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demo motor sensors

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This commit is contained in:
Andrey Pohilko 2017-09-15 12:46:42 +03:00
parent 885779ef4c
commit 9400d881e0
2 changed files with 29 additions and 28 deletions
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49
demo.py
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@ -129,27 +129,36 @@ def demo_color_sensor(movehub):
def demo_motor_sensors(movehub):
log.info("Motor rotation sensors test. Rotate all available motors once")
demo_motor_sensors.states = {
movehub.motor_A: [None, None], # callback and last value
movehub.motor_B: [None, None], # callback and last value
}
demo_motor_sensors.states = {movehub.motor_A: None, movehub.motor_B: None}
if movehub.external_motor is not None:
demo_motor_sensors.states[movehub.external_motor] = [None, None]
def callback_a(param1):
demo_motor_sensors.states[movehub.motor_A] = param1
log.info("%s", demo_motor_sensors.states)
def callback(mtr, param1):
demo_motor_sensors.states[mtr][1] = param1
log.info("%s", {x: demo_motor_sensors.states[x][1] for x in demo_motor_sensors.states})
def callback_b(param1):
demo_motor_sensors.states[movehub.motor_B] = param1
log.info("%s", demo_motor_sensors.states)
for motor in demo_motor_sensors.states:
demo_motor_sensors.states[motor][0] = lambda x: callback(motor, x)
motor.subscribe(demo_motor_sensors.states[motor][0])
def callback_e(param1):
demo_motor_sensors.states[movehub.motor_external] = param1
log.info("%s", demo_motor_sensors.states)
while None in [x[1] for x in demo_motor_sensors.states.values()]: # demo_motor_sensors.states < limit:
movehub.motor_A.subscribe(callback_a)
movehub.motor_B.subscribe(callback_b)
if movehub.motor_external is not None:
demo_motor_sensors.states[movehub.motor_external] = None
movehub.motor_external.subscribe(callback_e)
while None in demo_motor_sensors.states.values(): # demo_motor_sensors.states < limit:
time.sleep(1)
for motor in demo_motor_sensors.states:
motor.unsubscribe(demo_motor_sensors.states[motor][0])
movehub.motor_A.unsubscribe(callback_a)
movehub.motor_B.unsubscribe(callback_b)
if movehub.motor_external is not None:
demo_motor_sensors.states[movehub.motor_external] = None
movehub.motor_external.unsubscribe(callback_e)
def demo_all(movehub):
@ -174,15 +183,7 @@ if __name__ == '__main__':
hub = MoveHub(connection)
demo_motor_sensors(hub)
# demo_all(hub)
demo_all(hub)
log.info("Sleeping 60s")
sleep(60)
# sleep(1)
# hub.get_name()
# demo_port_cd_motor(hub)
# demo_led_colors(hub)
# sleep(1)

8
pylgbst/__init__.py
View File

@ -13,7 +13,7 @@ class MoveHub(object):
:type tilt_sensor: TiltSensor
:type button: Button
:type color_distance_sensor: pylgbst.peripherals.ColorDistanceSensor
:type external_motor: EncodedMotor
:type motor_external: EncodedMotor
:type port_C: Peripheral
:type port_D: Peripheral
:type motor_A: EncodedMotor
@ -36,7 +36,7 @@ class MoveHub(object):
self.motor_AB = None
self.tilt_sensor = None
self.color_distance_sensor = None
self.external_motor = None
self.motor_external = None
self.port_C = None
self.port_D = None
@ -126,8 +126,8 @@ class MoveHub(object):
if dev_type == DEV_MOTOR:
self.devices[port] = EncodedMotor(self, port)
elif dev_type == DEV_IMOTOR:
self.external_motor = EncodedMotor(self, port)
self.devices[port] = self.external_motor
self.motor_external = EncodedMotor(self, port)
self.devices[port] = self.motor_external
elif dev_type == DEV_DCS:
self.color_distance_sensor = ColorDistanceSensor(self, port)
self.devices[port] = self.color_distance_sensor