mirror of
https://github.com/undera/pylgbst.git
synced 2020-11-18 19:37:26 -08:00
32eecac1a6
* It's HUB ID * Rename file * Working with official doc * Some progress * AttachedIO msg * device action impl * some better device alert impl * restructuring * Some port commands handled * Some command feedback waiting * Some more request-reply things * Some more request-reply things * Reworked msg classes * Getting back to UTs * Getting back to UTs * Facing sync lock problems * Facing sync lock problems * Testing it * Covering more with tests * handle actions * Hub class is almost covered * done coverage for Hub * done coverage for MoveHub * Button is tested * remove debug server from examples * Current and voltage tested * color sensor basic test * cover tilt sensor * motor sensor tested * constant motor * motor is tested * hold_speed impl for motor * motor commands recorded * some cleanup * some cleanup * some cleanup * debug * debug * FIX a bug * acc/dec profiles figured out * UT motor ops * UT motor ops * Get rid of weird piggyback * fix UT * Fix encoding? * fix test mb * More robust * Checked demo works * cosmetics * cosmetics * Maybe better test * fetching and decoding some device caps * describing devs * describing devs works * Applying modes we've learned * Simple and extensible dev attach * Reworking peripherals based on modes * Applying modes we've learned * implemented getting sensor data * fixed port subscribe * Added led out cmds on vision sensor * Worked on color-distance sensor * Introduce some locking for consistency * Improved it all * Travis flags * improve * improve * improve docs
37 lines
881 B
Python
37 lines
881 B
Python
from pylgbst.constants import COLOR_GREEN, COLOR_NONE
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from . import *
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robot = Vernie()
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running = True
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def callback(color, distance):
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robot.led.set_color(color)
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speed = (10 - distance + 1) / 10.0
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secs = (10 - distance + 1) / 10.0
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print("Distance is %.1f inches, I'm running back with %s%% speed!" % (distance, int(speed * 100)))
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if speed <= 1:
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robot.motor_AB.timed(secs / 1, -speed, is_async=True)
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robot.say("Ouch")
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def on_btn(pressed):
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global running
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if pressed:
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running = False
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robot.led.set_color(COLOR_GREEN)
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robot.button.subscribe(on_btn)
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robot.vision_sensor.subscribe(callback)
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robot.say("Place your hand in front of sensor")
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while running:
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time.sleep(1)
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robot.vision_sensor.unsubscribe(callback)
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robot.button.unsubscribe(on_btn)
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robot.led.set_color(COLOR_NONE)
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while robot.led.in_progress():
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time.sleep(1)
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