import iRobotCreate import numpy as np import time r = iRobotCreate.iRobotCreate(1) dist = 0.2 r.trajectory() r.set_trail_size(100) x = 5 y = 2 xobst = np.zeros(4) yobst = np.zeros(4) xobst[0] = 3 yobst[0] = 1 xobst[1] = 3 yobst[1] = 0.6 xobst[2] = 3 yobst[2] = 0.2 xobst[3] = 3 yobst[3] = 0 time = 0 d=10000 r.forward(0.1) print d while dist<d and time<100: [rx,ry,rt] = r.get_pose() xt = x-rx yt = y-ry d = ((xt)**2+(yt)**2)**0.5
import iRobotCreate import numpy as np import time r = iRobotCreate.iRobotCreate(1) dist = 0.2 r.trajectory() r.set_trail_size(100) x = 5 y = 2 xobst = np.zeros(4) yobst = np.zeros(4) xobst[0] = 3 yobst[0] = 1 xobst[1] = 3 yobst[1] = 0.6 xobst[2] = 3 yobst[2] = 0.2 xobst[3] = 3 yobst[3] = 0 time = 0 d = 10000 r.forward(0.1) print d while dist < d and time < 100: [rx, ry, rt] = r.get_pose() xt = x - rx yt = y - ry d = ((xt)**2 + (yt)**2)**0.5
# Lily's voice control #open communication to phrasesToSay sp = IPC.process(False, 'phrasesToSay.py') #when input is received from phrasesToSay, #check if the TTS program is ready to receive input sp.setOnReadLine(checkReady) # Open Speech Recognition Control vm = IPC.process(False, 'VoiceMonitor.py') vm.setOnReadLine(VocalQueue) # Initialize synchronization IPC.InitSync() # Open a serial connection to the create r = iRobotCreate.iRobotCreate(0, 5, "COM3") time.sleep(1) # Execute start-up commands # request input from the TTS sp.tryReadLine() readyTT = False print "Lily is awake." # command TTS sp.write("hello\n") #wait for the TTS to be ready while readyTT == False: sp.tryReadLine() readyTT = False print "Lily is ready!"