class Agent:
def __init__(self):
self.arduino = Arduino()
def run(self):
self.ensureStopped()
loops = 0
issueTime = current_milli_time()
self.arduino.writeMessage("W10")
while True:
observation = self.arduino.getState()
wheelSpeed = float(observation[3])
if (wheelSpeed > 0.0):
responseTime = current_milli_time() - issueTime
print("response time: {}".format(responseTime))
break
else:
loops += 1
self.ensureStopped()
print("End of experiment! Loops: {}".format(loops))
def ensureStopped(self):
print("Ensuring stopped...")
self.arduino.writeMessage("W0")
while True:
observation = self.arduino.getState()
wheelSpeed = float(observation[3])
if (wheelSpeed == 0.0):
print("Stopped! :)")
return
else:
time.sleep(0.5)
class Agent:
def __init__(self):
self.arduino = Arduino()
def run(self):
while True:
print(
"Type H for help. Prefix a command with ! if not expecting a response."
)
userString = input()
if userString[0] == '!':
userString = userString[1:]
self.arduino.writeMessage(userString)
else:
print(self.arduino.writeMessageAndWait(userString))