/
attentionbot.py
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/
attentionbot.py
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import time
from api import Api
from motors import Servo, Motor
from remote import Remote
servo = Servo(port=1, min_pulse=750, max_pulse=2250, min_position=0.30, max_position=0.7)
motor = Motor(port=1, duty_cycle=0)
def wave(min=0.0, max=1.0, n=1, pause=0.4):
for x in range(n):
servo.set(min)
time.sleep(pause)
servo.set(max)
time.sleep(pause)
servo.set(0.5)
api = Api()
api.demonize()
remote = Remote()
while True:
# api events
for event, kwargs in api.events:
if event == "wave":
wave(**kwargs)
if event == "set":
servo.set(0.75-float(kwargs["position"])*0.5)
if event == "set_speed":
motor.duty_cycle = kwargs['position']
api.events = []
if not remote.wm:
motor.tick()
continue
# remote events
if remote.pressed('a'):
remote.rumble(True)
else:
remote.rumble(False)
print remote.angle()
if remote.pressed('b'):
accel = remote.accel()
steer = accel[0] * -1
steer = 0.5 if steer > -1 and steer < 1 else (steer + 25)/50.0
speed = accel[1]
speed = (speed + 15)/25.0
servo.set(steer)
motor.duty_cycle = speed
else:
if remote.pressed('left'):
servo.set(1)
elif remote.pressed('right'):
servo.set(0)
else:
servo.set(0.5)
if remote.pressed('up'):
motor.duty_cycle = 0.1
else:
motor.duty_cycle = 0
if remote.pressed('home'):
time.sleep(1)
remote.calibrate()
remote.rumble(True)
time.sleep(0.1)
remote.rumble(False)
motor.tick()
#time.sleep(0.01)