From 7bcba47de5f94b36c1f6313ac3ebcdb3adc1dfdc Mon Sep 17 00:00:00 2001
From: Andrey Pohilko <apc4@ya.ru>
Date: Fri, 15 Sep 2017 17:56:17 +0300
Subject: [PATCH] Prepare to conflict

---
 README.md           | 6 +++++-
 demo.py             | 2 +-
 pylgbst/__init__.py | 3 ---
 vernie.py           | 5 +++--
 4 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/README.md b/README.md
index a9e1ab2..f06823c 100644
--- a/README.md
+++ b/README.md
@@ -27,10 +27,14 @@ for device in hub.devices:
 
 ## Debug Server
 
-`sudo python -c "from pylgbst.comms import *; import logging; logging.basicConfig(level=logging.DEBUG); DebugServer(BLEConnection().connect()).start()"`
+```
+sudo python -c "from pylgbst.comms import *; import logging; logging.basicConfig(level=logging.DEBUG); DebugServer(BLEConnection().connect()).start()"
+```
 
 ## Roadmap
 
+- make notifications from pygattlib to quickly get into parallel thread, to avoid segfaults
+- support working with push button
 - Give nice documentation examples, don't forget to mention logging
 - make angled motors to be synchronous by default => 3-state status
 - make sure unit tests cover all important code
diff --git a/demo.py b/demo.py
index 4984c14..9b7ab28 100644
--- a/demo.py
+++ b/demo.py
@@ -168,7 +168,7 @@ if __name__ == '__main__':
 
     hub = MoveHub(connection)
 
-    demo_motor_sensors(hub)
+    demo_motors_timed(hub)
     # demo_all(hub)
 
     log.info("Sleeping 60s")
diff --git a/pylgbst/__init__.py b/pylgbst/__init__.py
index b9ee15f..a73e26d 100644
--- a/pylgbst/__init__.py
+++ b/pylgbst/__init__.py
@@ -62,9 +62,6 @@ class MoveHub(object):
         return self.connection.read(DEVICE_NAME)
 
     def _notify(self, handle, data):
-        """
-        Using https://github.com/JorgePe/BOOSTreveng/blob/master/Notifications.md
-        """
         orig = data
 
         if handle != MOVE_HUB_HARDWARE_HANDLE:
diff --git a/vernie.py b/vernie.py
index acde3ea..c7d14cc 100644
--- a/vernie.py
+++ b/vernie.py
@@ -30,8 +30,9 @@ class Vernie(MoveHub):
     def _color_distance_data(self, color, distance):
         log.debug("Color & Distance data: %s %s", COLORS[color], distance)
         self._sensor_distance = distance
-        self._color_detected = color
-        self.led.set_color(self._color_detected if self._color_detected != COLOR_NONE else COLOR_BLACK)
+        if self._color_detected != color:
+            self._color_detected = color
+            self.led.set_color(self._color_detected if self._color_detected != COLOR_NONE else COLOR_BLACK)
 
     def head_to(self, direction=RIGHT, speed=0.25, angle=25):
         if direction == STRAIGHT: