def process_command(_command, _time):
data = _command
if not data:
print "received data:", data
if len(data) != 1:
print ("Invalid command")
return "Invalid command"
elif data == 'w':
gopigo.fwd()
# return "Moving forward"
elif data == 'x':
gopigo.stop()
# return "Stopping"
elif data == 's':
gopigo.bwd()
# return "Moving back"
elif data == 'a':
gopigo.left()
# return "Turning left"
elif data == 'd':
gopigo.right()
# return "Turning right"
elif data == 't':
gopigo.increase_speed()
# return "Increase speed"
elif data == 'g':
gopigo.decrease_speed()
# return "Decrease speed"
elif data == 'v':
# print gopigo.volt(), 'V'
return str(gopigo.volt())
elif data == 'l':
gopigo.led_on(0)
gopigo.led_on(1)
time.sleep(1)
gopigo.led_off(0)
gopigo.led_off(1)
return "Flash LED"
else:
print ("Invalid command")
return "Invalid command" # run as a app
if _time:
time.sleep(_time)
gopigo.stop()
#!/usr/bin/env python import gopigo gopigo.increase_speed()
while True:
current_time = time.time()
program_duration = current_time - start_time
if program_duration > WARMUP_SLEEP_SEC and not driving:
driving = True
motorController.drive()
if program_duration > MAX_PROGRAM_DURATION_SEC:
print "Shutting down. Program duration {dur} (sec) exceeds max duration of {max_dur} (sec)".format(
dur=program_duration, max_dur=MAX_PROGRAM_DURATION_SEC)
break
if (current_time - last_speed_increase >
INCREASE_SPEED_INTERVAL_SEC) and (num_speed_increases <
MAX_SPEED_INCREASES):
gopigo.increase_speed()
num_speed_increases += 1
last_speed_increase = current_time
print '--- increasing speed ---'
state_estimates = stateEstimator.getCurrentState()
print "Acceleration: ({accel_x},{accel_y},{accel_z}) - Position: ({x},{y},{z}) - program time: {t} (sec)".format(
accel_x=state_estimates['acceleration'][0],
accel_y=state_estimates['acceleration'][1],
accel_z=state_estimates['acceleration'][2],
x=state_estimates['position'][0],
y=state_estimates['position'][1],
z=state_estimates['position'][2],
t=state_estimates['t'] - start_time)
dataRecorder.captureData({
def increase_speed(kargs):
r = {'return_value': gopigo.increase_speed()}
return r
