atom_command_interface.py

#!/usr/bin/python3
import atom_sound_interface as asi
import atom_drive_train as adt
import time
from pygame import mixer

""" 
This is the command interface. Connects to the sound, wifi, and drain train interfaces
"""

# initialize Firebase Application connection
class Command():
    def __init__(self):
        """ 
        Create an instance of Create2. This will automatically try to connect to your
        Roomba over serial
        """
        # Init instance of Create2 Controller
        self._drive = adt.Create2()
        # Reset the Create2
        # self._drive.reset()
        # Play test sound to assure that we have at least gotten this far
        mixer.init()
        mixer.music.set_volume(1.0)

    def start(self):
        # Put the Create2 into 'safe' mode so we can drive it
        self._drive.start()
        self._drive.safe()
        self._drive.wake()

    def stop(self):
        self._drive.stop()

    def cleanUp(self):
        # Inities the Clean Command
        self._drive.clean()

    def goHome(self):
        # heads back to charging dock
        self._drive.seek_dock()

    def doTricks(self, trick):
        # picks a random trick and then does it
        if trick == 1:
            # Tell the Create2 to drive straight forward at a speed of 100 mm/s
            self._drive.drive_straight(100)
            # Wait for 4 seconds
            time.sleep(4)
            # Tell the Create2 to drive straight backward at a speed of 100 mm/s
            self._drive.drive_straight(-100)
            # Wait for 4 seconds
            time.sleep(4)
            # Stop the bot
            self._drive.drive_straight(0)
        elif trick == 2 :
            self._drive.turn_clockwise(100)
            # Wait for 4 seconds
            time.sleep(4)
            self._drive.turn_clockwise(0)
        elif trick == 3 :
            self._drive.turn_counter_clockwise(100)
            # Wait for 4 seconds
            time.sleep(4)
            self._drive.turn_counter_clockwise(0)
        elif trick == 4 :
            self._drive.play(2)

    def speak(self, filenumber):
        # select random audiofile to speak from
        mixer.music.load('/home/pi/Desktop/FamilyPet/audio/'+ str(filenumber) +'.mp3')
        mixer.music.play()