Esempio n. 1
0
def handler(data):
    cmd,arg = protocol.parseData(data)
    log.log("Received cmd " + str(cmd))
    log.log("With arg " + str(arg))

    if cmd == protocol.MOVE_CMD:
        if arg == protocol.MOVE_CMD_BWD:
            wheels.bwd()
        elif arg == protocol.MOVE_CMD_BWD_R:
            wheels.bwdr()
        elif arg == protocol.MOVE_CMD_BWD_L:
            wheels.bwdl()
        elif arg == protocol.MOVE_CMD_FWD:
            wheels.fwd()
        elif arg == protocol.MOVE_CMD_FWD_R:
            wheels.fwdr()
        elif arg == protocol.MOVE_CMD_FWD_L:
            wheels.fwdl()
        elif arg == protocol.MOVE_CMD_ROTL:
            wheels.rotl()
        elif arg == protocol.MOVE_CMD_ROTR:
            wheels.rotr()
        elif arg == protocol.MOVE_CMD_STOP:
            wheels.stop()
        else:
            wheels.stop()
    elif cmd == protocol.SETSPEED_CMD:
        wheels.setSpeed(int(arg))
    elif cmd == protocol.SHUTDOWN_CMD:
        wheels.outit()
    else:
        log.log("Unknown command: " + str(cmd))
Esempio n. 2
0
def awake():
    wheels.init()
    wheels.setSpeed(50)
    log.log("Wheels inited.")
    log.log("Starting receive loop.")
    udp_rx.go(handler)