def init_motors():
dagor_motors.init()
dagor_motors.require_stopped('ha')
dagor_motors.require_stopped('de')
dagor_motors.enable('ha')
dagor_motors.enable('de')
dagor_motors.set_speed('ha', 0)
dagor_motors.set_speed('de', 0)
def reset():
global current_speed
r.color_mapping.clear()
r.vote_count.clear()
r.left.clear()
r.right.clear()
r.state["last-left-count-upon-action"] = 0
r.state["last-right-count-upon-action"] = 0
r.state["current-position"] = position_default
r.redis_conn.delete("status-lock")
motors.init()
motors.barrel_rotation_off()
motors.turn_motors_on()
current_speed = default_speed
motors.set_speed(current_speed)
return "reset"
def slow():
global current_speed
current_speed = max(SPEED_MIN, current_speed - 1)
motors.set_speed(current_speed)
def fast():
global current_speed
current_speed = min(SPEED_MAX, current_speed + 1)
motors.set_speed(current_speed)
def _loop_apply_speeds(self):
if not self.config['tracking']:
self.current['ha_speed'] = 0
self.current['de_speed'] = 0
dagor_motors.set_speed('ha', self.current['ha_speed'])
dagor_motors.set_speed('de', self.current['de_speed'])
