roomba-enc.py

#!/usr/bin/env python3

from math import floor, pi
from time import time, sleep
from pycreate2 import Create2
from ctypes import c_short

STRAFE_SPEED = 100
STRAFE_CHANGE_DIRECTION_TIME = 1066.8 / 10 / STRAFE_SPEED
TILT_SPEED = 100
TILT_CHANGE_DIRECTION_TIME = 0.5

class RoombaController:
    def __init__(self, port='/dev/ttyUSB0', baud=115200):
        self.bot = Create2(port, baud=baud)
        self.bot.start()
        self.bot.full()
        self.bot.drive_stop()
        self._bumped = False

    def __del__(self):
        del self.bot

def main(port='/dev/ttyUSB0', baud=115200):
    angle = 0
    try:
        controller = RoombaController(port, baud)
        controller.bot.drive_rotate(300, -1)
        sleep(7.38274274 / 3)
        controller.bot.drive_rotate(300, 1)
        sleep(7.38274274 / 3)
        controller.bot.drive_stop()
#       while True:
#           sleep(0.5)
#           sensors = controller.bot.get_sensors()
#           angle += sensors.angle
#           print('angle: ' + str(angle))
#           if angle >= 90 or angle <= -90:
#               controller.bot.drive_stop()
#               break
    finally:
        del controller

if __name__ == '__main__':
    main('/dev/ttyUSB0')