def rotate(self, angleInDegrees):
angleInDegrees = int(round(angleInDegrees, 0))
Logger.logEverywhere("ROBOT: rotating of " + str(angleInDegrees) + " degrees")
self.arduinoInterface.write('R' + str(angleInDegrees) + '.')
self.arduinoInterface.checkIfOperationIsOver()
def advance(self, distanceInCentimeters):
distanceInMillimeters = int(round(distanceInCentimeters * 10, 0))
Logger.logEverywhere("ROBOT: advancing of " + str(distanceInMillimeters) + " mm")
self.arduinoInterface.write('D' + str(distanceInMillimeters) + '.')
self.arduinoInterface.write('A0.')
self.arduinoInterface.write('V150.')
self.arduinoInterface.write('M.')
self.arduinoInterface.checkIfOperationIsOver()
def shuffle(self, distanceInCentimeters, relativeAngleInDegrees):
distanceInMillimeters = int(round(distanceInCentimeters * 10, 0))
relativeAngleInDegrees = int(round(relativeAngleInDegrees, 0))
Logger.logEverywhere("ROBOT: shuffling of " + str(distanceInMillimeters) + " mm at angle " + str(
relativeAngleInDegrees) + " degrees")
self.arduinoInterface.write('D' + str(distanceInMillimeters) + '.')
self.arduinoInterface.write('A' + str(relativeAngleInDegrees) + '.')
self.arduinoInterface.write('V100.')
self.arduinoInterface.write('M.')
self.arduinoInterface.checkIfOperationIsOver()
def checkIfOperationIsOver(self):
print "checking if operation is over..."
operationOver = False
while not operationOver:
print "entered while in checkIfOperationIsOver"
time.sleep(0.1)
print "reading line in checkIfOperationIsOver"
line = self.ser.readline()
print "arduino: " + str(line)
if line.find("over") != -1:
Logger.logToFileAndScreen("operation over")
operationOver = True
print "returning out of checkIfOperationIsOver"
def dispatch(self, msg):
obj = cPickle.loads(msg)
moduleName = obj.__module__
if moduleName == startrobot.__name__:
Logger.logToBase('Robot started')
obstacle1 = (obj.obstacle_1_x, obj.obstacle_1_y)
obstacle2 = (obj.obstacle_2_x, obj.obstacle_2_y)
self.stateController = StateController(BeginState(obstacle1, obstacle2))
self.stateController.beginMainLopp()
elif moduleName == newturn.__name__:
print "beginning a new turn..."
Logger.logToBase('Beginning a new turn')
self.stateController.beginMainLopp()
