"""
Demonstrates most of the methods in the Create (robot) class.
Authors: David Mutchler, Valerie Galluzzi, Mark Hays, Amanda Stouder,
and their colleagues. September 2015.
"""
import safest_create as create
import time
def main():
""" Calls robot to run your robot code in run_robot safely. """
# ------------------------------------------------------------------
# Set the port to whatever COM number YOUR laptop is using
# for its connection to the BAM on the Create robot.
# Leave run_despite_sensor_garbage False.
# ------------------------------------------------------------------
port = 26 # 'sim' # 102 # Use YOUR laptop's COM number
run_despite_sensor_garbage = False
# ------------------------------------------------------------------
# Always run your robot code by using start_robot.
# It will call run_MY_robot to get YOUR robot code running.
# ------------------------------------------------------------------
start_robot(port, run_despite_sensor_garbage)
def run_MY_robot(robot):
"""
YOUR robot code should start here, using given already-connected robot.
:type robot: create.Create
"""
demo_singing(robot)
demo_moving(robot)
demo_sensing(robot)
demo_other(robot)
def demo_singing(robot):
""" :type robot: create.Create """
print()
print('Demo/testing singing functions:')
print(' playNote, playSong, setSong + playSongNumber')
robot.playNote(50, 128)
# robot.playNote(-2, 128) # Test error handling
# robot.playNote(1000, 128) # Test error handling
# robot.playNote('hi', 128) # Test error handling
# robot.playNote(50, 1000) # Test error handling
# robot.playNote(50, 'he') # Test error handling
wait_for_song_to_finish(robot)
time.sleep(1)
robot.playSong([(60, 8), (64, 8), (67, 8), (72, 8)])
# Test error handling:
# robot.playSong([('hi', 8), (64, 8), (67, 8), (72, 8)])
# robot.playSong([(60, 8), (64, 'ho'), (67, 8), (72, 8)])
# robot.playSong(1)
wait_for_song_to_finish(robot)
time.sleep(1)
robot.setSong(2, [(46, 8), (48, 8), (51, 8), (56, 8), (40, 64)])
# Test error handling:
# robot.setSong('hi', [(46, 8), (48, 8), (51, 8), (56, 8), (40, 64)])
# robot.setSong(2, [('ho', 8), (48, 'he'), (51, 8), (56, 8), (40, 64)])
robot.playSongNumber(2)
# robot.playSongNumber(3) # Test error handling
wait_for_song_to_finish(robot)
time.sleep(1)
def wait_for_song_to_finish(robot):
""" :type robot: create.Create """
song_sensor = create.Sensors.song_playing
while True:
if not robot.getSensor(song_sensor):
break
def demo_moving(robot):
""" :type robot: create.Create """
print()
print('Demo/testing movement functions: drive, driveDirect, go, stop')
time.sleep(1)
robot.playNote(50, 8)
robot.drive(100, 25, 'CW')
# robot.drive('hi', 25, 'CW') # Test error handling
# robot.drive(10, 0, None) # Test error handling (treats non-CW as CCW)
time.sleep(1)
robot.stop()
time.sleep(1)
robot.playNote(50, 8)
robot.driveDirect(10, 25)
# robot.driveDirect('10', 25) # Test error handling
time.sleep(1)
robot.stop()
time.sleep(1)
robot.playNote(50, 8)
robot.go(0, 180)
time.sleep(1)
robot.go(100, 0)
time.sleep(1)
robot.stop()
robot.go(10, 20)
# robot.go('10', 25) # Test error handling
# robot.go(10, '25') # Test error handling
# robot.go(1000, 1000) # Test error handling
time.sleep(1)
robot.stop()
def demo_sensing(robot):
""" :type robot: create.Create """
print()
print('Demo/testing sensing functions: getSensor')
sensor_name = create.Sensors.cliff_front_left_signal
# sensor_name = "bad name" # Test error handling
value = robot.getSensor(sensor_name)
print('Value for ' + sensor_name + ': ' + str(value))
robot.go(0, 90)
time.sleep(1)
robot.stop()
value = robot.getSensor(sensor_name)
print('Value for ' + sensor_name + ': ' + str(value))
robot.driveDirect(10, 10)
for _ in range(100):
value = robot.getSensor(sensor_name)
print('Value for ' + sensor_name + ': ' + str(value))
time.sleep(0.05)
# Would like to test the error handling on sensor garbage,
# but it is hard to force that
def demo_other(robot):
""" :type robot: create.Create """
pass # No testing yet.
def start_robot(port, run_despite_sensor_garbage):
"""
Constructs a robot and calls run_MY_robot, sending it the robot.
** Put all YOUR code in the run_MY_robot function. **
The code in this function ensures that the robot calls its shutdown
method even if the code breaks. DO NOT MODIFY THIS FUNCTION.
"""
try:
# --------------------------------------------------------------
# 1. Construct a robot using the given port.
# --------------------------------------------------------------
robot = create.Create(port, run_despite_sensor_garbage)
# --------------------------------------------------------------
# 2. Run YOUR robot code.
# --------------------------------------------------------------
run_MY_robot(robot)
# --------------------------------------------------------------
# 3. If the robot was constructed, execute a robot.shutdown()
# to leave the robot in a clean state.
# --------------------------------------------------------------
if robot:
robot.shutdown()
except create.RobotError:
# If this Exception is raised, the safest_create code has already
# done a robot.shutdown() and printed a sensible error message.
# So nothing more needs to be done in this case.
pass
except:
# Any other Exception: attempt a robot.shutdown().
# Then raise the Exception so the student can see its message.
if robot:
robot.try_shutdown()
raise
# ----------------------------------------------------------------------
# If this module is running at the top level (as opposed to being
# imported by another module), then call the 'main' function.
# ----------------------------------------------------------------------
if __name__ == '__main__':
main()