def switchable_filter(chan, orig_chan, fn):
select_ch = select(get_switch(), chan)
enabled = False
while True:
result_ch, val = yield select_ch.get()
if result_ch == chan:
if not enabled or fn(val):
yield orig_chan.put(val)
else:
enabled = not enabled
def servo_coroutine():
servo, _ = get_servo(1)
accel = get_accel()
switch = get_switch()
on = False
x = 0
accel_or_switch = select(switch, accel)
while True:
chan, val = yield accel_or_switch.get()
if chan == accel:
x, *_ = val
elif chan == switch:
on = not on
if on:
yield servo.put(x)
yield Delay(0)
