rerobot.py

"""This class is a handler and interfaces between the GUI and the motor clasess.
It translates all the basic commands into motor-class based code.
"""

from motor import Motor
from time import sleep

class Robot:

    def __init__(self):
        # initiates the motor class for comms with the Pioneer OS
        self.motor = Motor()

    # ReRoBot specific commands (selection)
    def nudge(self, dist=10):
        """Translate (+) forward or (-) back mm distance at SETV speed"""
        self.motor.cmd(self.motor.MOVE, value=dist)

    def move(self, speed=10):
        """Move forward (+) or reverse (-) at millimeters per second"""
        self.motor.cmd(self.motor.VEL, value=speed)

    def rvel(self, speed=10):
        """Rotate robot at (+) counter- or (–) clockwise; degrees/sec (SETRV limit)."""
        self.motor.cmd(self.motor.RVEL, value=speed)

    def head(self, degree=0):
        """Turn at SETRV speed to absolute heading; ±degrees (+ = ccw )"""
        self.motor.cmd(self.motor.HEAD, value=degree)

    def rotate(self, degrees=10):
        """Rotate (+) counter- or (-) clockwise degrees/sec."""
        self.motor.cmd(self.motor.ROTATE, value=degrees)

    def terminate(self):
        self.motor.terminate()

    # gripper commands
    # https://www.macalester.edu/research/fox/pioneer/gripmanP2.pdf
    # cmd code = 33
    # grppr argumenst:
        # 1 - open paddles
        # 2 - close paddles
        # 3 - stop paddles
        # 4 - lift up
        # 5 - lift down
        # 6 - stop lift
        # 15 - Halts both Gripper paddles and Lift

    def gripper_up(self):
        self.motor.cmd(self.motor.GRIPPER, value=4)
        sleep(0.5)
        self.gripper_stop()

    def gripper_down(self):
        self.motor.cmd(self.motor.GRIPPER, value=5)
        sleep(0.5)
        self.gripper_stop()

    def gripper_stop(self):
        self.motor.cmd(self.motor.GRIPPER, value=6)

    def paddle_open(self):
        self.motor.cmd(self.motor.GRIPPER, value=1)
        sleep(0.5)
        self.paddle_stop()

    def paddle_close(self):
        self.motor.cmd(self.motor.GRIPPER, value=2)
        sleep(0.5)
        self.paddle_stop()

    def paddle_stop(self):
        self.motor.cmd(self.motor.GRIPPER, value=3)

    def all_halt(self):
        self.motor.cmd(self.motor.GRIPPER, value=15)

    # useful UI commands
    def step_forward(self):
        self.nudge(10)
        sleep(0.5)
        self.stop()

    def step_backward(self):
        self.nudge(-10)
        sleep(0.5)
        self.stop()

    def step_left(self):
        self.rvel(20)
        sleep(0.5)
        self.stop()

    def step_right(self):
        self.rvel(-20)
        sleep(0.5)
        self.stop()

    # Jetbot shared commands
    def set_motors(self, left_speed, right_speed):
        self.motor.left(left_speed)
        self.motor.right(right_speed)

    def reset_motors(self):
        self.motor.left(1)
        self.motor.right(1)

    def forward(self, speed=10):
        self.move(speed)

    def backward(self, speed=10):
        self.move(-speed)

    def stop(self):
        self.motor.stop()

    def left(self, speed=1):
        self.motor.left = -speed
        self.motor.right = speed
        self.move()

    def right(self, speed=1):
        self.motor.left = speed
        self.motor.right = -speed
        self.move()