def balance():
# init object from complementaryfilter class
myFilter = ComplementaryFilter.ComplementaryFilter()
myFilter.initual_filter_compute()
counter = 0
RobotCali.setup()
# stop this while loop when we finish moving forward or backward task
# by setting running to False ---> interupt.py knows when the task is done
while running:
# note in the case we are not using y_value
x_value, y_value = myFilter.filter_compute()
#print ("x val", x_value)
if counter == 0:
print("here is my x", x_value)
if x_value > 1 or x_value < -1:
# we have to calibrate the robot
RobotCali.calibrate(x_value)
counter += 1
if counter == 5:
counter = 0
print("balance is done")
def detect_obstacle():
# init object from complementaryfilter class
myFilter = ComplementaryFilter.ComplementaryFilter()
myFilter.initual_filter_compute()
counter = 0
RobotCali.setup()
# stop this while loop when we finish moving forward or backward task
# by setting running to False ---> interupt.py knows when the task is done
while running:
# note in the case we are not using y_value
x_value, y_value = myFilter.filter_compute()
if counter == 0:
print("here is my x", x_value)
if y_value > 40 or y_value < -15:
# obstacle found!! report to ratthanan
ipc.write("ERROR")
counter += 1
if counter == 5:
counter = 0
print("obstacle is found")