text
stringlengths 1
93.6k
|
|---|
#
|
# DO NOT CALL THIS FUNCTION!
|
# call readSensors instead - it will integrate odometry
|
# for what that's worth, admittedly...
|
# if you call this without integrating odometry, the
|
# distance and rawAngle reported will be lost...
|
#
|
def _getRawSensorFrameAsList(self, packetnumber):
|
""" gets back a raw string of sensor data
|
which then can be used to create a SensorFrame
|
"""
|
if type(packetnumber) != type(1):
|
packetnumber = 6
|
if packetnumber < 0 or packetnumber > 6:
|
packetnumber = 6
|
self._write( SENSORS )
|
self._write( chr(packetnumber) )
|
if packetnumber == 0:
|
r = self.ser.read(size=26)
|
if packetnumber == 1:
|
r = self.ser.read(size=10)
|
if packetnumber == 2:
|
r = self.ser.read(size=6)
|
if packetnumber == 3:
|
r = self.ser.read(size=10)
|
if packetnumber == 4:
|
r = self.ser.read(size=14)
|
if packetnumber == 5:
|
r = self.ser.read(size=12)
|
if packetnumber == 6:
|
r = self.ser.read(size=52)
|
r = [ ord(c) for c in r ] # convert to ints
|
return r
|
def _getRawSensorDataAsList(self, listofsensors):
|
""" gets the chosen sensors
|
and returns the raw bytes, as a string
|
needs to be converted to integers...
|
"""
|
numberOfSensors = len(listofsensors)
|
self._write( QUERYLIST )
|
self._write( chr(numberOfSensors) )
|
resultLength = 0
|
for sensornum in listofsensors:
|
self._write( chr(sensornum) )
|
resultLength += SENSOR_DATA_WIDTH[sensornum]
|
r = self.ser.read(size=resultLength)
|
r = [ ord(c) for c in r ] # convert to ints
|
#print 'r is ', r
|
return r
|
def seekDock(self):
|
""" sends the force-seeking-dock signal
|
"""
|
self.demo(1)
|
def demo(self, demoNumber=-1):
|
""" runs one of the built-in demos for Create
|
if demoNumber is
|
<omitted> or
|
-1 stop current demo
|
0 wander the surrounding area
|
1 wander and dock, when the docking station is seen
|
2 wander a more local area
|
3 wander to a wall and then follow along it
|
4 figure 8
|
5 "wimp" demo: when pushed, move forward
|
when bumped, move back and away
|
6 home: will home in on a virtual wall, as
|
long as the back and sides of the IR receiver
|
are covered with tape
|
7 tag: homes in on sequential virtual walls
|
8 pachelbel: plays the first few notes of the canon in D
|
9 banjo: plays chord notes according to its cliff sensors
|
chord key is selected via the bumper
|
"""
|
if (demoNumber < -1 or demoNumber > 9):
|
demoNumber = -1 # stop current demo
|
self._write( DEMO )
|
if demoNumber < 0 or demoNumber > 9:
|
# invalid values are equivalent to stopping
|
self._write( chr(255) ) # -1
|
else:
|
self._write( chr(demoNumber) )
|
def setSong(self, songNumber, songDataList):
|
""" this stores a song to roomba's memory to play later
|
with the playSong command
|
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.