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Author: damonkohler@gmail.com (Damon Kohler)
Classes | |
DriverError | |
SerialCommandInterface A higher-level wrapper around PySerial specifically designed for use with iRobot's SCI. |
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Roomba Represents a Roomba robot. |
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Turtlebot Represents a Turtlebot robot. |
Variables | |
ROOMBA_OPCODES = dict(start= 128, baud= 129, control= 130, saf
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CREATE_OPCODES = dict(soft_reset= 7, low_side_drivers= 138, so
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REMOTE_OPCODES = {129: 'left', 130: 'forward', 131: 'right', 1
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BAUD_RATES = 300, 600, 1200, 2400, 4800, 9600, 14400, 19200, 2
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CHARGING_STATES = 'not-charging', 'charging-recovery', 'chargi
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OI_MODES = 'off', 'passive', 'safe', 'full'
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WHEEL_DROP_CASTER = 0x10
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WHEEL_DROP_LEFT = 0x08
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WHEEL_DROP_RIGHT = 0x04
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BUMP_LEFT = 0x02
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BUMP_RIGHT = 0x01
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OVERCURRENTS_DRIVE_LEFT = 0x10
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OVERCURRENTS_DRIVE_RIGHT = 0x08
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OVERCURRENTS_MAIN_BRUSH = 0x04
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OVERCURRENTS_VACUUM = 0x02
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OVERCURRENTS_SIDE_BRUSH = 0x01
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BUTTON_POWER = 0x08
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BUTTON_SPOT = 0x04
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BUTTON_CLEAN = 0x02
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BUTTON_MAX = 0x01
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SENSOR_GROUP_PACKET_LENGTHS = 26, 10, 6, 10, 14, 12, 52
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RADIUS_TURN_IN_PLACE_CW = -1
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RADIUS_TURN_IN_PLACE_CCW = 1
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RADIUS_STRAIGHT = 32768
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RADIUS_MAX = 2000
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VELOCITY_MAX = 500
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VELOCITY_SLOW = int(VELOCITY_MAX* 0.33)
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VELOCITY_FAST = int(VELOCITY_MAX* 0.66)
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MAX_WHEEL_SPEED = 500
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WHEEL_SEPARATION = 260
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SERIAL_TIMEOUT = 2
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START_DELAY = 5
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Variables Details |
ROOMBA_OPCODES
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CREATE_OPCODES
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REMOTE_OPCODES
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BAUD_RATES
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CHARGING_STATES
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