robot.py

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#! /usr/bin/env python

import socket
import sys

class RobotControlClient:
        # Constructor that initializes Robot's IP and port
        def __init__(self, host, port):
                self.host = host;
                self.port = port;
                
        # Connect to the Robot
        def connect(self):
                try:
                        self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
                except socket.error, msg:
                        print("[ERROR] %s\n" % msg)
                        sys.exit(1)

                try:
                        self.sock.connect((self.host, self.port))
                except socket.error, msg: 
                        print("[ERROR] %s\n" % msg)
                        sys.exit(2)
                        
        # Disconnect from the Robot
        def disconnect(self):
                self.sock.close()
        
        # Move straight forward
        # @param speed meters / second
        def moveForward(self, speed):
                self.sendData("SetSpeed %f 0" % speed);
                
        # Move staight backward
        # @param speed meters / second
        def moveBackward(self, speed):
                self.sendData("SetSpeed %f 0" % -speed);
                
        # Turn in place couter clockwise
        # @param speed radians / second
        def turnLeft(self, speed):
                self.sendData("SetSpeed 0 %f" % speed);
                
        # Turn in place clockwise
        # @param speed radians / second
        def turnRight(self, speed):
                self.sendData("SetSpeed 0 %f" % -speed);
#               
#       def mv(self,(x,y)):
#               self.pos=(self.pos[0]+x,self.pos[1]+y,self.pos[2])

        # Custom movements
        # @param forwardSpeed in meters / second (negitive is reverse)
        # @yaw rotation in radians / second
        def customMovement(self, forwardSpeed, yaw):
                self.sendData("SetSpeed %f %f" % (forwardSpeed, yaw));
                
        # Stop the Robot
        def stop(self):
                self.sendData("SetSpeed 0 0");
                
        # Private Methods
        def sendData(self, dataString):
                self.sock.send(chr(len(dataString)) + dataString)