class Roomba(object):
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)
################################### DRIVING ###################################
#==============================================================================
def drive(self, velocity, radius):
# UNDER CONSTRUCTION
velocity *= 1000 # m/s to mm/s
radius *= 1000 # m/s to mm/s
self.API.drive(int(velocity), int(radius))
#==============================================================================
def driveStraight(self, velocity, distance, overrideSafe = False):
"""
Function that makes the Roomba drive in a straight line, at a specified
speed for a specified distance.
INPUTS:
velocity = velocity in m/s at which the Roomba will drive
distance = distance in m which the Roomba will drive, negative
distance means the roomba will drive backwards.
overrideSafe = bool that says wether Roomba should stop when bumped
or when picked up (True), or whether it should stop
driving (False).
OUTPUTS:
None
"""
s = 0 #distance driven
th = 0 #angle turned
velocity = abs(velocity*1000) #mm/s to m/s
if self.sensors.checkSafe() or overrideSafe:
self.API.speed = int(velocity)
if distance <= 0:
self.API.backward()
direction = 'BWD'
# Call getodometry once without assigning output because
# when quickly changing directions tics count in opposite
# direction on first call.
self.sensors.getOdometry(direction)
else:
self.API.forward()
direction = 'FWD'
# Call getodometry once without assigning output because
# when quickly changing directions tics count in opposite
# direction on first call.
self.sensors.getOdometry(direction)
while abs(s) < abs(distance) and (self.sensors.checkSafe() or overrideSafe):
ds, dth = self.sensors.getOdometry(direction)
s += ds
th += dth
self.stop()
else:
self.stop()
#==============================================================================
def turnAngle(self, velocity, angle, overrideSafe = False):
"""
Function that lets the Roomba turn a specified angle around it axis.
INPUTS:
velocity = the velocity in m/s at which the wheels will turn.
angle = the angle in radians that the Roomba will turn, a positive
angle means that the Roomba will turn CCW, a negative angle
means that the Roomba will turn CW.
overrideSafe = bool that says wether Roomba should stop when bumped
or when picked up (True), or whether it should stop
driving (False).
OUTPUTS:
None
"""
s = 0 #distance driven
th = 0 #angle turned
dth = 0
ds = 0
velocity = abs(velocity*1000) #mm/s to m/s
if self.sensors.checkSafe() or overrideSafe:
self.API.speed = int(velocity)
if angle <= 0:
self.API.spin_right()
direction = 'CW'
# Call getodometry once without assigning output because
# when quickly changing directions tics count in opposite
# direction on first call.
self.sensors.getOdometry(direction)
else:
self.API.spin_left()
direction = 'CCW'
# Call getodometry once without assigning output because
# when quickly changing directions tics count in opposite
# direction on first call.
self.sensors.getOdometry(direction)
while abs(th) < abs(angle) and (self.sensors.checkSafe() or overrideSafe):
ds, dth = self.sensors.getOdometry(direction)
# Handle unexpected odometry errors
if abs(dth) >= 100:
dth = 0
s += ds
th += dth
self.stop()
else:
self.stop()
#==============================================================================
def driveArc(self, velocity, radius, angle, wallFollower = False):
"""
Function that lets Roomba drive an arc segment, specified by a radius
and an angle, at a certain velocity.
INPUTS:
velocity = speed at which roomba will drive in m/s, positive
speed makes Roomba drive forward, negative speed makes
roomba drive backwards.
radius = radius of the arc segment in m. Negative radius makes
radius makes Roomba turn CW, positive radius makes Roomba
turn CCW.
angle = angle of the arc segment in radians
OUTPUTS:
None
"""
s = 0
th = 0
dth = 0
ds = 0
# Conversion from m to mm
velocity *= 1000
radius *= 1000
safe = self.sensors.checkSafe()
if safe:
self.API.drive(int(velocity), int(radius))
if velocity < 0:
direction = 'BWD'
# Call getodometry once without assigning output because
# when quickly changing directions tics count in opposite
# direction on first call.
self.sensors.getOdometry(direction)
else:
direction = 'FWD'
# Call getodometry once without assigning output because
# when quickly changing directions tics count in opposite
# direction on first call.
self.sensors.getOdometry(direction)
while abs(th) < abs(angle) and safe:
ds, dth = self.sensors.getOdometry(direction)
# Handle unexpected odometry errors
if abs(dth) >= 100:
dth = 0
safe = self.sensors.checkSafe()
wall = self.sensors.getWallSensor()
if wallFollower:
if wall:
safe = False
s += ds
th += dth
self.stop()
else:
self.stop()
#==============================================================================
def stop(self):
"""
Function to stop Roomba from driving
INPUTS:
None
OUTPUTS:
None
"""
try:
self.API.stop()
except:
self.ECS.Stop()
################################### BUTTONS ###################################
def getClean(self):
"""
Function that returns the current status of the clean button.
INPUTS:
None
OUTPUTS:
clean = status of clean button. False if button is not pressed,
True if buttton is pressed.
"""
clean = self.API.sensors.buttons.clean
return clean
#==============================================================================
def getDock(self):
"""
Function that returns the current status of the dock button.
INPUTS:
None
OUTPUTS:
dock = status of dock button. False if button is not pressed,
True if buttton is pressed.
"""
dock = self.API.sensors.buttons.dock
return dock
#==============================================================================
def getSpot(self):
"""
Function that returns the current status of the spot button.
INPUTS:
None
OUTPUTS:
spot = status of dock button. False if button is not pressed,
True if buttton is pressed.
"""
spot = self.API.sensors.buttons.spot
return spot
##################################### LED #####################################
def turnOnLED(self, color, intensity):
"""
Function to turn on 'clean' LED in the middle of the roomba.
INPUTS:
color = string that selects the color that the LED will have, allowed
inputs are:
'g' = green
'y' = yellow
'o' = orange
'r' = red
intensity = number from 0-100 that represents the intensity, 0 means
LED is off, 100 is maximum intensity.
OUTPUTS:
none
"""
if color == 'g':
colorNum = 0
elif color == 'y':
colorNum = 8
elif color == 'o':
colorNum = 128
elif color == 'r':
colorNum = 255
else:
print "Invalid input for color, setting color to red."
colorNum = 255
intensityNum = int(255*intensity)/100 #Converting intensity to int bewteen 0 and 255
self.API.led(0, colorNum, intensityNum)
#==============================================================================
def flashLED(self, color, numOfFlashes, flashTime):
"""
Function to flash 'clean' LED in the middle of the roomba.
INPUTS:
color = single character that selects the color that the LED will
have, allowed inputs are:
'g' = green
'y' = yellow
'o' = orange
'r' = red
numOfFlashes = number of times the LED will flash.
flashTime = time in seconds between flashes
OUTPUTS:
None
"""
for i in range(numOfFlashes):
self.turnOnLED(color, 100)
time.sleep(flashTime)
self.turnOnLED(color, 0)
time.sleep(flashTime)
##################################### SOUND ###################################
#==============================================================================
def loadSong(self, songNum, song = 'BEEP'):
"""
Function that loads a song onto the Roomba at a specified songNum.
This song can later be played by using the function 'play'.
INPUTS:
songNum: Number (0-4) that specifies where the song will be saved
This is the number that later has to be used when calling play().
song: predefined song that can be loaded, possible songs are:
BEEP: plays a sound simular to the charging sound.
TFC: plays the first 4 notes of the final countdown.
OUTPUTS:
None
"""
self.API.song(songNum, song)
#==============================================================================
def play(self, songNum):
"""
Function plays a preloaded song.
INPUTS:
songNum: location of the song, as specified in song()
OUTPUTS:
None
"""
self.API.play(songNum)
class Roomba(object):
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)
################################### DRIVING ###################################
#==============================================================================
def drive(self, velocity, radius):
# UNDER CONSTRUCTION
velocity *= 1000 # m/s to mm/s
radius *= 1000 # m/s to mm/s
self.API.drive(int(velocity), int(radius))
#==============================================================================
def driveStraight(self, velocity, distance, overrideSafe=False):
"""
Function that makes the Roomba drive in a straight line, at a specified
speed for a specified distance.
INPUTS:
velocity = velocity in m/s at which the Roomba will drive
distance = distance in m which the Roomba will drive, negative
distance means the roomba will drive backwards.
overrideSafe = bool that says wether Roomba should stop when bumped
or when picked up (True), or whether it should stop
driving (False).
OUTPUTS:
None
"""
s = 0 #distance driven
th = 0 #angle turned
velocity = abs(velocity * 1000) #mm/s to m/s
if self.sensors.checkSafe() or overrideSafe:
self.API.speed = int(velocity)
if distance <= 0:
self.API.backward()
direction = 'BWD'
# Call getodometry once without assigning output because
# when quickly changing directions tics count in opposite
# direction on first call.
self.sensors.getOdometry(direction)
else:
self.API.forward()
direction = 'FWD'
# Call getodometry once without assigning output because
# when quickly changing directions tics count in opposite
# direction on first call.
self.sensors.getOdometry(direction)
while abs(s) < abs(distance) and (self.sensors.checkSafe()
or overrideSafe):
ds, dth = self.sensors.getOdometry(direction)
s += ds
th += dth
self.stop()
else:
self.stop()
#==============================================================================
def turnAngle(self, velocity, angle, overrideSafe=False):
"""
Function that lets the Roomba turn a specified angle around it axis.
INPUTS:
velocity = the velocity in m/s at which the wheels will turn.
angle = the angle in radians that the Roomba will turn, a positive
angle means that the Roomba will turn CCW, a negative angle
means that the Roomba will turn CW.
overrideSafe = bool that says wether Roomba should stop when bumped
or when picked up (True), or whether it should stop
driving (False).
OUTPUTS:
None
"""
s = 0 #distance driven
th = 0 #angle turned
dth = 0
ds = 0
velocity = abs(velocity * 1000) #mm/s to m/s
if self.sensors.checkSafe() or overrideSafe:
self.API.speed = int(velocity)
if angle <= 0:
self.API.spin_right()
direction = 'CW'
# Call getodometry once without assigning output because
# when quickly changing directions tics count in opposite
# direction on first call.
self.sensors.getOdometry(direction)
else:
self.API.spin_left()
direction = 'CCW'
# Call getodometry once without assigning output because
# when quickly changing directions tics count in opposite
# direction on first call.
self.sensors.getOdometry(direction)
while abs(th) < abs(angle) and (self.sensors.checkSafe()
or overrideSafe):
ds, dth = self.sensors.getOdometry(direction)
# Handle unexpected odometry errors
if abs(dth) >= 100:
dth = 0
s += ds
th += dth
self.stop()
else:
self.stop()
#==============================================================================
def driveArc(self, velocity, radius, angle, wallFollower=False):
"""
Function that lets Roomba drive an arc segment, specified by a radius
and an angle, at a certain velocity.
INPUTS:
velocity = speed at which roomba will drive in m/s, positive
speed makes Roomba drive forward, negative speed makes
roomba drive backwards.
radius = radius of the arc segment in m. Negative radius makes
radius makes Roomba turn CW, positive radius makes Roomba
turn CCW.
angle = angle of the arc segment in radians
OUTPUTS:
None
"""
s = 0
th = 0
dth = 0
ds = 0
# Conversion from m to mm
velocity *= 1000
radius *= 1000
safe = self.sensors.checkSafe()
if safe:
self.API.drive(int(velocity), int(radius))
if velocity < 0:
direction = 'BWD'
# Call getodometry once without assigning output because
# when quickly changing directions tics count in opposite
# direction on first call.
self.sensors.getOdometry(direction)
else:
direction = 'FWD'
# Call getodometry once without assigning output because
# when quickly changing directions tics count in opposite
# direction on first call.
self.sensors.getOdometry(direction)
while abs(th) < abs(angle) and safe:
ds, dth = self.sensors.getOdometry(direction)
# Handle unexpected odometry errors
if abs(dth) >= 100:
dth = 0
safe = self.sensors.checkSafe()
wall = self.sensors.getWallSensor()
if wallFollower:
if wall:
safe = False
s += ds
th += dth
self.stop()
else:
self.stop()
#==============================================================================
def stop(self):
"""
Function to stop Roomba from driving
INPUTS:
None
OUTPUTS:
None
"""
try:
self.API.stop()
except:
self.ECS.Stop()
################################### BUTTONS ###################################
def getClean(self):
"""
Function that returns the current status of the clean button.
INPUTS:
None
OUTPUTS:
clean = status of clean button. False if button is not pressed,
True if buttton is pressed.
"""
clean = self.API.sensors.buttons.clean
return clean
#==============================================================================
def getDock(self):
"""
Function that returns the current status of the dock button.
INPUTS:
None
OUTPUTS:
dock = status of dock button. False if button is not pressed,
True if buttton is pressed.
"""
dock = self.API.sensors.buttons.dock
return dock
#==============================================================================
def getSpot(self):
"""
Function that returns the current status of the spot button.
INPUTS:
None
OUTPUTS:
spot = status of dock button. False if button is not pressed,
True if buttton is pressed.
"""
spot = self.API.sensors.buttons.spot
return spot
##################################### LED #####################################
def turnOnLED(self, color, intensity):
"""
Function to turn on 'clean' LED in the middle of the roomba.
INPUTS:
color = string that selects the color that the LED will have, allowed
inputs are:
'g' = green
'y' = yellow
'o' = orange
'r' = red
intensity = number from 0-100 that represents the intensity, 0 means
LED is off, 100 is maximum intensity.
OUTPUTS:
none
"""
if color == 'g':
colorNum = 0
elif color == 'y':
colorNum = 8
elif color == 'o':
colorNum = 128
elif color == 'r':
colorNum = 255
else:
print "Invalid input for color, setting color to red."
colorNum = 255
intensityNum = int(
255 *
intensity) / 100 #Converting intensity to int bewteen 0 and 255
self.API.led(0, colorNum, intensityNum)
#==============================================================================
def flashLED(self, color, numOfFlashes, flashTime):
"""
Function to flash 'clean' LED in the middle of the roomba.
INPUTS:
color = single character that selects the color that the LED will
have, allowed inputs are:
'g' = green
'y' = yellow
'o' = orange
'r' = red
numOfFlashes = number of times the LED will flash.
flashTime = time in seconds between flashes
OUTPUTS:
None
"""
for i in range(numOfFlashes):
self.turnOnLED(color, 100)
time.sleep(flashTime)
self.turnOnLED(color, 0)
time.sleep(flashTime)
##################################### SOUND ###################################
#==============================================================================
def loadSong(self, songNum, song='BEEP'):
"""
Function that loads a song onto the Roomba at a specified songNum.
This song can later be played by using the function 'play'.
INPUTS:
songNum: Number (0-4) that specifies where the song will be saved
This is the number that later has to be used when calling play().
song: predefined song that can be loaded, possible songs are:
BEEP: plays a sound simular to the charging sound.
TFC: plays the first 4 notes of the final countdown.
OUTPUTS:
None
"""
self.API.song(songNum, song)
#==============================================================================
def play(self, songNum):
"""
Function plays a preloaded song.
INPUTS:
songNum: location of the song, as specified in song()
OUTPUTS:
None
"""
self.API.play(songNum)
