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110 lines
2.7 KiB
Python
110 lines
2.7 KiB
Python
import logging
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import traceback
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from time import sleep
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from pylgbst import MoveHub, COLORS, EncodedMotor, PORT_D
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from pylgbst.comms import DebugServerConnection, BLEConnection
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log = logging.getLogger("demo")
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def demo_all(movehub):
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demo_led_colors(movehub)
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demo_motors_timed(movehub)
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demo_motors_angled(movehub)
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demo_port_cd_motor(movehub)
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def demo_led_colors(movehub):
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# LED colors demo
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log.info("LED colors demo")
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for color in COLORS.keys():
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log.info("Setting LED color to: %s", COLORS[color])
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movehub.led.set_color(color)
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sleep(1)
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def demo_motors_timed(movehub):
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log.info("Motors movement demo: timed")
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for level in range(0, 101, 5):
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level /= 100.0
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log.info("Speed level: %s%%", level * 100)
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movehub.motor_A.timed(0.2, level)
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movehub.motor_B.timed(0.2, -level)
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movehub.motor_AB.timed(1.5, -0.2, 0.2)
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movehub.motor_AB.timed(0.5, 1)
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movehub.motor_AB.timed(0.5, -1)
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def demo_motors_angled(movehub):
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log.info("Motors movement demo: angled")
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for angle in range(0, 361, 90):
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log.info("Angle: %s", angle)
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movehub.motor_B.angled(angle, 1)
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sleep(1)
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movehub.motor_B.angled(angle, -1)
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sleep(1)
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movehub.motor_AB.angled(360, 1, -1)
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sleep(1)
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movehub.motor_AB.angled(360, -1, 1)
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sleep(1)
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def demo_port_cd_motor(movehub):
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motor = None
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if isinstance(movehub.port_D, EncodedMotor):
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log.info("Rotation motor is on port D")
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motor = movehub.port_D
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elif isinstance(movehub.port_C, EncodedMotor):
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log.info("Rotation motor is on port C")
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motor = movehub.port_C
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else:
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log.warning("Motor not found on ports C or D")
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if motor:
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motor.angled(20, 0.2)
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sleep(3)
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motor.angled(20, -0.2)
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sleep(1)
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motor.angled(20, -0.1)
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sleep(2)
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motor.angled(20, 0.1)
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sleep(1)
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def vernie_head(movehub):
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portd = EncodedMotor(movehub, PORT_D)
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while True:
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angle = 20
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portd.angled(angle, 0.2)
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sleep(2)
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portd.angled(angle, -0.2)
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sleep(2)
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portd.angled(angle, -0.2)
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sleep(2)
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portd.angled(angle, 0.2)
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sleep(2)
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if __name__ == '__main__':
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logging.basicConfig(level=logging.INFO)
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try:
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connection = DebugServerConnection()
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except BaseException:
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logging.warning("Failed to use debug server: %s", traceback.format_exc())
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connection = BLEConnection().connect()
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hub = MoveHub(connection)
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hub.tilt_sensor.subscribe(lambda: log.info("Tilt"))
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sleep(60)
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# demo_all(hub)
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# sleep(1)
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# hub.get_name()
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# demo_port_cd_motor(hub)
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# demo_led_colors(hub)
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# sleep(1)
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