def main():
js = Joystick()
md = MotorDriver()
KEEP_DRIVING = True
try:
while KEEP_DRIVING:
js.get_event()
x, y = js.get_left_x_y()
x_r, y_r = js.get_right_x_y()
# Halt if Lstick in center
if y < EPSILON_FWD and y > -EPSILON_FWD\
and x < EPSILON_FWD and x > -EPSILON_FWD:
md.halt()
# Back/forward
if y > EPSILON_FWD: # y is positive when pushed down
md.go_back()
if x_r > EPSILON_FWD:
md.turn_1pt_back_right()
elif x_r < -EPSILON_FWD:
md.turn_1pt_back_left()
elif y < -EPSILON_FWD:
md.go_forward()
# 1 point Left/Right
if x_r > EPSILON_FWD:
md.turn_1pt_forward_right()
elif x_r < -EPSILON_FWD:
md.turn_1pt_forward_left()
# Spot Left/Spot Right
if x > EPSILON_FWD:
md.turn_right()
elif x < -EPSILON_FWD:
md.turn_left()
except KeyboardInterrupt as e:
KEEP_DRIVING = False
md.halt()
print("\nExiting...")