def move_right():
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_FORWARD,
adc_convert_1, ack)
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_REVERSE,
adc_convert_1, ack)
def stop():
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_STOP, adc_convert_1,
ack)
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_STOP, adc_convert_1,
ack)
def move_reverse():
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_REVERSE,
adc_convert_1, ack)
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_REVERSE,
adc_convert_2, ack)
time.sleep(2)
print("Button 2 to exit")
ret = exp.ain(lk.MODULE_ONE, buffer)
adc_convert_1 = (buffer[0] / 4)
adc_convert_2 = (buffer[1] / 4)
print("Motor Speed 1:", adc_convert_1)
print("Motor Speed 2:", adc_convert_2)
ret = exp.din(lk.MODULE_ONE, buffer);
button_state = buffer[0];
print("Button Value:", button_state)
if((button_state & exp.BUTTON_0_MASK)==0):
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_FORWARD, adc_convert_1, ack)
ret = exp.dout_x(lk.MODULE_ONE, exp.OUT_0, lk.ON, ack)
else:
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_STOP, adc_convert_1, ack)
ret = exp.dout_x(lk.MODULE_ONE, exp.OUT_0, lk.OFF, ack)
if((button_state & exp.BUTTON_1_MASK)==0):
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_FORWARD, adc_convert_2, ack)
ret = exp.dout_x(lk.MODULE_ONE, exp.OUT_1, lk.ON, ack)
else:
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_STOP, adc_convert_1, ack)
ret = exp.dout_x(lk.MODULE_ONE, exp.OUT_1, lk.OFF, ack)
if((button_state & exp.BUTTON_2_MASK)==0):
running = False
def move_forward():
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_FORWARD,
adc_convert_1, ack)
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_FORWARD,
adc_convert_2, ack)
time.sleep(2)
print("Button 2 to exit")
ret = exp.ain(lk.MODULE_ONE, buffer)
adc_convert_1 = (buffer[0] / 4)
adc_convert_2 = (buffer[1] / 4)
print("Motor Speed 1:", adc_convert_1)
print("Motor Speed 2:", adc_convert_2)
ret = exp.din(lk.MODULE_ONE, buffer)
button_state = buffer[0]
print("Button Value:", button_state)
if ((button_state & exp.BUTTON_0_MASK) == 0):
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_FORWARD,
adc_convert_1, ack)
ret = exp.dout_x(lk.MODULE_ONE, exp.OUT_0, lk.ON, ack)
else:
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_STOP,
adc_convert_1, ack)
ret = exp.dout_x(lk.MODULE_ONE, exp.OUT_0, lk.OFF, ack)
if ((button_state & exp.BUTTON_1_MASK) == 0):
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_FORWARD,
adc_convert_2, ack)
ret = exp.dout_x(lk.MODULE_ONE, exp.OUT_1, lk.ON, ack)
else:
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_STOP,
adc_convert_1, ack)
ret = exp.dout_x(lk.MODULE_ONE, exp.OUT_1, lk.OFF, ack)
def broadcast(broadcast_in):
if 'exp_motor_1_fwd' in broadcast_in:
lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_FORWARD,
this_motor_speed.get_motor_1_speed(), ack)
if 'exp_motor_1_rev' in broadcast_in:
lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_REVERSE,
this_motor_speed.get_motor_1_speed(), ack)
if 'exp_motor_1_stop' in broadcast_in:
lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_STOP, 0, ack)
if 'exp_motor_1_brake' in broadcast_in:
lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_BRAKE, 0,
ack)
if 'exp_motor_2_fwd' in broadcast_in:
lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_FORWARD,
this_motor_speed.get_motor_2_speed(), ack)
if 'exp_motor_2_rev' in broadcast_in:
lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_REVERSE,
this_motor_speed.get_motor_2_speed(), ack)
if 'exp_motor_2_stop' in broadcast_in:
lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_STOP, 0, ack)
if 'exp_motor_2_brake' in broadcast_in:
lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_BRAKE, 0,
ack)
print broadcast_in
for i in range(OUTPUT_PINS):
if (('exp_dout_pin' + str(i)) in broadcast_in):
output_pos = broadcast_in.find('exp_dout_pin' + str(i))
data_list = broadcast_in[(output_pos + 12):].split('_', 2)
pin_value = int(data_list[0], 10)
pin_state = data_list[1]
pin_state = pin_state[:4]
#print data_list
#print pin_value
#print pin_state
if (('high' in pin_state) or ('on' in pin_state)
or ('1' in pin_state)):
#print ('Pin Value On is: ' + str(pin_value))
lk_ret = exp.dout_x(lk.MODULE_ONE, pin_value, 1, ack)
#print str(lk_ret)
#print str(ack[0])
else:
if (('low' in pin_state) or ('off' in pin_state)
or ('0' in pin_state)):
#print ('Pin Value Off is: ' + str(pin_value))
lk_ret = exp.dout_x(lk.MODULE_ONE, pin_value, 0, ack)
#print str(lk_ret)
#print str(ack[0])
#Explorer Analogue -----------------------------------------------------------------------------------------------
if 'exp_ain_0' in broadcast_in:
exp.ain(lk.MODULE_ONE, buffer)
sensor_name = 'lk_exp_ain_0'
bcast_str = 'sensor-update "%s" %d' % (sensor_name, buffer[0])
#print bcast_str
send_scratch_command(bcast_str)
if 'exp_ain_1' in broadcast_in:
exp.ain(lk.MODULE_ONE, buffer)
sensor_name = 'lk_exp_ain_1'
bcast_str = 'sensor-update "%s" %d' % (sensor_name, buffer[1])
#print bcast_str
send_scratch_command(bcast_str)
#Explorer Digital -----------------------------------------------------------------------------------------------
if 'exp_din' in broadcast_in:
exp.din(lk.MODULE_ONE, buffer)
sensor_name = 'lk_exp_din'
bcast_str = 'sensor-update "%s" %d' % (sensor_name, buffer[0])
#print bcast_str
send_scratch_command(bcast_str)
def move_right():
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_FORWARD, adc_convert_1, ack)
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_REVERSE, adc_convert_1, ack)
def move_reverse():
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_REVERSE, adc_convert_1, ack)
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_REVERSE, adc_convert_2, ack)
time.sleep(2)
def stop():
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_STOP, adc_convert_1, ack)
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_STOP, adc_convert_1, ack)
def move_forward():
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_FORWARD, adc_convert_1, ack)
ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_FORWARD, adc_convert_2, ack)
time.sleep(2)
def broadcast(broadcast_in):
if 'exp_motor_1_fwd' in broadcast_in:
lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_FORWARD, this_motor_speed.get_motor_1_speed(), ack)
if 'exp_motor_1_rev' in broadcast_in:
lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_REVERSE, this_motor_speed.get_motor_1_speed(), ack)
if 'exp_motor_1_stop' in broadcast_in:
lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_STOP, 0, ack)
if 'exp_motor_1_brake' in broadcast_in:
lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_BRAKE, 0, ack)
if 'exp_motor_2_fwd' in broadcast_in:
lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_FORWARD, this_motor_speed.get_motor_2_speed(), ack)
if 'exp_motor_2_rev' in broadcast_in:
lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_REVERSE, this_motor_speed.get_motor_2_speed(), ack)
if 'exp_motor_2_stop' in broadcast_in:
lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_STOP, 0, ack)
if 'exp_motor_2_brake' in broadcast_in:
lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_BRAKE, 0, ack)
print broadcast_in
for i in range(OUTPUT_PINS):
if (('exp_dout_pin' + str(i)) in broadcast_in):
output_pos = broadcast_in.find('exp_dout_pin' + str(i))
data_list = broadcast_in[(output_pos+12):].split('_', 2)
pin_value = int(data_list[0], 10)
pin_state = data_list[1]
pin_state = pin_state[:4]
#print data_list
#print pin_value
#print pin_state
if (('high' in pin_state) or ('on' in pin_state) or ('1' in pin_state)):
#print ('Pin Value On is: ' + str(pin_value))
lk_ret = exp.dout_x(lk.MODULE_ONE, pin_value, 1, ack)
#print str(lk_ret)
#print str(ack[0])
else:
if (('low' in pin_state) or ('off' in pin_state) or ('0' in pin_state)):
#print ('Pin Value Off is: ' + str(pin_value))
lk_ret = exp.dout_x(lk.MODULE_ONE, pin_value, 0, ack)
#print str(lk_ret)
#print str(ack[0])
#Explorer Analogue -----------------------------------------------------------------------------------------------
if 'exp_ain_0' in broadcast_in:
exp.ain(lk.MODULE_ONE, buffer)
sensor_name = 'lk_exp_ain_0'
bcast_str = 'sensor-update "%s" %d' % (sensor_name, buffer[0])
#print bcast_str
send_scratch_command(bcast_str)
if 'exp_ain_1' in broadcast_in:
exp.ain(lk.MODULE_ONE, buffer)
sensor_name = 'lk_exp_ain_1'
bcast_str = 'sensor-update "%s" %d' % (sensor_name, buffer[1])
#print bcast_str
send_scratch_command(bcast_str)
#Explorer Digital -----------------------------------------------------------------------------------------------
if 'exp_din' in broadcast_in:
exp.din(lk.MODULE_ONE, buffer)
sensor_name = 'lk_exp_din'
bcast_str = 'sensor-update "%s" %d' % (sensor_name, buffer[0])
#print bcast_str
send_scratch_command(bcast_str)
