def handle_menu_select_item(self, item):
if item is None:
return
if isinstance(item, type) and issubclass(item, mode.Mode):
start_task(self.enter_mode(item))
else:
item()
def handle_event(self, event):
if super().handle_event(event):
return True
if isinstance(event, messages.ControllerButtonMessage):
if event.button == "l2":
start_task(self.turn(-90))
return True
elif event.button == "r2":
start_task(self.turn(90))
return True
return False
async def fire(self):
self.angle = self.shooter.barrel.get_angle()
self.aimable = False
self.shooter.pump.on()
self.shooter.pointer.off()
# FIXME create firing solution here and implement it
while True:
await asyncio.sleep(0.1)
if self.shooter.pressure.get_pressure() > 108000:
start_task(self.load())
break
async def run(self):
start_task(super().run())
self.set_state(self.off)
while True:
if self.joystick and self.joystick.connected:
if self.aimable:
y = self.joystick['ry']
if y != 0.0:
self.angle += y * 20.0
print("Angle = ", self.angle)
self.shooter.barrel.set_pos(self.angle)
await asyncio.sleep(0.1)
def set_state(self, state):
name = state.__name__.capitalize()
print("Setting state to ", name)
self.display.draw_text(name)
if self.state_task is not None:
self.state_task.cancel()
self.state = state
self.state_task = start_task(state())
def on_start(self):
super().on_start()
self.colour = Colours()
self.current_col = [-10, 80, 30], [10, 255, 255]
self.limits = {
MIN_HUE: (-40, 180),
MAX_HUE: (-40, 180),
MIN_SAT: (0, 255),
MIN_VAL: (0, 255)
}
self.mode = MIN_HUE
self.image_shower = util.start_task(self.show_image())
def __init__(self, joystick, hardware):
self.joystick = joystick
self.drive = None
self.display = None
self.camera = None
self.pixels = None
self.grabber = None
self.shooter = None
self.stabber = None
self.laser = None
for item in self.HARDWARE:
if getattr(hardware, item) is None:
raise HardwareNotFoundError(item)
setattr(self, item, getattr(hardware, item))
self.on_start()
self.task = start_task(self.run())
async def aim(self):
angle_task = start_task(
asyncio.wait_for(
self.shooter.barrel.set_angle(self.angle), 2.0))
while True:
await asyncio.sleep(0.1)
if self.shooter.pressure.get_pressure() > 105000:
self.shooter.pump.on()
else:
self.shooter.pump.off()
if angle_task and angle_task.done():
try:
angle_task.result()
except asyncio.TimeoutError:
pass
self.shooter.pointer.on()
self.aimable = True
self.angle = self.shooter.barrel.get_pos()
angle_task = None
def __init__(self, event_queue):
self.event_queue = event_queue
start_task(self.monitor())