Add support for the remaining sensors from the OI spec, and create request functions to better support encoder outputs. #28
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… Create request functions to better support encoder usage. Update examples and README.
AtsushiSakai
requested changes
Feb 18, 2024
pyroombaadapter/pyroombaadapter.py
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| Linear distance traversed by each wheel is defined by the following: | ||
| distance = (π * 72.0 / 508.8) * count. | ||
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| :return: Output range -32767 - 32768 |
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| :return: Output range -32767 - 32768 | |
| :return: a tuple of (left count, right count) in range -32767 - 32768 |
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Thanks for the quick review! I totally agree on the return doc comment, e91534f should correct it.
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After, merge this PR, I will release v0.3.0. |
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Hi @AtsushiSakai, thanks for this awesome library!
This PR adds the remainder of the sensor packets from the Roomba Open Interface to the Sensors dict, so that they may be queried.
I need to use encoder data for my project, so I also added a few functions to make requesting the distance and angular displacement from the Roomba a bit cleaner. I also updated the examples that I thought were relevant.
I did a couple of tests with my 630 and distance and angle measurements were low by about 10% (though I do have a non-stock roomba).
The spec does contain the following note about the distance packet and a similar one is present for the angle packet:
Create 2 and Roomba 500/600 firmware versions prior to 3.3.0 return an incorrect value for
sensors measured in millimeters. It is recommended that you read the left and right encoder counts
directly (packets IDs 43 and 44) and do the unit conversion yourself.
This doesn't effect my Roomba, but in the future if it's of interest I could add a function (or change
request_angleandrequest_distance) to do the calculation there from the encoder counts so we know it's correct.