self.SPEED
ll = (Lft_d * self.DIST)
rr = (Rgh_t * self.DIST)
if (rr >= 0):
x = (-ll - rr)
y = (-ll + rr)
else:
x = (-ll - rr)
y = (-ll + rr)
x = int(x)
y = int(y)
speeddif = abs(self.SPEEDRAMP - self.SPEEDSET)
if (self.SPEEDRAMP < self.SPEEDSET):
self.SPEEDRAMP += (speeddif / 20)
else:
self.SPEEDRAMP -= (speeddif / 20)
if (self.SPEEDRAMP < 0):
self.SPEEDRAMP = 0
elif (self.SPEEDRAMP > 330):
self.SPEEDRAMP = 330
if (self.SPEEDSET > 150):
if (0 < x < 10):
x = 10
if (self.SPEEDRAMP > 150):
self.SPEEDRAMP = 150
elif (-10 < x < 0):
x = -10
if (self.SPEEDRAMP > 150):
self.SPEEDRAMP = 150
if (0 < y < 10):
y = 10
if (self.SPEEDRAMP > 150):
self.SPEEDRAMP = 150
elif (-10 < y < 0):
y = -10
if (self.SPEEDRAMP > 150):
self.SPEEDRAMP = 150
else:
if (0 < x < 5):
x = 5
elif (-5 < x < 0):
x = -5
if (0 < y < 5):
y = 5
elif (-5 < y < 0):
y = -5
#self.xramp = x
#self.yramp = y
if (self.xramp < self.lastx):
self.xramp += 1
elif (self.xramp == self.lastx):
pass
else:
self.xramp -= 1
if (self.yramp < self.lasty):
self.yramp += 1
elif (self.yramp == self.lasty):
pass
else:
self.yramp -= 1
if (x == 0 and y == 0):
self.SPEEDRAMP -= (self.SPEEDSET / 10)
else:
if ((abs(self.xramp - x) > 20) or (abs(self.yramp - y) > 20)):
self.SPEEDRAMP = 50
if (self.SPEEDRAMP < 0):
self.SPEEDRAMP = 0
self.lastx = x
self.lasty = y
print(self.xramp, x, self.lastx, self.yramp, y, self.lasty,
self.SPEEDRAMP, self.SPEEDSET)
# if (self.touch6):
self.robot.setMotors(self.xramp, self.yramp, self.SPEEDRAMP)
self.robot.flushing()
# CHECK IF CONTROLLER BUTTONS ARE PRESSED
if tr == 1:
self.optiona()
if ci == 1:
self.optionb()
if xx == 1:
self.optionc()
if sq == 1:
self.optiond()
if leftButt == 1:
self.optione()
if rightButt == 1:
self.optionf()
# CHECK IF TOUCH SENSORS ARE PRESSED
if (self.touch0 or self.touch1):
pass
else:
if (self.touch2 or self.touch3):
self.fwd()
if (self.touch4 or self.touch5):
self.back()
if (self.touch6 or self.touch7):
self.right()
if (self.touch8 or self.touch9):
self.left()
if (self.touch10 or self.touch11):
self.slowFwd()
# wait, then do it again
r.sleep()
# shut down
self.robot.setLDS("off")
self.robot.setTestMode("off")
# SQUARE
def optiona(self):
self.walk1Forward()
# TRIANGLE
def optionb(self):
self.walk1Forward()
# CIRCLE
def optionc(self):
self.walk1Forward()
# CROSS
def optiond(self):
self.walk1Forward()
# LEFT BUTTON
def optione(self):
self.walk1Forward()
# RIGHT BUTTON
def optionf(self):
self.walk1Forward()
# PROGRAMMED FUNCTIONS
# TOUCH SENSOR FUNCTIONS
def fwd(self):
SPEED = 150
self.robot.setMotors(-500, -500, SPEED)
rospy.sleep(1.75)
def slowFwd(self):
SPEED = 75
self.robot.setMotors(-100, -100, SPEED)
rospy.sleep(1)
def back(self):
SPEED = 150
self.robot.setMotors(500, 500, SPEED)
rospy.sleep(1.75)
def right(self):
SPEED = 150
self.robot.setMotors(200, -200, SPEED)
rospy.sleep(1)
def left(self):
SPEED = 150
self.robot.setMotors(-200, 200, SPEED)
rospy.sleep(1)
def joy_handler(self, ps):
self.Butt = ps.buttons
self.Axess = ps.axes
def cbon04(self, on):
if on.data == 1:
pass
elif on.data == 0:
pass
def touch_handler(self, msg):
self.touch_number = msg.data
if self.touch_number == 0:
self.touch0 = True
if self.touch_number == 1:
self.touch1 = True
if self.touch_number == 2:
self.touch2 = True
if self.touch_number == 3:
self.touch3 = True
if self.touch_number == 4:
self.touch4 = True
if self.touch_number == 5:
self.touch5 = True
if self.touch_number == 6:
self.touch6 = True
if self.touch_number == 7:
self.touch7 = True
if self.touch_number == 8:
self.touch8 = True
if self.touch_number == 9:
self.touch9 = True
if self.touch_number == 10:
self.touch10 = True
if self.touch_number == 11:
self.touch11 = True
if self.touch_number == 12:
self.touch0 = False
if self.touch_number == 13:
self.touch1 = False
if self.touch_number == 14:
self.touch2 = False
if self.touch_number == 15:
self.touch3 = False
if self.touch_number == 16:
self.touch4 = False
if self.touch_number == 17:
self.touch5 = False
if self.touch_number == 18:
self.touch5 = False
if self.touch_number == 19:
self.touch7 = False
if self.touch_number == 20:
self.touch8 = False
if self.touch_number == 21:
self.touch9 = False
if self.touch_number == 22:
self.touch10 = False
if self.touch_number == 23:
self.touch11 = False
class NeatoNode:
def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('teleop04', anonymous=True)
self.port = rospy.get_param('~port1 ', "/dev/ttyACM1")
rospy.loginfo("Using port: %s" % (self.port))
self.robot = Botvac(self.port)
rospy.Subscriber("/joy04", Joy, self.joy_handler, queue_size=10)
rospy.Subscriber("/cbon04", Int8, self.cbon04, queue_size=10)
# rospy.Subscriber('/touches02', Int8, self.touch_handler, queue_size=10)
self.Axess = (-0.0, -0.0, 1.0, -0.0, -0.0, 1.0, -0.0, -0.0)
self.Butt = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
self.SPEED = 0
self.DIST = 20
self.SPEEDSET = 0
self.SPEEDRAMP = 0
self.lastx = 0
self.lasty = 0
self.xramp = 0
self.yramp = 0
self.touch_number = -1
self.touch0 = False
self.touch1 = False
self.touch2 = False
self.touch3 = False
self.touch4 = False
self.touch5 = False
self.touch6 = False
self.touch7 = False
self.touch8 = False
def spin(self):
# main loop of driver
r = rospy.Rate(20)
while not rospy.is_shutdown():
Lft_t = self.Axess[0]
Lft_d = self.Axess[1]
Rgh_t = self.Axess[3]
Rgh_d = self.Axess[4]
AageL = self.Axess[2]
AageR = self.Axess[5]
L_R = self.Axess[6]
F_B = self.Axess[7]
sq = self.Butt[0]
xx = self.Butt[1]
ci = self.Butt[2]
tr = self.Butt[3]
self.SPEED_s = self.Butt[4]
self.SPEED_f = self.Butt[5]
AageL_Button = self.Butt[6]
AageR_Button = self.Butt[7]
share = self.Butt[8]
options = self.Butt[9]
pressL = self.Butt[10]
pressR = self.Butt[11]
power = self.Butt[12]
self.SPEED -= ((AageR - 1) * 10)
self.SPEED += ((AageL - 1) * 10)
self.SPEED = int(self.SPEED)
if (self.SPEED < 0):
self.SPEED = 0
elif (self.SPEED > 330):
self.SPEED = 330
self.SPEEDSET = self.SPEED
ll = (Lft_d * self.DIST)
rr = (Rgh_t * self.DIST)
if (rr >= 0):
x = (-ll - rr)
y = (-ll + rr)
else:
x = (-ll - rr)
y = (-ll + rr)
x = int(x)
y = int(y)
speeddif = abs(self.SPEEDRAMP - self.SPEEDSET)
if (self.SPEEDRAMP < self.SPEEDSET):
self.SPEEDRAMP += (speeddif / 20)
else:
self.SPEEDRAMP -= (speeddif / 20)
if (self.SPEEDRAMP < 0):
self.SPEEDRAMP = 0
elif (self.SPEEDRAMP > 330):
self.SPEEDRAMP = 330
if (self.SPEEDSET > 150):
if (0 < x < 10):
x = 10
if (self.SPEEDRAMP > 150):
self.SPEEDRAMP = 150
elif (-10 < x < 0):
x = -10
if (self.SPEEDRAMP > 150):
self.SPEEDRAMP = 150
if (0 < y < 10):
y = 10
if (self.SPEEDRAMP > 150):
self.SPEEDRAMP = 150
elif (-10 < y < 0):
y = -10
if (self.SPEEDRAMP > 150):
self.SPEEDRAMP = 150
else:
if (0 < x < 5):
x = 5
elif (-5 < x < 0):
x = -5
if (0 < y < 5):
y = 5
elif (-5 < y < 0):
y = -5
#self.xramp = x
#self.yramp = y
if (self.xramp < self.lastx):
self.xramp += 1
elif (self.xramp == self.lastx):
pass
else:
self.xramp -= 1
if (self.yramp < self.lasty):
self.yramp += 1
elif (self.yramp == self.lasty):
pass
else:
self.yramp -= 1
if (x == 0 and y == 0):
self.SPEEDRAMP -= (self.SPEEDSET / 10)
else:
if ((abs(self.xramp - x) > 20) or (abs(self.yramp - y) > 20)):
self.SPEEDRAMP = 50
if (self.SPEEDRAMP < 0):
self.SPEEDRAMP = 0
self.lastx = x
self.lasty = y
print(self.xramp, x, self.lastx, self.yramp, y, self.lasty,
self.SPEEDRAMP, self.SPEEDSET)
# if (self.touch6):
self.robot.setMotors(self.xramp, self.yramp, self.SPEEDRAMP)
self.robot.flushing()
if tr == 1:
self.optiona()
if ci == 1:
self.optionb()
if xx == 1:
self.optionc()
if sq == 1:
self.optiond()
# if (self.touch6):
# pub_LED.publish(1)
# if (self.touch0 or self.touch1):
# self.left()
# if (self.touch3 or self.touch2):
# self.right()
# if (self.touch4):
# self.back()
# if (self.touch5):
# self.fwd()
# elif (self.touch7):
# pub_LED.publish(1)
# if (self.touch0 or self.touch1):
# self.leftFast()
# if (self.touch3 or self.touch2):
# self.rightFast()
# if (self.touch4):
# self.backFast()
# if (self.touch5):
# self.fwdFast()
# else:
# pub_LED.publish(0)
# wait, then do it again
r.sleep()
# shut down
self.robot.setLDS("off")
self.robot.setTestMode("off")
# SQUARE
def optiona(self):
self.lightup(1, 3)
self.lightup(0, 1)
self.lightup(1, 1)
self.lightup(0, 1)
self.lightup(1, 1)
self.lightup(0, 1)
self.lightup(1, 1)
self.lightup(0, 1)
# TRIANGLE
def optionb(self):
# self.right(325,300)# almost 120 degree
# self.fwd()
BEET = .98
#Enter
self.fwd(1000, 100, BEET)
self.right(300, 130, BEET)
self.fwd(1000, 100, BEET)
self.right(300, 130, BEET)
#03 forward
self.fwd(0, 0, 7 * BEET)
self.fwd(0, 0, BEET)
# shake
self.right(100, 50, 0.5 * BEET)
self.left(100, 50, 0.5 * BEET)
self.right(100, 50, 0.5 * BEET)
self.left(100, 50, 0.5 * BEET)
self.right(100, 50, 0.5 * BEET)
self.left(100, 50, 0.5 * BEET)
self.right(100, 50, 0.5 * BEET)
self.left(100, 50, 0.5 * BEET)
self.right(100, 50, 0.5 * BEET)
self.left(100, 50, 0.5 * BEET)
self.right(100, 50, 0.5 * BEET)
self.left(100, 50, 0.5 * BEET)
self.right(100, 50, 0.5 * BEET)
self.left(100, 50, 0.5 * BEET)
self.right(100, 50, 0.5 * BEET)
self.fwd(0, 0, 0.5 * BEET)
#Turn pause, turn pause
self.left(400, 220, 3 * BEET)
self.fwd(0, 0, 0.05 * BEET)
self.left(600, 250, BEET)
self.fwd(0, 0, 0.1 * BEET)
# self.lightup(1,BEET)
# self.lightup(0,0.5*BEET)
# self.lightup(1,BEET)
self.fwd(1000, 100, 0.5 * BEET)
self.fwd(0, 0, 0.5 * BEET)
self.fwd(1000, 100, 0.5 * BEET)
self.fwd(0, 0, 0.5 * BEET)
self.fwd(1000, 100, 0.5 * BEET)
self.fwd(0, 0, 0.5 * BEET)
self.fwd(1000, 100, 0.5 * BEET)
self.fwd(0, 0, 0.5 * BEET)
self.right(300, 120, 3 * BEET)
self.fwd(0, 0, BEET)
self.right(300, 150, 0.55 * BEET)
self.left(300, 150, 0.55 * BEET)
self.fwd(1000, 100, BEET)
self.left(300, 150, 0.55 * BEET)
self.right(300, 150, 0.55 * BEET)
self.fwd(1000, 100, BEET)
self.right(300, 150, 0.55 * BEET)
self.left(300, 150, 0.55 * BEET)
self.fwd(1000, 100, BEET)
self.left(300, 150, 0.55 * BEET)
self.right(300, 150, 0.55 * BEET)
self.fwd(1000, 100, BEET)
self.fwd(0, 0, 0.5 * BEET)
self.back(1000, 100, 0.5 * BEET)
self.back(0, 0, 0.5 * BEET)
self.back(1000, 100, 0.5 * BEET)
self.back(0, 0, 0.5 * BEET)
self.back(1000, 100, 0.5 * BEET)
self.back(0, 0, 0.5 * BEET)
self.back(1000, 100, 0.5 * BEET)
self.back(0, 0, 0.5 * BEET)
self.left(300, 100, 2 * BEET)
self.left(600, 250, BEET)
self.fwd(0, 0, BEET)
self.fwd(1000, 100, 0.5 * BEET)
self.fwd(0, 0, 0.5 * BEET)
self.fwd(1000, 100, 0.5 * BEET)
self.fwd(0, 0, 0.5 * BEET)
self.fwd(1000, 100, 0.5 * BEET)
self.fwd(0, 0, 0.5 * BEET)
self.fwd(1000, 100, 0.5 * BEET)
self.fwd(0, 0, 0.5 * BEET)
self.right(600, 250, 2 * BEET)
self.fwd(0, 0, 0.5 * BEET)
self.fwd(1000, 100, 0.5 * BEET)
self.fwd(0, 0, 0.5 * BEET)
self.fwd(1000, 100, 0.5 * BEET)
self.fwd(0, 0, 0.5 * BEET)
self.fwd(1000, 100, 0.5 * BEET)
self.fwd(0, 0, 0.5 * BEET)
self.fwd(1000, 100, 0.5 * BEET)
self.fwd(0, 0, 0.5 * BEET)
self.left(2200, 150, 12 * BEET)
self.fwd(0, 0, 2 * BEET)
#Thriller
self.right(300, 150, 0.55 * BEET)
self.left(300, 150, 0.55 * BEET)
self.fwd(1000, 100, BEET)
self.left(300, 150, 0.55 * BEET)
self.right(300, 150, 0.55 * BEET)
self.fwd(1000, 100, BEET)
self.left(600, 250, BEET)
self.fwd(0, 0, BEET)
self.right(50, 50, 0.5 * BEET)
self.left(50, 50, 0.5 * BEET)
self.right(50, 50, 0.5 * BEET)
self.left(50, 50, 0.5 * BEET)
#Thriller
self.right(300, 150, 0.55 * BEET)
self.left(300, 150, 0.55 * BEET)
self.fwd(1000, 100, BEET)
self.left(300, 150, 0.55 * BEET)
self.right(300, 150, 0.55 * BEET)
self.fwd(1000, 100, BEET)
self.right(100, 200, 0.5 * BEET)
self.left(600, 250, BEET)
self.fwd(0, 0, 2 * BEET)
self.right(50, 50, 0.5 * BEET)
self.left(50, 50, 0.5 * BEET)
self.fwd(1000, 100, 0.5 * BEET)
self.fwd(0, 0, 0.5 * BEET)
self.fwd(1000, 100, 0.5 * BEET)
self.fwd(0, 0, 0.5 * BEET)
self.fwd(0, 0, 2 * BEET)
self.left(600, 250, BEET)
self.right(50, 50, 0.5 * BEET)
self.left(50, 50, 0.5 * BEET)
self.fwd(1000, 100, 0.5 * BEET)
self.fwd(0, 0, 0.5 * BEET)
self.fwd(1000, 100, 0.5 * BEET)
self.fwd(0, 0, 0.5 * BEET)
# CIRCLE IS FOR TESTING
def optionc(self):
BEET = .98
#Enter
self.fwd(1000, 100, BEET)
self.right(300, 130, BEET)
self.fwd(1000, 100, BEET)
self.right(300, 130, BEET)
# X
def optiond(self):
self.lightup()
def fwd(self, DISTANCE, SPEED, SLEEP):
self.robot.setMotors(-DISTANCE, -DISTANCE, SPEED)
rospy.sleep(SLEEP)
def back(self, DISTANCE, SPEED, SLEEP):
self.robot.setMotors(DISTANCE, DISTANCE, SPEED)
rospy.sleep(SLEEP)
def right(self, ANGLE, SPEED, SLEEP):
self.robot.setMotors(ANGLE, -ANGLE, SPEED)
rospy.sleep(SLEEP)
def left(self, ANGLE, SPEED, SLEEP):
self.robot.setMotors(-ANGLE, ANGLE, SPEED)
rospy.sleep(SLEEP)
def stop(self):
SPEED = 00
self.robot.setMotors(00, 00, SPEED)
rospy.sleep(1)
self.robot.setMotors(00, 00, SPEED)
def lightup(self, SWITCH, BEET):
pub_LED.publish(SWITCH)
rospy.sleep(BEET)
def joy_handler(self, ps):
self.Butt = ps.buttons
self.Axess = ps.axes
def cbon04(self, on):
pub_LED.publish(on.data)
print(on.data)
if on.data == 1:
self.touch6 = True
elif on.data == 0:
self.touch6 = False
