def process_command(_command, _time): data = _command if not data: print "received data:", data if len(data) != 1: print ("Invalid command") return "Invalid command" elif data == 'w': gopigo.fwd() # return "Moving forward" elif data == 'x': gopigo.stop() # return "Stopping" elif data == 's': gopigo.bwd() # return "Moving back" elif data == 'a': gopigo.left() # return "Turning left" elif data == 'd': gopigo.right() # return "Turning right" elif data == 't': gopigo.increase_speed() # return "Increase speed" elif data == 'g': gopigo.decrease_speed() # return "Decrease speed" elif data == 'v': # print gopigo.volt(), 'V' return str(gopigo.volt()) elif data == 'l': gopigo.led_on(0) gopigo.led_on(1) time.sleep(1) gopigo.led_off(0) gopigo.led_off(1) return "Flash LED" else: print ("Invalid command") return "Invalid command" # run as a app if _time: time.sleep(_time) gopigo.stop()
#!/usr/bin/env python import gopigo gopigo.increase_speed()
while True: current_time = time.time() program_duration = current_time - start_time if program_duration > WARMUP_SLEEP_SEC and not driving: driving = True motorController.drive() if program_duration > MAX_PROGRAM_DURATION_SEC: print "Shutting down. Program duration {dur} (sec) exceeds max duration of {max_dur} (sec)".format( dur=program_duration, max_dur=MAX_PROGRAM_DURATION_SEC) break if (current_time - last_speed_increase > INCREASE_SPEED_INTERVAL_SEC) and (num_speed_increases < MAX_SPEED_INCREASES): gopigo.increase_speed() num_speed_increases += 1 last_speed_increase = current_time print '--- increasing speed ---' state_estimates = stateEstimator.getCurrentState() print "Acceleration: ({accel_x},{accel_y},{accel_z}) - Position: ({x},{y},{z}) - program time: {t} (sec)".format( accel_x=state_estimates['acceleration'][0], accel_y=state_estimates['acceleration'][1], accel_z=state_estimates['acceleration'][2], x=state_estimates['position'][0], y=state_estimates['position'][1], z=state_estimates['position'][2], t=state_estimates['t'] - start_time) dataRecorder.captureData({
def increase_speed(kargs): r = {'return_value': gopigo.increase_speed()} return r