def main():
# This is how you should connect to your spark. This code must execute
# before the raspberry pi can talk to the spark hat.
addr = "tcp://raspberrypi.local:4567"
comm = NET_ZMQ_Comm()
try:
comm.open(addr)
except:
print "Error connecting to Spark"
sys.exit()
spark = Spark_Drive(comm)
# if the spark was running before, stop it.
spark.set_motor_speed(0, 0)
spark.set_motor_speed(0, 0)
spark.set_motor_speed(0, 0)
roomba_loop(spark) # call the never ending "drive_loop" function
def main():
#This is how you should connect to your spark. This code must execute
#before the raspberry pi can talk to the spark hat.
addr = "tcp://raspberrypi.local:4567"
comm = NET_ZMQ_Comm()
try:
comm.open(addr)
except:
print "Error connecting to Spark"
sys.exit()
spark = Spark_Drive(comm)
drive_loop(spark) #call the never ending "drive_loop" function
if addr == "":
comm = HID_Comm()
try:
comm.open()
except IOError, ex:
print "Spark not found:", ex
sys.exit()
else:
comm = NET_ZMQ_Comm()
try:
comm.open(addr)
except:
print "Error connecting to Spark"
sys.exit()
spark = Spark_Drive(comm)
us_loop(spark)
def us_loop(spark):
while (1):
print(65535 - spark.get_ultrasonic(1))
print(65535 - spark.get_ultrasonic(2))
time.sleep(1)
if __name__ == '__main__':
main()
#END
if((weighted_sum_deriv * time_since_last_pkt)>tune_val):
return controller
else:
return None
if __name__ == '__main__':
addr = ""
try:
if not sys.argv[1] == "-q":
addr = raw_input("Address of target (its.ip.add.ress:port) or hit enter for local USB:")
except:
addr = raw_input("Address of target (its.ip.add.ress:port) or hit enter for local USB:")
if addr == "":
comm = HID_Comm()
try:
comm.open()
except IOError, ex:
print "Spark not found:",ex
sys.exit()
else:
comm = NET_ZMQ_Comm()
try:
comm.open("tcp://"+addr)
except:
print "Error connecting to Spark"
sys.exit()
sparkout = Spark_Drive(comm)
gamepad = Spark_Gamepad(sparkout)
js = gamepad.create_joystick()
gamepad.control_loop(js)