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This commit is contained in:
Andrey Pokhilko 2019-08-04 12:11:28 +03:00
parent 6aec464283
commit 9f347c233f
1 changed files with 39 additions and 8 deletions
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47
examples/bb8joystick/__init__.py
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@ -1,8 +1,10 @@
import asyncio import asyncio
import logging import logging
import sys
import time import time
import spheropy import spheropy
# noinspection PyProtectedMember
from spheropy.spheropy import _ClientCommandPacket, _DEVICE_ID_CORE from spheropy.spheropy import _ClientCommandPacket, _DEVICE_ID_CORE
@ -42,23 +44,52 @@ class BB8(object):
self._loop = asyncio.new_event_loop() self._loop = asyncio.new_event_loop()
asyncio.set_event_loop(self._loop) asyncio.set_event_loop(self._loop)
print("Started waking up BB-8...") print("Started to wake up BB-8...")
self._sphero = _SpheroImproved() self._sphero = _SpheroImproved()
self._loop.run_until_complete(self._sphero.connect(num_retry_attempts=3, use_ble=True, search_name=name)) self._loop.run_until_complete(self._sphero.connect(num_retry_attempts=3, use_ble=True, search_name=name))
self.set_color(0, 0xFF, 0) self._loop.run_until_complete(self._sphero.set_stabilization(True))
self.stabilize()
self.color(0, 0xFF, 0)
print("BB-8 is ready for commands") print("BB-8 is ready for commands")
def sleep(self): def disconnect(self):
self._loop.run_until_complete(self._sphero.sleep(0)) self._loop.run_until_complete(self._sphero.sleep(0))
self._sphero.disconnect()
def set_color(self, red, green, blue): def color(self, red, green, blue):
self._loop.run_until_complete(self._sphero.set_rgb_led(red, green, blue)) self._loop.run_until_complete(self._sphero.set_rgb_led(red, green, blue))
def heading(self, heading):
self._loop.run_until_complete(self._sphero.set_heading(heading))
def roll(self, speed=1.0):
speed = int(255 * speed)
self._loop.run_until_complete(self._sphero.roll(speed, 0))
def stop(self):
self._loop.run_until_complete(self._sphero.roll(0, 0))
def stabilize(self):
self._loop.run_until_complete(self._sphero.self_level())
if __name__ == "__main__": if __name__ == "__main__":
logging.basicConfig(level=logging.DEBUG) logging.basicConfig(level=logging.DEBUG if 'pydevd' in sys.modules else logging.WARNING)
bb8 = BB8("BB-CC13") bb8 = BB8("BB-CC13")
bb8.set_color(0xFF, 0x00, 0xFF) try:
time.sleep(2) # bb8.color(0xFF, 0x00, 0xFF)
bb8.sleep() bb8.color(0x00, 0x00, 0x00)
bb8._loop.run_until_complete(bb8._sphero.set_back_led(254))
time.sleep(3)
for x in range(0, 359, 90):
print(x)
bb8.heading(x)
bb8.roll(0.25)
time.sleep(1)
bb8.stop()
bb8.stabilize()
finally:
bb8.disconnect()