def __init__(self):
# If /create/use_host_name is True, the topic names used by
# this driver will be /hostname/cmd_vel, /hostname/odom, etc.
self.hn = HName(usename = rospy.get_param('/create/use_host_name', False))
port = rospy.get_param('/brown/irobot_create_2_1/port', "/dev/ttyUSB0")
self.create = Create(port)
self.packetPub = rospy.Publisher(self.hn.topic('sensorPacket'), SensorPacket)
self.odomPub = rospy.Publisher(self.hn.topic('odom'),Odometry)
self.odomBroadcaster = TransformBroadcaster()
self.fields = ['wheeldropCaster','wheeldropLeft','wheeldropRight','bumpLeft','bumpRight','wall','cliffLeft','cliffFronLeft','cliffFrontRight','cliffRight','virtualWall','infraredByte','advance','play','distance','angle','chargingState','voltage','current','batteryTemperature','batteryCharge','batteryCapacity','wallSignal','cliffLeftSignal','cliffFrontLeftSignal','cliffFrontRightSignal','cliffRightSignal','homeBase','internalCharger','songNumber','songPlaying']
self.then = datetime.now()
self.x = 0
self.y = 0
self.th = 0
self.idealTh = 0
self.create.update = self.sense
# SW
self.create.storeSong(2,67,32,74,32,72,11,71,11,69,11,79,32,74,32,72,11,71,11,69,11,79,32,74,32,72,11,71,11,72,11,69,32)
# CE3K
self.create.storeSong(3,74,16,81,24,83,24,79,24,67,32,74,40)
# HN
self.create.storeSong(4,74,64,78,20,75,20,74,20,78,56,81,17,79,17,78,17,79,48,82,14,81,14,79,14,78,28,75,32,74,40)
# Js
self.create.storeSong(5,42,32,43,32,42,32,43,32,42,32,43,32,42,32,43,32)
# ROLA
self.create.storeSong(6,64,24,65,8,67,16,72,40,62,24,64,8,65,48,67,24,69,8,71,16,77,40,69,24,71,10,72,24,74,24,76,48)
# JJMD
self.create.storeSong(7,79,12,81,12,83,12,86,12,84,12,84,12,88,12,86,12,86,12,91,12,90,12,91,12,86,12,83,12,79,40)
# SaaHC
self.create.storeSong(8,84,25,79,18,79,12,81,25,79,40,83,28,84,12)
# Angry men
self.create.storeSong(9,64,24,62,12,60,24,62,12,64,24,65,12,67,36,64,12,62,12,60,12,59,24,57,12,59,24,60,12,55,48)
# IGR
self.create.storeSong(10,77,24,79,24,82,24,84,40)
#,84,24,82,24,79,24,77,40,77,24,79,24,82,24,84,18,87,18,84,10,86,32,84,42)
self.create.storeSong(11,50,10,51,10)
self.create.storeSong(12,51,10,50,10)
self.create.storeSong(13,52,10,51,10,50,10)
self.create.storeSong(14,53,10,54,10,55,10)
self.create.storeSong(15,54,10,54,10)
