server = Server()
# eventually just run Quadcopter class and it will create a server and motors inside its init(?)
motors = Motors()
# set motor ESC PPMs to 0 so that the motors will not move no matter what
motors.turn_off()
server.start_server()
server.accept_connections()
server.listen_in_parallel()
print("hello")
# now here, decipher whatever the client sends so that the pi can run the motors
initialized = False
while not initialized:
if (server.client_msg == b'1000'):
initialized = True
motors.initialize()
previous_msg = b''
while True:
client_msg = server.client_msg
if (previous_msg != client_msg):
speeds = message_to_motor_speeds(client_msg)
if (speeds):
motors.set_speeds(speeds)
previous_msg = client_msg
# reads when the message changes, might not be a good idea but we'll stick w that for now
print(server.client_msg)
