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()
class Serialcom(threading.Thread):
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 run(self):
print('Thread #%s started' % self.ident)
self.motor.timeout(1)
while not self.shutdown_flag.is_set():
rcvdata = self.xbee.read()
self.decoder.decode(rcvdata)
self.motor.recalCommand()
currenttime = time.time()
if currenttime - self.lastSavedTime > 1.0:
self.lastSavedTime = time.time()
self.xbee.sendBat(self.decoder.getRfrating())
if self.decoder.getStatus() and self.decoder.checkCRC():
if self.decoder.getJoyStickPB1() == 0:
self.motor.EmergyStop()
self.buzzer.beep(300)
elif self.decoder.getJoystickM1() > 248 and self.decoder.getJoystickM2() > 248:
self.joycalc.calculateReg(255)
self.motor.Motor1MC2(255 - self.joycalc.cor1)
self.motor.Motor2MC2(255 - self.joycalc.cor2)
elif (abs(self.decoder.getJoystickM1() - self.decoder.getJoystickM2()) <= 3) and (self.decoder.getJoystickM1() > 50):
self.joycalc.calculateReg(self.decoder.getJoystickM1())
self.motor.Motor1MC2(self.decoder.getJoystickM1() - self.joycalc.cor1)
self.motor.Motor2MC2(self.decoder.getJoystickM1() - self.joycalc.cor2)
#print "drive forward without full speed"
else:
self.motor.Motor1MC2(self.decoder.getJoystickM1())
self.motor.Motor2MC2(self.decoder.getJoystickM2())
#print "other speeds"
if self.decoder.getJoystickPB2() == 0:
self.servo1 = 96
self.motor.setServo1(self.servo1)
self.buzzer.beep(300)
elif self.decoder.getJoystickVRX2() > 1000:
if(self.servo1 > 0):
self.servo1 = self.servo1 - 1
self.motor.setServo1(self.servo1)
elif self.decoder.getJoystickVRX2() < 24:
if(self.servo1 < 180):
self.servo1 = self.servo1 + 1
self.motor.setServo1(self.servo1)
if self.decoder.getJoystickPB2() == 0:
self.servo2 = 75
self.motor.setServo2(self.servo2)
elif self.decoder.joystick_VRY2 > 1000:
if(self.servo2 > 0):
self.servo2 = self.servo2 - 1
self.motor.setServo2(self.servo2)
elif self.decoder.getJoystickVRY2() < 24:
if(self.servo2 < 180):
self.servo2 = self.servo2 + 1
self.motor.setServo2(self.servo2)
time.sleep(0.001)
# ... Clean shutdown code here ...
self.xbee.close()
self.motor.close()
print('Thread #%s stopped' % self.ident)