class Boost:
def __init__(self, mac_addr, mode='Auto', hci="hci0"):
self.mac_addr = mac_addr
self.mode = mode
self.hci = hci
def init_hub(self):
retval = {}
self.my_movehub = MoveHub(self.mac_addr, self.mode, self.hci)
try:
self.my_movehub.start()
except:
err_msg = sys.exc_info()[0]
logger.error("Could not INIT movehub({},{},{}). Error:{}".format(
self.mac_addr, self.mode, self.hci, err_msg))
retval['errStr'] = str(err_msg)
self.try_stop_movehub()
return retval
def try_stop_movehub(self):
if (self.my_movehub is not None):
try:
logger.error("Stopping movehub({},{},{})".format(
self.mac_addr, self.mode, self.hci))
self.my_movehub.stop()
except:
err_msg = sys.exc_info()[0]
logger.error(
"Could not STOP movehub({},{},{}). Error:{}".format(
self.mac_addr, self.mode, self.hci, err_msg))
def try_move_hub(self, motor, time_ms, dutycycle_pct):
retval = {}
try:
self.my_movehub.run_motor_for_time(motor, time_ms, dutycycle_pct)
except:
err_msg = sys.exc_info()[0]
logger.error("Could not MOVE movehub({},{},{}). Error:{}".format(
self.mac_addr, self.mode, self.hci, err_msg))
#-- if(say_error):
#-- say("Error while trying to move lego. {}".format(
#-- sys.exc_info()[0]))
retval['errStr'] = str(err_msg)
return retval
def go_forward_command(self):
self.try_move_hub(MOTOR_AB, 2000, 100)
def go_back_command(self):
self.try_move_hub(MOTOR_AB, 2000, -100)
#
from pyb00st.movehub import MoveHub
from pyb00st.constants import *
from time import sleep
MY_MOVEHUB_ADD = '00:16:53:A4:CD:7E'
MY_BTCTRLR_HCI = 'hci0'
mymovehub = MoveHub(MY_MOVEHUB_ADD, 'BlueZ', MY_BTCTRLR_HCI)
mymovehub.subscribe_all()
mymovehub.listen_colordist_sensor(PORT_C)
while True:
color = mymovehub.last_color_C
if color in COLOR_SENSOR_COLORS:
if color == 'BLUE':
mymovehub.run_motors_for_time(MOTOR_A, 500, -100, -100)
sleep(0.5)
elif color == 'WHITE':
mymovehub.run_motor_for_time(MOTOR_A, 500, -100)
sleep(0.5)
elif color == 'YELLOW':
mymovehub.run_motor_for_time(MOTOR_B, 500, -100)
sleep(0.5)
elif color == 'RED':
mymovehub.run_motors_for_time(MOTOR_AB, 500, 100, 100)
sleep(0.5)