def move_failed(robot, message):
robot.wait()
robot.stop()
def move1_finished(robot, message):
robot.subscribe('robot.move.finished', move2_finished)
robot.moveby(12, 0, 1)
return True
def done(robot, message):
pass
# create our device
simulator = Simulator(10, 10, 5.5, 2.4, 45)
# create our robot
robot = Robot(simulator)
# subscribe to things
robot.subscribe('robot.ready', ready)
robot.subscribe('robot.move.finished', move1_finished)
robot.subscribe('robot.move.failed', move_failed)
robot.subscribe('robot.done', done)
# start things running
robot.run()
robot.stop()
return True
def move_failed(robot, message):
robot.wait()
robot.stop()
def move1_finished(robot, message):
robot.subscribe('robot.move.finished', move2_finished)
robot.moveby(12, 0, 1)
return True
def done(robot, message):
pass
# create our device
simulator = Simulator(10, 10, 5.5, 2.4, 45)
# create our robot
robot = Robot(simulator)
# subscribe to things
robot.subscribe('robot.ready', ready)
robot.subscribe('robot.move.finished', move1_finished)
robot.subscribe('robot.move.failed', move_failed)
robot.subscribe('robot.done', done)
# start things running
robot.run()
logger.info('ready')
robot.moveby(1, 0.5, 1)
return True
def move_3_finished(robot, message):
logger.info('move 2 finished')
robot.end()
return True
def move_2_finished(robot, message):
logger.info('move 2 finished')
robot.rotateby(163, 1)
robot.subscribe('robot.move.finished', move_3_finished)
return True
def move_finished(robot, message):
logger.info('move finished')
robot.moveby(-sqrt(1.25), 0)
robot.subscribe('robot.move.finished', move_2_finished)
return True
roomba = Roomba700('/dev/ttyAMA0')
robot = Robot(roomba)
robot.subscribe('robot.ready', ready)
robot.subscribe('robot.move.finished', move_finished)
robot.run()
logger = logging.getLogger(__name__)
def ready(robot, message):
logger.info('ready')
robot.moveby(1, 0.5, 1)
return True
def move_3_finished(robot, message):
logger.info('move 2 finished')
robot.end()
return True
def move_2_finished(robot, message):
logger.info('move 2 finished')
robot.rotateby(163, 1)
robot.subscribe('robot.move.finished', move_3_finished)
return True
def move_finished(robot, message):
logger.info('move finished')
robot.moveby(-sqrt(1.25), 0)
robot.subscribe('robot.move.finished', move_2_finished)
return True
roomba = Roomba700('/dev/ttyAMA0')
robot = Robot(roomba)
robot.subscribe('robot.ready', ready)
robot.subscribe('robot.move.finished', move_finished)
robot.run()
