def action(deviceName, action):
global detection_mode
if (deviceName == 'motor'):
if action == "fwd":
ctl.forward(1, 1)
if action == "bwd":
ctl.backward(1, 1)
if action == "left":
ctl.turn_left(30, 30, 1, 1, 1)
if action == "right":
ctl.turn_right(30, 30, 1, 1, 1)
if action == "stop":
ctl.detach()
if action == "reset":
ctl.reset()
if action == "speed100":
ctl.speed(100, 100)
if action == "speed50":
ctl.speed(50, 50)
if action == "speed10":
ctl.speed(10, 10)
elif (deviceName == 'cam'):
if action == "up":
ctl.cam_up()
if action == "down":
ctl.cam_down_step()
if action == "left":
ctl.cam_left()
if action == "right":
ctl.cam_right_step()
if action == "stop":
ctl.cam_stop()
if action == "reset":
ctl.cam_position_reset()
if action == "h_patrol":
ctl.cam_h_patrol()
if action == "v_patrol":
ctl.cam_v_patrol()
elif (deviceName == 'detection'):
# Toggle detection button
if action == "toggle":
detection_mode = not detection_mode
return '', 204
def action(deviceName, action):
if action == "fwd":
ctl.forward()
if action == "bwd":
ctl.backward()
if action == "left":
ctl.turn_left()
if action == "right":
ctl.turn_right()
if action == "stop":
ctl.detach()
if action == "reset":
ctl.reset()
if action == "speed100":
ctl.speed(100,100)
if action == "speed50":
ctl.speed(50,50)
if action == "speed10":
ctl.speed(10,10)
return '', 204
if FORWARDING: #moving forward
if allow_straight:
if (TURNR or TURNL):
ctl.forward()
TURNL = 0
TURNR = 0
elif allow_turn_right:
ctl.turn_right()
TURNR = 1
elif allow_turn_left:
ctl.turn_left()
TURNL = 1
else:
#turn 180 degreens back.
ctl.backward()
BACKWARDING = 1
FORWARDING = 0
if BACKWARDING: #moving backward
if allow_turn_left:
ctl.turn_left()
ctl.forward()
BACKWARDING = 0
FORWARDING = 1
elif allow_turn_right:
ctl.turn_right()
ctl.forward()
BACKWARDING = 0
FORWARDING = 1
else:
if FORWARDING:#moving forward
if allow_straight: #keep forward
if (TURNR or TURNL): #change to forward if it was from forward->turn
ctl.forward(1,1)
TURNL = 0
TURNR = 0
elif allow_turn_right: #turn whenever allowed, right first. After turn, speed at 1,1
#tl=30,tr=30,t=0.5,al=1,ar=1
ctl.turn_right(30,30,2,1,1)
TURNR = 1;
elif allow_turn_left: #turn left when allowed. After turn, speed at 1,1
ctl.turn_left(30,30,2,1,1)
TURNL = 1
else: #was moving forward, not allow straight, right and left. Turn 180 degreens back.
ctl.backward(1,1)
BACKWARDING=1
FORWARDING=0
if BACKWARDING: #moving backward
if allow_turn_left:
time.sleep(3) #wait the robot head out of the block
ctl.turn_left(30,30,2,1,1)
ctl.forward(1,1)
BACKWARDING=0
FORWARDING=1
elif allow_turn_right:
time.sleep(3) #wait the robot head out of the block
ctl.turn_right(30,30,2,1,1)
ctl.forward(1,1)
BACKWARDING=0