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examples/bb8joystick/__init__.py

@@ -27,10 +27,10 @@ if __name__ == "__main__":
 
 
     try:
-        # joystick.on_color_sensor(set_bb_color)
+        #joystick.on_color_sensor(set_bb_color)
         joystick.on_external_motor(set_heading)
         print("All set up")
-        time.sleep(60)
+        time.sleep(600)
     finally:
         joystick.disconnect()
         bb8.disconnect()

examples/bb8joystick/joystick.py

@@ -1,18 +1,43 @@
+import logging
+import time
+
 from pylgbst.hub import MoveHub
-from pylgbst.peripherals import VisionSensor, EncodedMotor
+from pylgbst.peripherals import EncodedMotor
 
 
 class Joystick(object):
     def __init__(self):
         super(Joystick, self).__init__()
         self._hub = MoveHub()
-        self._sensor = []
+
+        self.button_pressed = False
+
+        self._hub.motor_external.subscribe(print, EncodedMotor.SENSOR_ANGLE, granularity=1)
+        self._hub.motor_A.subscribe(print, EncodedMotor.SENSOR_ANGLE, granularity=1)
+        self._hub.motor_B.subscribe(print, EncodedMotor.SENSOR_ANGLE, granularity=1)
+        self._hub.button.subscribe(self._on_btn)
 
     def disconnect(self):
         self._hub.disconnect()
 
-    def on_color_sensor(self, callback):
-        self._hub.vision_sensor.subscribe(callback, VisionSensor.COLOR_RGB, granularity=5)
+    def _on_btn(self, state):
+        self.button_pressed = state
 
-    def on_external_motor(self, callback):
-        self._hub.motor_external.subscribe(callback, EncodedMotor.SENSOR_ANGLE, granularity=5)
+    def on_button(self, callback):
+        """
+        Notifies about button state change. ``callback(state)`` gets single bool parameter
+        """
+
+        def wrapper(state):
+            if state in (0, 1):
+                logging.debug("Pressed button: %s", state)
+                callback(bool(state))
+
+        self._hub.button.subscribe(wrapper)
+
+
+if __name__ == '__main__':
+    logging.basicConfig(level=logging.DEBUG)
+    stick = Joystick()
+    stick.on_button(lambda x: print("Button: %s" % x))
+    time.sleep(100)