pycreate/move.py at master · hmcRobotLab/pycreate · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
"""Movements for irobot create."""

import time
import create

SERIAL_PORT = "/dev/ttyUSB0"


def spin(r, num_repeats=2):
    """Spin in place.

    Keyword arguments:
    r -- robot object and serial connection.
    num_repeats -- number of clockwise and counter clockwise rotations.

    Returns: nothing, wheels move in opposite directions.

    """
    for i in range(num_repeats):
        r.go(0, 200)
        time.sleep(2)
        r.stop()
        time.sleep(.2)
        r.go(0, -200)
        time.sleep(2)
        r.stop()
        time.sleep(.2)


def shake(r, num_repeats=1):
    """Shake back and forth.

    Keyword arguments:
    r -- robot object and serial connection
    num_repeats -- number of forward and back motions.

    Returns: nothing, moves robot forward and backward.

    """
    for i in range(num_repeats):
        r.go(25)
        time.sleep(.1)
        r.stop()
        time.sleep(.1)
        r.go(-25)
        time.sleep(.1)
        r.stop()
        time.sleep(.1)


def side_step(r, num_repeats=1):
    """Step to the left and right side.

    Keyword arguments:
    r -- robot object and serial connection
    num_repeats -- number of steps left and right.

    Returns: nothing, moves robot from side to side.

    """
    for i in range(num_repeats):
        r.go(-10, -150)
        time.sleep(2)
        r.go(-20)
        time.sleep(1)
        r.go(-10, 150)
        time.sleep(2)
        r.stop()
        time.sleep(.15)
    for i in range(num_repeats):
        r.go(-10, 150)
        time.sleep(2)
        r.go(-20)
        time.sleep(1)
        r.go(-10, -150)
        time.sleep(2)
        r.stop()
        time.sleep(.15)
    for i in range(num_repeats):
        r.go(10, 150)
        time.sleep(2)
        r.go(20)
        time.sleep(1)
        r.go(10, -150)
        time.sleep(2)
        r.stop()
        time.sleep(.15)
    for i in range(num_repeats):
        r.go(10, -150)
        time.sleep(2)
        r.go(20)
        time.sleep(1)
        r.go(10, 150)
        time.sleep(2)
        r.stop()
        time.sleep(.15)


def twist(r, num_repeats=1):
    """Rotate back and forth.

    Keyword arguments:
    r -- robot object and serial connection.
    num_repeats -- number of rotations clockwise and counter clockwise.

    Returns: nothing, rotates robot CW and CCW.

    """
    for i in range(num_repeats):
        r.go(0, 50)
        time.sleep(.75)
        r.stop()
        time.sleep(.1)
        r.go(0, -50)
        time.sleep(.75)
        r.stop()
        time.sleep(.1)


def wiggle(r, num_repeats=2):
    """Move around in a small area.

    Keyword arguments:
    r -- robot object and serial connection
    num_repeats -- number of loops over moves sequence.

    Returns: nothing, moving forward and backwards, rotates left and right.

    """
    for i in range(num_repeats):
        r.go(-10)
        time.sleep(.5)
        r.stop()
        r.go(10)
        time.sleep(.5)
        r.stop()
        for i in range(num_repeats):
            r.go(0, 30)
            time.sleep(2)
            r.stop()
            r.go(0, -30)
            time.sleep(2)
            r.stop()

if __name__ == '__main__':
    r = create.Create(SERIAL_PORT)
    spin(r)
    time.sleep(.25)
    shake(r)
    time.sleep(.25)
    side_step(r)
    time.sleep(.25)
    twist(r, 3)
    wiggle(r)
    r.shutdown()