from comm import Communicator
blue_led = BlueLEDcommand(1)
lidar = LidarSensor(0, uart_bus=1)
communicator = Communicator(blue_led, uart_bus=3)
while True:
# communicator.read_command()
if lidar.recved_data():
communicator.write_packet(lidar)
print(lidar)
# pyb.delay(1)
if communicator.should_reset():
print("\nresetting")
lidar.reset()
communicator.write_packet(lidar)
if communicator.should_stop():
print("\nstopping")
lidar.stop()
while not communicator.should_reset():
communicator.read_command()
pyb.delay(5)
sensor_updated = True
communicator.write_packet(imu)
if gps.recved_data():
sensor_updated = True
communicator.write_packet(gps)
pyb.LED(3).toggle()
# if encoder.recved_data():
# sensor_updated = True
# communicator.write_packet(encoder)
# pyb.LED(2).toggle()
# if sensor_updated:
# sensor_updated = False
# print("%0.5f, %0.6f, %0.6f, %0.6i" % (
# imu.data[0], gps.data[0], gps.data[1], encoder.data[0]), end='\r')
if communicator.should_reset():
gps.reset()
imu.reset()
encoder.reset()
servo.reset()
motors.reset()
communicator.write_packet(gps)
communicator.write_packet(imu)
communicator.write_packet(encoder)
from comm import Communicator
blue_led = BlueLEDcommand(1)
lidar = LidarSensor(0, uart_bus=1)
communicator = Communicator(blue_led, uart_bus=3)
while True:
# communicator.read_command()
if lidar.recved_data():
communicator.write_packet(lidar)
print(lidar)
# pyb.delay(1)
if communicator.should_reset():
print("\nresetting")
lidar.reset()
communicator.write_packet(lidar)
if communicator.should_stop():
print("\nstopping")
lidar.stop()
while not communicator.should_reset():
communicator.read_command()
pyb.delay(5)
