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#Service to provide sample interface to the iRobot Create
#This example is for the original iRobot Create using the serial Open Interface (OI) protocol
service experimental.create3
stdver 0.10
enum CreateStateFlags
unknown = 0,
bump_right = 0x1,
bump_left = 0x2,
wheel_drop_right = 0x4,
wheel_drop_left = 0x8,
wheel_drop_caster = 0x10,
wall_sensor = 0x20,
cliff_left = 0x40,
cliff_front_left = 0x80,
cliff_front_right = 0x100,
cliff_right = 0x200,
virtual_wall = 0x400,
play_button = 0x800,
advance_button = 0x1000,
error = 0x800000
end
struct CreateState
field double time
field uint32 create_state_flags
field double velocity
field double radius
field double right_wheel_velocity
field double left_wheel_velocity
field double distance_traveled
field double angle_traveled
field double battery_charge
field double battery_capacity
end
object Create
constant double DRIVE_STRAIGHT 32.767
constant double SPIN_CLOCKWISE -1e-3
constant double SPIN_COUNTERCLOCKWISE 1e-3
function void drive(double velocity, double radius)
function void drive_direct(double right_wheel_velocity, double left_wheel_velocity)
function void stop()
function void setf_leds(bool play, bool advance)
property double distance_traveled [readonly]
property double angle_traveled [readonly]
property uint8 bumpers [readonly]
event bump()
wire CreateState create_state [readonly]
# Callback to be called when the play button is pressed
# claim_play_callback() will assign the current client as the target for the callback
# Practical implementations will likely want to use a more sophisticated mechanism to assign the callback
function void claim_play_callback()
callback uint8[] play_callback(double distance_traveled, double angle_traveled)
end
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