def __init__(self,
port = None,
simulator = 0,
rate = None,
subtype = "Roomba"):
# simulator = 0 makes it real
PyroRobot.__init__(self) # robot constructor
self.lock = threading.Lock()
self.buffer = ''
self.debug = 0
if simulator == 1:
raise AttributeError, "simulator no longer supported"
else:
if subtype == "Roomba":
if port == None:
port = ask("Port", useCache = 1)
if rate == None:
rate = 57600
if type(port) == str and port.lower().startswith("com"):
portnum = int(port[3:])
if portnum >= 10:
port = r'\\.\COM%d' % (portnum)
print "Roomba opening port '%s' with baudrate %s ..." % (port, rate)
try:
myro.globvars.robot.sc.close()
except KeyboardInterrupt:
raise
except:
pass
self.sc = serial.Serial(port) #, xonxoff=0, rtscts=0)
self.sc.setTimeout(0.5)
self.sc.baudrate = rate
self.sc.readlines() # to clear out the line
self.lastTranslate = 0
self.lastRotate = 0
self.subtype = subtype
self.radius = .16 #meters
self._newline = "\r"
self.type = "Roomba"
self.port = port
self.simulated = simulator
self.sendMsg('\x80') #Start Sci
self.sendMsg('\x82') #Give user control
self.sendMsg('\x8E\x02') # reset sensors, useful for distance
self.sensorData = {} # Holds all of the sensor data
self.builtinDevices = ["ir", "bumper", "battery"]
for name in self.builtinDevices:
self.startDevice(name)
self.update()
print "Done loading Roomba."
def __init__(self,
port = None,
simulator = 0,
rate = None,
subtype = "Roomba"):
# simulator = 0 makes it real
PyroRobot.__init__(self) # robot constructor
self.lock = threading.Lock()
self.buffer = ''
self.debug = 0
if simulator == 1:
raise AttributeError, "simulator no longer supported"
else:
if subtype == "Roomba":
if port == None:
port = ask("Port", useCache = 1)
if rate == None:
rate = 57600
if type(port) == str and port.lower().startswith("com"):
portnum = int(port[3:])
if portnum >= 10:
port = r'\\.\COM%d' % (portnum)
print "Roomba opening port '%s' with baudrate %s ..." % (port, rate)
try:
myro.globvars.robot.sc.close()
except KeyboardInterrupt:
raise
except:
pass
self.sc = serial.Serial(port) #, xonxoff=0, rtscts=0)
self.sc.setTimeout(0.5)
self.sc.baudrate = rate
self.sc.readlines() # to clear out the line
self.lastTranslate = 0
self.lastRotate = 0
self.subtype = subtype
self.radius = .16 #meters
self._newline = "\r"
self.type = "Roomba"
self.port = port
self.simulated = simulator
self.sendMsg('\x80') #Start Sci
self.sendMsg('\x82') #Give user control
self.sendMsg('\x8E\x02') # reset sensors, useful for distance
self.sensorData = {} # Holds all of the sensor data
self.builtinDevices = ["ir", "bumper", "battery"]
for name in self.builtinDevices:
self.startDevice(name)
self.update()
print "Done loading Roomba."
def __init__(self, host, port, startDevices=1):
Robot.__init__(self)
self.lock = threading.Lock()
# Set the socket parameters
self.host = host
self.port = port
self.addr = (host, port)
self.type = "Pyrobot"
# Create socket
self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
self.socket.settimeout(1)
except:
print "WARN: entering deadlock zone; upgrade to Python 2.3 to avoid"
done = 0
while not done:
try:
self.socket.connect(self.addr)
done = 1
except:
print "Waiting on PyrobotSimulator..."
time.sleep(1)
self.connectionNum = self.getItem("connectionNum:%d" % self.port)
self.init(startDevices)
def __init__(self, host, port, startDevices=1):
Robot.__init__(self)
self.lock = threading.Lock()
# Set the socket parameters
self.host = host
self.port = port
self.addr = (host, port)
self.type = "Pyrobot"
# Create socket
self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
self.socket.settimeout(1)
except:
print "WARN: entering deadlock zone; upgrade to Python 2.3 to avoid"
done = 0
while not done:
try:
self.socket.connect(self.addr)
done = 1
except:
print "Waiting on PyrobotSimulator..."
time.sleep(1)
self.connectionNum = self.getItem("connectionNum:%d" % self.port)
self.init(startDevices)
def update(self):
PyroRobot.update(self)
self.readData()
''' Attempt at adjusting for straight travel
def __init__(self, simulator, port, connectionNum, startDevices=1):
Robot.__init__(self)
self.simulator = simulator
self.connectionNum = connectionNum
self.port = port
self.init(startDevices)
def __init__(self, simulator, port, connectionNum, startDevices=1):
Robot.__init__(self)
self.simulator = simulator
self.connectionNum = connectionNum
self.port = port
self.init(startDevices)
def update(self):
PyroRobot.update(self)
self.readData()
''' Attempt at adjusting for straight travel
