sound.play_file("/home/robot/sounds/Speed up.wav")
console.reset_console()
leds.animate_flash('GREEN', duration=None, block=False)
state = "ready"
log.debug("Starting control loop")
while ok == True:
time = get_time()
calculate_control_loop_period()
calculate_robot_body_angle_and_speed()
calculate_wheel_angle_and_speed()
calculate_output_power()
drive_motors()
check_if_robot_fell_down()
state = "fell_over"
right_motor.stop()
left_motor.stop()
leds.animate_stop()
leds.reset()
leds.animate_flash('RED')
console.reset_console()
sound.play_file("/home/robot/sounds/Speed down.wav")
sleep(3.0)
running = False
log.info("Terminating Gyro Boy")
return request_auth()
user, pwd = decoded.split(b":", 1)
try:
proc = subprocess.run(
["htpasswd", "-i", "-v", ".htpasswd", user],
timeout=1,
input=pwd)
except subprocess.TimeoutExpired:
return request_auth()
if proc.returncode != 0:
return request_auth()
LEDS = Leds()
LEDS.all_off()
LEDS.reset()
move_joystick = None
motors = {}
old_joystick_left_port = None
old_joystick_right_port = None
old_motor_1_port = None
old_motor_2_port = None
class EV3InfoHandler(BasicAuthHandler, tornado.websocket.WebSocketHandler):
websockets = set()
websockets_lock = Lock()
def open(self):
with EV3InfoHandler.websockets_lock:
