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# Example iRobot Create client in Python
from RobotRaconteur.Client import *
import time
import numpy
import sys
# Function to call when "Bump" event occurs
def bumped():
print("Bump!!")
def main():
url = 'rr+tcp://localhost:22354?service=create'
if (len(sys.argv) >= 2):
url = sys.argv[1]
# Connect to the service
c = RRN.ConnectService(url)
# Add a function handler for the "Bump" event
c.bump += bumped
# Demonstrate peeking a wire value
state_val, _ = c.create_state.PeekInValue()
print(state_val)
# Connect a WireConnection to the "packets" wire
wire = c.create_state.Connect()
# Add a callback function for when the wire value changes
wire.WireValueChanged += wire_changed
# Set the play_callback function for this client
c.claim_play_callback()
c.play_callback.Function = play_callback
# Drive a bit
c.drive(0.1, 1)
time.sleep(5)
c.drive(0, 1)
time.sleep(10)
# Function to call when the wire value changes
def wire_changed(w, value, time):
val = w.InValue
# Print the new value to the console. Comment out this line
# to see the other output more clearly
print(val)
# Callback for when the play button is pressed on the Create
def play_callback(dist, angle):
return numpy.array([69, 16, 60, 16, 69, 16], dtype='u1')
if __name__ == '__main__':
main()
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