def topic_key_callback(msg):
d = msg.data
if d == C.MOVE_DOWN:
pici.drive_straight(ser,-VELOCITYCHANGE);
if d == C.MOVE_UP:
pici.drive_straight(ser,VELOCITYCHANGE);
if d == C.MOVE_LEFT:
pici.turn(ser,ANGULARCHANGE,cw=False)
if d == C.MOVE_RIGHT:
pici.turn(ser,ANGULARCHANGE,cw=True)
if d == C.FULL:
cmd_full(ser);
# print "full mode"
if d == C.SONG:
pici.playSongStart(ser)
pici.playSongStop(ser)
if d == C.PASSIVE:
cmd_passive(ser)
# print "passive mode"
if d == C.STOP:
pici.stop(ser);
def topic_key_callback(msg):
d = msg.data
if d == C.MOVE_DOWN:
pici.drive_straight(ser,-VELOCITYCHANGE);
if d == C.MOVE_UP:
pici.drive_straight(ser,VELOCITYCHANGE);
if d == C.MOVE_LEFT:
pici.turn(ser,ANGULARCHANGE,cw=False)
if d == C.MOVE_RIGHT:
pici.turn(ser,ANGULARCHANGE,cw=True)
if d == C.FULL:
cmd_full(ser);
print "full mode"
if d == C.SONG:
pici.playSongStart(ser)
pici.playSongStop(ser)
if d == C.PASSIVE:
cmd_passive(ser)
print "passive mode"
if d == C.STOP:
pici.stop(ser);
print "now stop"
''' import serial, sys, time, math from time import sleep import pici reload(pici) # Open a serial port at the default baud rate. sPort = '/dev/ttyUSB3' sBaud = 57600 ser = serial.Serial(sPort, sBaud) # Start - start, full mode, lights and song pici.start(ser) # Shift to 9600 baud pici.tx_bytelist(ser, [129, 5]) ser.close() sleep(1.0) # Now try the slower baud rate sBaud = 9600 ser = serial.Serial(sPort, sBaud) # Stop driving, turn off play light, song pici.stop(ser) ser.close()
''' Simple control example - goes straight until it hits a wall then turns ''' import serial, sys, time, math from time import sleep import pici reload(pici) # Open the Create's serial port sPort = '/dev/ttyUSB1' sBaud = 9600 # wireless #sBaud = 57600 # wired, Create default ser = serial.Serial(sPort,sBaud, timeout=1.0) # Start - start, full mode, lights and song pici.start(ser) # stop driving, play stop song, turn off play light pici.stop(ser) ser.close()
