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)