def wheelDropSensor():
print "t1"
while(interface.bumpWheelDrop(2) == 0 or interface.bumpWheelDrop(3) == 0):
interface.sleep()
interface.song()
interface.play()
interface.driveDirect(0,0,0,0)
interface.start()
# Sets roomba to save mode.
interface.full()
interface.song()
# creates a infinite while loop that breaks the clean button is pressed.
while (1):
if (interface.readButton() == 1):
break
# waits 0.5 for the code to process.
time.sleep(0.5)
# Uses a for loop to run drive and turn codes six times.
while (1):
# Drives straight at a speed of 200 mm per second.
x = interface.driveDirect(0, 200, 0, 200)
# set an array to the array of cliff readings
cliff = interface.cliffRead()
'''
cliffTF = False
for i in range(0,4):
if (cliff[i] == 1):
cliffTF = True
'''
# time = distance/speed = 30 cm / 20 cm/s = 1.5 s
# loop is repeated 50 times because the readButton() method sleep
# 0.03 seconds in total, and 1.5 seconds/0.03 seconds = 50 times.
# waits for a total of 1.5 seconds (drives straight for 30 cm)
# while no bumps/wheel drop and no cliffs
def turnCounterClockwise():
interface.driveDirect(0,200,255,56)
time.sleep(1.846 + random.uniform(-0.307,0.307))
interface.driveDirect(0,200,0,200)
#Starts roomba.
interface.start()
#Sets roomba to save mode.
interface.full()
#Initializes values used in the loops.
#To make sure roomba is started and set to passive mode and safe mode.
while(1):
if (interface.readButton() == 1):
break
#When the button is pressed, breaks the while loop and runs the for loop.
#Uses a for loop to run drive straight method and turn method six times
#in case button is pressed and gets out of the inner for loop.
interface.driveDirect(0,200,0,200)
t = threading.Thread(target=wheelDropSensor)
t.daemon = True
t.start()
counter = 0
while(1):
if(not(t.isAlive())):
t = threading.Thread(target=wheelDropSensor)
t.daemon = True
t.start()
bumpRight = interface.bumpWheelDrop(0)
interface.sleep()
bumpLeft = interface.bumpWheelDrop(1)
interface.sleep()
cleanButton = interface.readButton()
interface.sleep()