# Permission is hereby granted, free of charge, to any person obtaining a copy # of this software and associated documentation files (the "Software"), to deal # in the Software without restriction, including without limitation the rights # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell # copies of the Software, and to permit persons to whom the Software is # furnished to do so, subject to the following conditions: # # The above copyright notice and this permission notice shall be included in # all copies or substantial portions of the Software. import pyrobot import time if __name__ == '__main__': """Do a little dance.""" r = pyrobot.Roomba(tty = '/dev/ttyAMA0') # r.sci.Wake() r.safe=False r.Control() r.TurnInPlace(pyrobot.VELOCITY_SLOW, 'cw') time.sleep(0.5) r.TurnInPlace(pyrobot.VELOCITY_SLOW, 'ccw') time.sleep(0.5) r.DriveStraight(pyrobot.VELOCITY_SLOW) time.sleep(0.25) r.DriveStraight(-pyrobot.VELOCITY_SLOW) time.sleep(.25) r.Stop()
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.
"""Connect to a Roomba/Create and offer up an XMLRPC server interface."""
import pyrobot
import sys
from SimpleXMLRPCServer import SimpleXMLRPCServer
if __name__ == '__main__':
assert len(sys.argv) == 3
server = SimpleXMLRPCServer(sys.argv[1:])
server.register_introspection_functions()
roomba = pyrobot.Roomba()
server.register_instance(roomba)
server.serve_forever()
def get_roomba():
r = pyrobot.Roomba() #declare a roomba
r.Control() #wake up the roomba (get control of it)
time.sleep(.2) #sleep a bit before using
return r
map_obstacle_place(x, y)
return
def map_roomba_place(x, y):
""" Send points to map for Roomba's theoretical location """
z = find_map_number()
grid_roomba.add_data_point(x, y, z)
pass
def map_obstacle_place(x, y):
""" Sent points to map to represent Roomba's hits """
z = find_map_number()
grid.add_data_point(x, y, z)
pass
def find_map_number():
""" Return the map number """
return 1 # TODO: Make this a real number
if __name__ == "__main__":
# create Roomba
r = pyrobot.Roomba()
follow_walls(r)
find_map_number()
#grid = CreateOccupancyGrid.create_map()
#location = CreateKalmanFilters.locate_roomba(grid)
#path = CreateRoombaPath.plan_path(grid, location)