def do_command(command=None): logging.debug(command) if command in ["forward", "fwd"]: gopigo.fwd() elif command == "left": gopigo.left() elif command == "left_rot": gopigo.left_rot() elif command == "right": gopigo.right() elif command == "right_rot": gopigo.right_rot() elif command == "stop": gopigo.stop() elif command == "leftled_on": gopigo.led_on(0) elif command == "leftled_off": gopigo.led_off(0) elif command == "rightled_on": gopigo.led_on(1) elif command == "rightled_off": gopigo.led_off(1) elif command in ["back", "bwd"]: gopigo.bwd() elif command == "speed": logging.debug("speed") speed = flask.request.args.get("speed") logging.debug("speed:" + str(speed)) if speed: logging.debug("in if speed") gopigo.set_speed(int(speed)) left_speed = flask.request.args.get("left_speed") logging.debug("left_speed:" + str(left_speed)) if left_speed: logging.debug("in if left_speed") gopigo.set_left_speed(int(left_speed)) right_speed = flask.request.args.get("right_speed") logging.debug("right_speed:" + str(right_speed)) if right_speed: logging.debug("in if right_speed") gopigo.set_right_speed(int(right_speed)) speed_result = gopigo.read_motor_speed() logging.debug(speed_result) return flask.json.jsonify({"speed": speed_result, "right": speed_result[0], "left": speed_result[1]}) elif command == "get_data": speed_result = gopigo.read_motor_speed() enc_right = gopigo.enc_read(0) enc_left = gopigo.enc_read(1) volt = gopigo.volt() timeout = gopigo.read_timeout_status() return flask.json.jsonify( { "speed": speed_result, "speed_right": speed_result[0], "speed_left": speed_result[1], "enc_right": enc_right, "enc_left": enc_left, "volt": volt, "timeout": timeout, "fw_ver": gopigo.fw_ver(), } ) elif command in ["enc_tgt", "step"]: tgt = flask.request.args.get("tgt") direction = flask.request.args.get("dir") if tgt: gopigo.gopigo.enc_tgt(1, 1, int(tgt)) if dir: if dir == "bwd": gopigo.bwd() else: gopigo.fwd() else: gopigo.fwd() return ""
def read_timeout_status(kargs): r = {'return_value': gopigo.read_timeout_status()} return r