world = World(.0, .1, .0, lock, stepper.pulse_width)
stopped = threading.Event()
motor_thread = threading.Thread(name='motor',
target=run_motor,
args=(stepper, world, stopped))
world_thread = threading.Thread(name='world',
target=update_world,
args=(world, stepper, 0.001, stopped))
# hopper_thread = threading.Thread(name='hopper', target=hopper, args=(world, 5.0, stopped))
try:
motor_thread.start()
world_thread.start()
# hopper_thread.start()
while True:
state = world.get_state()
position = stepper.get_position()
now = time.time()
print("%f\t%f\t%f\t%f\t%f" % (now, state[2], state[1], state[0],
float(position) / STEPS_PER_10CM))
time.sleep(0.005)
except KeyboardInterrupt:
stopped.set()
if platform.system() == 'Linux':
import RPi.GPIO as GPIO
GPIO.cleanup()
