cs = stateMachine.currentState
# Waits for RFID signal edge
if (cs == "SignalWait"):
input_v = GPIO.input(4)
signal = SignalFilter.step(input_v)
signalEdge = SignalEdge.chk(signal)
signalType = signalEdge['type']
# Notify robot of RFID signal change
if (signalEdge['value'] == 1):
msg.printMsg("\n Edge detected, setting Reg500 to 1")
client.write_register(500, 1)
stateMachine.event("SignalRise")
continue
# Gets robot's current position data
elif (cs == "GetPosition"):
dataReady = client.read_holding_registers(newDataReadyReg,1)
msg.printMsg("\n Checking if data is ready: {}".format(dataReady))
if (dataReady == None):
msg.printMsg("dataready none")
continue
dataReady = dataReady.registers[0]
readyEdge = ReadyEdge.chk(dataReady)['value']
if (readyEdge):
