Robotics-IRobot

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lib/Robotics/IRobot.pm  view on Meta::CPAN

	print "setting song: " . $songId . ": ". join(", ",@_) , "\n";
	
	$self->writeBytes(140,$songId,(@_/2),@_);
}

=item $robot->playABCNotation($file, $callback)

Loads song in ABC format (see abcnotation.com) from $file and begins playing on Create.
If passed, calls &$callback($robot) when done.

I<NOTE:  You must either poll sensor values frequently or use the sensor data streaming methods
for this method to work properly.  Calling this method will overwrite any data contained in song banks 14 and 15>

=cut

sub playABCNotation($$$) {
	my $self=shift;
	my $file=shift;
	my $callback=shift;
	
	$self->playLongSongRaw($callback,loadABCNotation($file));
 
}

=item $robot->playLongSongRaw($callback, @songBytes)

Plays song contained in @songBytes (may be longer than 16 notes).  If passed, calls &$callback($robot) when done.

I<NOTE:  You must either poll sensor values frequently or use the sensor data streaming methods
for this method to work properly.  Calling this method will overwrite any data contained in song banks 14 and 15>

=cut

sub playLongSongRaw($$@) {
	my $self=shift;
	my $callback=shift;
 
	my @song=@_;
	

lib/Robotics/IRobot.pm  view on Meta::CPAN

=item $robot->turnTo($direction, $speed, $callback)

Attempts to turn the robot to face $direction relative to the direction it
was facing when $robot->init() was called or last $robot->markOrigin call.
Robot will make the turn at $speed.  Robot will stop once complete and call
&$callback($robot) if $callback is passed.

See section DEAD RECKONING for more information.

I<NOTE:  You must either poll sensor values frequently or use the sensor data streaming methods
for this method to work properly.>

=cut

sub turnTo($$$) {
	my $self=shift;
	my $angle=shift;
	my $speed=shift;
	my $callback=shift;
	

lib/Robotics/IRobot.pm  view on Meta::CPAN

=item $robot->goTo($x, $y, $speed, $callback)

Attempts to drive the robot to position ($x,$y) relative to its location
when $robot->init() was called or last $robot->markOrigin call.
Robot will make the proceed at $speed.  Robot will stop once complete
and call &$callback($robot) if $callback is passed.

See section DEAD RECKONING for more information.

I<NOTE:  You must either poll sensor values frequently or use the sensor data streaming methods
for this method to work properly.>

=cut

sub goTo($$$$$) {
	my ($self,$destX,$destY,$speed,$callback)=@_;
	
	my $x=$self->{sensorState}{x};
	my $y=$self->{sensorState}{y};
	

lib/Robotics/IRobot.pm  view on Meta::CPAN

The robot's sensor data can be retrieved in several different ways.  The easiest is 
to simply call $robot->refreshSensors on a regular basis.  This will retrieve all sensor
data from the robot, which can then be accessed from the hash returned by
$robot->getSensorState().  If you do not want all sensor data to be retrieved, then
you can use the $robot->getSensor($id) method.  This will only retrieve data for
one sensor (or sensor set) but, it is not recommended.

Consult the OI Interface document for more details on sensor ids.

Another method is to use the iRobot's sensor streaming functionality.  When the
robot is put in streaming mode it will send back sensor data once every 15ms.  Use the
$robot->startSteam, $robot->pauseStream. $robot->resumeStream method to start and
stop the stream.  The $robot->getStreamFrame method should be called at least every
15ms to read in the sensor data and update the sensor state hash.  As with the polling
method, you can pass a sensor ids to $robot->startStream to have the robot stream data
for only particular sensors, but again, this is not recommeded.

The third method is to use the event-driven approach.  Your program can register sensor listeners
or events to listen for using the $robot->addSensorListener, $robot->addSensorEvent,
$robot->runEvery, $robot->waitTime, $robot->waitDistance, and $robot->waitAngle methods.  Once these
have been registered the $robot->runSensorLoop and $robot->exitSensorLoop methods will put the robot in
streaming mode then read sensor data as it comes in while updating the sensor state hash and calling any
sensor listeners or events.

=over 4

=item $robot->getSensorState()

Returns a hash reference containing last read values from robot sensors.

=cut

lib/Robotics/IRobot.pm  view on Meta::CPAN

		push @retArr,$self->_readSensorData($sensorId);
	}
	
	$self->_triggerSensorEvents(\@_);
	
	return @retArr;
}

=item $robot->runSensorLoop()

Begins streaming sensor data from the robot.  Updates sensor state hash every 15ms and triggers any
sensor listeners or events.  This method will block until $robot->exitSensorLoop() is called.

=cut

sub runSensorLoop($) {
	my $self=shift;
	
	$self->{exitLoop}=0;

	$self->startStream(6);

	while(!$self->{exitLoop}) {
		$self->getStreamFrame();
	}
	
	$self->pauseStream();
}

=item $robot->exitSensorLoop()

Stops streaming data from robot.  Causes any previous call to runSensorLoop to return.

=cut

sub exitSensorLoop($) {
	my $self=shift;

	$self->{exitLoop}=1;
}

=item $robot->startStream()

=item $robot->startStream($sensorId)

Puts robot into streaming mode.  If a $sensorId is passed only streams that sensor (not recommended).  Otherwises streams data from
all sensors.

See OI Documentation for more details

=cut

sub startStream($@) {
	my $self=shift;
	
	push @_,6 unless (@_ > 0);

lib/Robotics/IRobot.pm  view on Meta::CPAN

	$self->{deadReckoning}=$deadReckoner;
	
}

=head2 Closing Connection

=over 4

=item $robot->close()

Stops the robot motion and sensor streaming and closes communication port.

=back

=cut


sub close($) {
	my $self=shift;
	
	$self->stop();