def __init__(self, comPort, baudrate):
self.API = RoombaAPI(comPort, baudrate)
# print "Connecting"
# self.API.connect()
self.API.full()
self.ECS = ECSRoomba(comPort)
self.ECS.Control() # Set rto control mode
self.ECS.sci.full() # Set to full mode
self.sensors = Sensors(self, 10)
#!/usr/bin/env python
from RoombaSCI import RoombaAPI
from stormLauncher import launchControl
import pyserial
from EmgInterface import EmgInterface
ROOMBA_PORT = "/dev/tty.usbserial-A2001n69"
ROOMBA_BAUD = "115200"
HAPTICS_PORT = "/dev/rfcomm0"
HAPTICS_BAUD = "115200"
EMG_PORT = "/dev/rfcomm1"
EMG_BAUD = "115200"
launcher = launchControl()
roomba = RoombaAPI(ROOMBA_PORT, ROOMBA_BAUD)
emg = EmgInterface(EMG_PORT, EMG_BAUD)
emg = EmgInterface("/dev/tty.M13762-BluetoothSerialP", 115200)
if __name__ == "__main__":
verbose = False
if len(sys.argv) <= 1 or "-h" in sys.argv or "--help" in sys.argv:
usage()
sys.exit(2)
orders = sys.argv[1:]
if "-v" in orders:
orders.remove("-v")
verbose = True
#if verbose:
# sys.stdout.write("Connecting to the Rootooth ... ")
# sys.stdout.flush()
roomba = RoombaAPI(RFCOMM_DEV, RFCOMM_BAUDRATE)
#if verbose:
# sys.stdout.write("OK\n")
try:
#if verbose:
# sys.stdout.write("Rootooth version: ")
# sys.stdout.flush()
# sys.stdout.write(roomba.rootoothVersion + "\n")
if verbose:
sys.stdout.write("Connecting to the Roomba ... ")
sys.stdout.flush()
roomba.connect()
if verbose:
sys.stdout.write("OK\n")
roomba.play(2)
roomba.stop()
elif "-lidardemo" in flags:
roomba = Roomba(port, baudrate)
roomba.sensors.lidar.initLidar()
t_wait = 2
t_start = time.time()
t_end = t_start + 10
while time.time() < t_end:
scan = roomba.sensors.lidar.getScan(t_wait)
print len(scan), " LIDAR measurements received. "
for measurement in scan:
print measurement
if len(scan) > 0:
r_min = roomba.sensors.lidar.getShortestDistance(scan)
print "r_min: ", r_min
elif "-control" in flags:
roomba = RoombaAPI(port, baudrate)
misc.control(roomba)
elif "-off" in flags:
roomba = RoombaAPI(port, baudrate)
roomba.off()
else:
print "Please specify a valid flag, use -help for more info on possible flags."
