def handleCommand(command, keyPosition, price=0):
# only uses pressing down of keys
if keyPosition != "down":
return
print("handle command", command, keyPosition)
if command == 'L':
gopigo.left_rot()
time.sleep(0.15)
gopigo.stop()
if command == 'R':
gopigo.right_rot()
time.sleep(0.15)
gopigo.stop()
if command == 'F':
gopigo.forward()
time.sleep(0.4)
gopigo.stop()
if command == 'B':
gopigo.backward()
time.sleep(0.3)
gopigo.stop()
robot_util.handleSoundCommand(command, keyPosition, price)
def backward(self):
_grab_read()
try:
gopigo.backward()
except:
pass
_release_read()
def moveGoPiGo2(command):
if command == 'L':
gopigo.left_rot()
time.sleep(0.15)
gopigo.stop()
if command == 'R':
gopigo.right_rot()
time.sleep(0.15)
gopigo.stop()
if command == 'F':
gopigo.forward()
time.sleep(0.35)
gopigo.stop()
if command == 'B':
gopigo.backward()
time.sleep(0.35)
gopigo.stop()
def run(self, command):
if command == 'L':
gopigo.left_rot()
time.sleep(0.15)
gopigo.stop()
elif command == 'R':
gopigo.right_rot()
time.sleep(0.15)
gopigo.stop()
elif command == 'F':
gopigo.forward()
time.sleep(0.35)
gopigo.stop()
elif command == 'B':
gopigo.backward()
time.sleep(0.35)
gopigo.stop()
def backward(self):
_grab_read()
try:
val = gopigo.backward()
except Exception as e:
print("easygopigo bwd: {}".format(e))
pass
_release_read()
def backward(self):
_ifMutexAcquire(self.use_mutex)
try:
val = gopigo.backward()
except Exception as e:
print("easygopigo bwd: {}".format(e))
pass
finally:
_ifMutexRelease(self.use_mutex)
def backward(self):
_ifMutexAcquire(self.use_mutex)
try:
val = gopigo.backward()
except Exception as e:
print("easygopigo bwd: {}".format(e))
pass
finally:
_ifMutexRelease(self.use_mutex)
def turn_around(self):
gopigo.set_right_speed(35)
gopigo.set_left_speed(35)
gopigo.backward()
time.sleep(1)
gopigo.stop()
time.sleep(1)
gopigo.left_rot()
time.sleep(2)
while True:
self.read_position()
self.read_position()
pos = self.read_position()
print(pos)
debug(pos)
if pos == "center":
gopigo.stop()
break
def move(args):
command = args['button']['command']
if command == 'l':
gopigo.left_rot()
time.sleep(0.15)
gopigo.stop()
if command == 'r':
gopigo.right_rot()
time.sleep(0.15)
gopigo.stop()
if command == 'f':
gopigo.forward()
time.sleep(0.35)
gopigo.stop()
if command == 'b':
gopigo.backward()
time.sleep(0.35)
gopigo.stop()
def move(args):
command = args['command']
if command == 'L':
gopigo.left_rot()
time.sleep(0.15)
gopigo.stop()
if command == 'R':
gopigo.right_rot()
time.sleep(0.15)
gopigo.stop()
if command == 'F':
gopigo.forward()
time.sleep(0.35)
gopigo.stop()
if command == 'B':
gopigo.backward()
time.sleep(0.35)
gopigo.stop()
def follow_line(self):
slight_turn_speed = int(50)
default_speed = int(35)
wayoff_turn_speed = int(115)
print("FOLLOWING LINE")
gopigo.set_speed(default_speed)
gopigo.forward()
time.sleep(1)
while True:
self.read_position()
self.read_position()
#print(self.read())
pos = self.read_position()
#print(pos)
debug(pos)
if pos == "center":
gopigo.set_speed(default_speed)
gopigo.forward()
elif pos == "wayleft":
gopigo.set_right_speed(default_speed)
gopigo.set_left_speed(wayoff_turn_speed)
elif pos == "wayright":
gopigo.set_right_speed(wayoff_turn_speed)
gopigo.set_left_speed(default_speed)
elif pos == "left":
gopigo.set_right_speed(default_speed)
gopigo.set_left_speed(slight_turn_speed)
elif pos == "right":
gopigo.set_right_speed(slight_turn_speed)
gopigo.set_left_speed(default_speed)
elif pos == "white":
print("white Brake")
gopigo.stop()
time.sleep(1)
whiteTest = self.read_position()
whiteTest = self.read_position()
if whiteTest == "white":
print("really white")
break
else:
gopigo.forward()
elif pos == "intersection":
gopigo.stop()
time.sleep(1)
gopigo.set_right_speed(40)
gopigo.set_left_speed(40)
gopigo.forward()
time.sleep(1.2)
gopigo.stop()
time.sleep(1)
intersectionTest = self.read_position()
intersectionTest = self.read_position()
print("Reading found!" + intersectionTest)
gopigo.backward()
time.sleep(1.5)
gopigo.stop()
if intersectionTest != "white":
print("interesection hit!")
else:
print("T intersection hit!")
break
elif pos == "left corner" or "right corner":
gopigo.stop()
time.sleep(1)
gopigo.set_right_speed(40)
gopigo.set_left_speed(40)
gopigo.forward()
time.sleep(1.2)
gopigo.stop()
time.sleep(1)
intersectionTest = self.read_position()
intersectionTest = self.read_position()
print("Reading found! " + intersectionTest)
gopigo.backward()
time.sleep(1.5)
gopigo.stop()
if intersectionTest != "white":
print("T interesection hit!")
break
else:
print("corner! turning!")
if pos == "left corner":
self.turn_left()
else:
self.turn_right()
gopigo.forward()
time.sleep(.5)
elif pos == "unknown":
print("Unknown???")
#gopigo.stop()
#break
else:
break
print(pos)
gopigo.stop()
def backward():
_wait_for_read()
_grab_read()
gopigo.backward()
_release_read()
def backward():
_wait_for_read()
_grab_read()
gopigo.backward()
_release_read()
def backward():
I2C_Mutex_Acquire()
gopigo.backward()
I2C_Mutex_Release()
