def __init__(self,
port = None,
simulator = 0,
rate = None,
subtype = "Roomba"):
# simulator = 0 makes it real
Robot.__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:
try:
port = config.get('Roomba', 'port')
except:
pass
if port == None:
port = "/dev/rfcomm0"
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)
self.sc = Serial(port, baudrate=rate) #, xonxoff=0, rtscts=0)
self.sc.setTimeout(0.5)
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.supportedFeatures.append( "continuous-movement" )
self.supportedFeatures.append( "range-sensor" )
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.supportedFeatures.append( "mono-sound" )
self.supportedFeatures.append( "visual-feedback" )
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
Robot.__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:
try:
port = config.get('Roomba', 'port')
except:
pass
if port == None:
port = "/dev/rfcomm0"
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)
self.sc = Serial(port, baudrate=rate) #, xonxoff=0, rtscts=0)
self.sc.setTimeout(0.5)
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.supportedFeatures.append("continuous-movement")
self.supportedFeatures.append("range-sensor")
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.supportedFeatures.append("mono-sound")
self.supportedFeatures.append("visual-feedback")
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 = "IntelliBrainBot"):
# simulator = 0 makes it real
Robot.__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 == "IntelliBrainBot":
if port == None:
try:
port = config.get('IntelliBrainBot', 'port')
except:
pass
if port == None:
port = "/dev/ttyUSB0"
if rate == None:
rate = 38400
print "IntelliBrain opening port", port, "..."
self.sc = Serial(port, baudrate=rate) #, xonxoff=0, rtscts=0)
self.sc.setTimeout(0)
self.sc.readlines() # to clear out the line
self.lastTranslate = 0
self.lastRotate = 0
self.currSpeed = [0, 0]
# This could go as high as 127, but I am keeping it small
# to be on the same scale as larger robots. -DSB
self.translateFactor = 9
self.dataTypes = {'n' : 'ir',
'o' : 'light'
}
self.rawData = {}
self.rawData['position'] = [0] * 3
self.rawData['ir'] = [0] * 2
self.rawData['light'] = [0] * 2
self.subtype = subtype
self.radius = .06 #meters
self.builtinDevices = ['ir', 'light']
self._newline = "\r"
self.startDevice("ir")
self.range = self.ir[0]
self.startDevice("light")
self.rawData["position"] = 0, 0
# self.sendMsg('B') # version
# self.sendMsg('j') # extensionDevices
self.x = 0.0
self.y = 0.0
self.thr = 0.0
self.th = 0.0
self.w0 = self.rawData['position'][0]
self.w1 = self.rawData['position'][1]
self.type = "IntelliBrain"
self.port = port
self.simulated = simulator
self.supportedFeatures.append( "continuous-movement" )
self.supportedFeatures.append( "range-sensor" )
self.supportedFeatures.append( "light-sensor" )
self.supportedFeatures.append( "mono-sound" )
self.supportedFeatures.append( "visual-feedback" )
self.update()
print "Done loading IntelliBrain."
def __init__(self,
port = None,
simulator = 0,
rate = None,
subtype = "IntelliBrainBot"):
# simulator = 0 makes it real
Robot.__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 == "IntelliBrainBot":
if port == None:
try:
port = config.get('IntelliBrainBot', 'port')
except:
pass
if port == None:
port = "/dev/ttyUSB0"
if rate == None:
rate = 38400
print "IntelliBrain opening port", port, "..."
self.sc = Serial(port, baudrate=rate) #, xonxoff=0, rtscts=0)
self.sc.setTimeout(0)
self.sc.readlines() # to clear out the line
self.lastTranslate = 0
self.lastRotate = 0
self.currSpeed = [0, 0]
# This could go as high as 127, but I am keeping it small
# to be on the same scale as larger robots. -DSB
self.translateFactor = 9
self.dataTypes = {'n' : 'ir',
'o' : 'light'
}
self.rawData = {}
self.rawData['position'] = [0] * 3
self.rawData['ir'] = [0] * 2
self.rawData['light'] = [0] * 2
self.subtype = subtype
self.radius = .06 #meters
self.builtinDevices = ['ir', 'light']
self._newline = "\r"
self.startDevice("ir")
self.range = self.ir[0]
self.startDevice("light")
self.rawData["position"] = 0, 0
# self.sendMsg('B') # version
# self.sendMsg('j') # extensionDevices
self.x = 0.0
self.y = 0.0
self.thr = 0.0
self.th = 0.0
self.w0 = self.rawData['position'][0]
self.w1 = self.rawData['position'][1]
self.type = "IntelliBrain"
self.port = port
self.simulated = simulator
self.supportedFeatures.append( "continuous-movement" )
self.supportedFeatures.append( "range-sensor" )
self.supportedFeatures.append( "light-sensor" )
self.supportedFeatures.append( "mono-sound" )
self.supportedFeatures.append( "visual-feedback" )
self.update()
print "Done loading IntelliBrain."
def __init__(self,
port = None,
simulator = 0,
rate = None,
subtype = "Khepera"):
# simulator = 0 makes it real
Robot.__init__(self) # robot constructor
self.lock = threading.Lock()
self.buffer = ''
self.debug = 0
self.pause = 0.1 # for hemisson to keep from swamping the wireless
if simulator == 1:
raise AttributeError, "simulator no longer supported"
else:
if subtype == "Khepera":
if port == None:
try:
port = config.get('khepera', 'port')
except:
pass
if port == None:
port = "/dev/ttyS0"
if rate == None:
rate = 38400
else:
if port == None:
try:
port = config.get('hemisson', 'port')
except:
pass
if port == None:
port = "/dev/rfcomm0"
if rate == None:
rate = 115200
print "K-Team opening port", port, "..."
self.sc = Serial(port, baudrate=rate) #, xonxoff=0, rtscts=0)
self.sc.setTimeout(0)
self.sc.readlines() # to clear out the line
self.stallTolerance = 0.25
self.stallHistoryPos = 0
self.stallHistorySize = 5
self.stallHistory = [0] * self.stallHistorySize
self.lastTranslate = 0
self.lastRotate = 0
self.currSpeed = [0, 0]
# This could go as high as 127, but I am keeping it small
# to be on the same scale as larger robots. -DSB
self.translateFactor = 12
self.rotateFactor = 12
self.dataTypes = {'n': 'ir',
'h' : 'position',
'o' : 'light',
'k' : 'stall',
'e' : 'speed',
'b' : 'version',
'j' : 'extensionDevices',
't1b' : 'gripper software',
't1f' : 'gripper resistivity',
't1g' : 'gripper beam state',
't1h1' : 'gripper arm position',
't1h0' : 'gripper state',
't1j' : 'gripper jumpers'
}
self.rawData = {}
self.rawData['position'] = [0] * 3
self.rawData['ir'] = [0] * 6
self.rawData['light'] = [0] * 6
self.rawData['stall'] = [0] * 6
self.subtype = subtype
if subtype == "Hemisson":
self.radius = .06 #meters
self.builtinDevices = ['ir', 'light', 'audio']
self._newline = "\r"
elif subtype == "Khepera":
self.radius = .03 #meters
self.builtinDevices = ['ir', 'light', 'gripper']
self._newline = "\n"
else:
raise TypeError, "invalid K-Team subtype: '%s'" % subtype
self.startDevice("ir")
self.range = self.ir[0]
self.startDevice("light")
if subtype == "Khepera":
self.sendMsg('H') # position
else:
self.rawData["position"] = 0, 0
self.sendMsg('B') # version
self.sendMsg('j') # extensionDevices
self.x = 0.0
self.y = 0.0
self.thr = 0.0
self.th = 0.0
try:
self.w0 = self.rawData['position'][0]
self.w1 = self.rawData['position'][1]
except:
raise "KTeamConnectionError"
self.type = "K-Team"
self.port = port
self.simulated = simulator
# ----- Updatable things:
self.stall = self.isStall()
self.x = 0.0
self.y = 0.0
self.z = 0.0
self.th = 0.0
self.thr = 0.0
self.supportedFeatures.append( "odometry" )
self.supportedFeatures.append( "continuous-movement" )
self.supportedFeatures.append( "range-sensor" )
self.update()
print "Done loading K-Team robot."
def __init__(self, port=None, simulator=0, rate=None, subtype="Khepera"):
# simulator = 0 makes it real
Robot.__init__(self) # robot constructor
self.lock = threading.Lock()
self.buffer = ''
self.debug = 0
self.pause = 0.1 # for hemisson to keep from swamping the wireless
if simulator == 1:
raise AttributeError, "simulator no longer supported"
else:
if subtype == "Khepera":
if port == None:
try:
port = config.get('khepera', 'port')
except:
pass
if port == None:
port = "/dev/ttyS0"
if rate == None:
rate = 38400
else:
if port == None:
try:
port = config.get('hemisson', 'port')
except:
pass
if port == None:
port = "/dev/rfcomm0"
if rate == None:
rate = 115200
print "K-Team opening port", port, "..."
self.sc = Serial(port, baudrate=rate) #, xonxoff=0, rtscts=0)
self.sc.setTimeout(0)
self.sc.readlines() # to clear out the line
self.stallTolerance = 0.25
self.stallHistoryPos = 0
self.stallHistorySize = 5
self.stallHistory = [0] * self.stallHistorySize
self.lastTranslate = 0
self.lastRotate = 0
self.currSpeed = [0, 0]
# This could go as high as 127, but I am keeping it small
# to be on the same scale as larger robots. -DSB
self.translateFactor = 12
self.rotateFactor = 12
self.dataTypes = {
'n': 'ir',
'h': 'position',
'o': 'light',
'k': 'stall',
'e': 'speed',
'b': 'version',
'j': 'extensionDevices',
't1b': 'gripper software',
't1f': 'gripper resistivity',
't1g': 'gripper beam state',
't1h1': 'gripper arm position',
't1h0': 'gripper state',
't1j': 'gripper jumpers'
}
self.rawData = {}
self.rawData['position'] = [0] * 3
self.rawData['ir'] = [0] * 6
self.rawData['light'] = [0] * 6
self.rawData['stall'] = [0] * 6
self.subtype = subtype
if subtype == "Hemisson":
self.radius = .06 #meters
self.builtinDevices = ['ir', 'light', 'audio']
self._newline = "\r"
elif subtype == "Khepera":
self.radius = .03 #meters
self.builtinDevices = ['ir', 'light', 'gripper']
self._newline = "\n"
else:
raise TypeError, "invalid K-Team subtype: '%s'" % subtype
self.startDevice("ir")
self.range = self.ir[0]
self.startDevice("light")
if subtype == "Khepera":
self.sendMsg('H') # position
else:
self.rawData["position"] = 0, 0
self.sendMsg('B') # version
self.sendMsg('j') # extensionDevices
self.x = 0.0
self.y = 0.0
self.thr = 0.0
self.th = 0.0
try:
self.w0 = self.rawData['position'][0]
self.w1 = self.rawData['position'][1]
except:
raise "KTeamConnectionError"
self.type = "K-Team"
self.port = port
self.simulated = simulator
# ----- Updatable things:
self.stall = self.isStall()
self.x = 0.0
self.y = 0.0
self.z = 0.0
self.th = 0.0
self.thr = 0.0
self.supportedFeatures.append("odometry")
self.supportedFeatures.append("continuous-movement")
self.supportedFeatures.append("range-sensor")
self.update()
print "Done loading K-Team robot."