FilesExpand file tree

 master

/

BROBOT_Class.py

Copy path

Blame

More file actions

Blame

More file actions

Latest commit

 

History

History

History

54 lines (45 loc) · 1.87 KB

 master

/

BROBOT_Class.py

Copy path

Top

File metadata and controls

• Code
• Blame

54 lines (45 loc) · 1.87 KB

Raw

Copy raw file

Download raw file

Open symbols panel

Edit and raw actions

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

32

33

34

35

36

37

38

39

40

41

42

43

44

45

46

47

48

49

50

51

52

53

# BROBOT PYTHON CLASS

# Exampe 1: Simple commands

# Before running the script you need to connect the PC to the BROBOT wifi

# Remember, default password for Wifi network JJROBOTS_XX is 87654321

# author: JJROBOTS 2016

# version: 1.01 (27/10/2016)

# Licence: Open Source (GNU LGPLv3)

import socket

import time

import struct

# CLASS to control BROBOT

class BROBOT(object):

UDP_IP = "192.168.4.1" # Default BROBOT IP (with BROBOT JJROBOTS_XX wifi)

UDP_PORT = 2222 # Default BROBOT port

sock = 0

def __init__(self):

# Create default socket with UDP protocol

self.sock = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)

def sendCommand(self,OSCmessage,param):

base = bytearray(OSCmessage) # OSC message

param = bytearray(struct.pack(">f",param))

message = base+param

self.sock.sendto(message,(self.UDP_IP,self.UDP_PORT))

time.sleep(0.05)

# Mode: 0 NORMAL MODE, 1 PRO MODE

def mode(self,value=0.0):

print "BROBOT Mode:",value

if (value!=1): value = 0.0

# Encapsulate the commands on OSC protocol UDP message and send...

self.sendCommand(b'/1/toggle1/\x00\x00,f\x00\x00',value)

# Throttle command. Values from [-1.0 to 1.0] positive: forward

def throttle(self,value=0.0):

print "BROBOT Throttle:",value

value = (value+1.0)/2.0 # Adapt values to 0.0-1.0 range

self.sendCommand(b'/1/fader1\x00\x00\x00,f\x00\x00',value) #send OSC message

# Steering command. Values from [-1.0 to 1.0] positive: turn right

def steering(self,value=0.0):

print "BROBOT Steering:",value

value = (value+1.0)/2.0 # Adapt values to 0.0-1.0 range

self.sendCommand(b'/1/fader2\x00\x00\x00,f\x00\x00',value) #send OSC message

# Servo command. Values 0 or 1 (activated)

def servo(self,value=0.0):

print "BROBOT Servo:",value

if (value!=1):value=0.0

self.sendCommand(b'/1/push1\x00\x00,f\x00\x00',value) #send OSC message