def __init__(self): threading.Thread.__init__(self) self.shutdown_flag = threading.Event() self.motor = Motorcontroller() self.buzzer = Buzzer() self.xbee = Xbee() self.decoder = Decoder() self.servo1 = 96 self.servo2 = 75 self.joycalc = Joystick() self.motor.setServo1(self.servo1) self.motor.setServo2(self.servo2) self.lastSavedTime = 0
def __init__(self, waypointFile=None):
"""Constructor for the boat object"""
self.arduino = Arduino()
self.gps = Gps()
self.xbee = Xbee()
self._waypointN = 0
self._waypointE = 0
self._waypointNumber = 0
self._waypointDist = 0
self._waypointHeading = 0
self._targetHeading = 0
self._targetDistance = 0
self.s = 0
self.c = 0
self.r = 250
pg.key.set_repeat()
# game loop
while self._running:
# handle events
for event in pg.event.get():
self.on_event(event)
# update game state
self.on_loop()
# render or flush outputs
self.on_render()
self.on_cleanup()
def keyUpdate(kold, knew):
res = []
for i in range(len(knew)):
if kold[i] != knew[i]:
res.append(pg.key.name(i) + ['u', 'd'][knew[i]])
return res
if __name__ == "__main__":
xb = Xbee(SRV_IP, SRV_PT)
xb.connect()
theApp = App(xb.sk)
theApp.on_execute()
xb.close()
