def __init__(self, port, asynchronous=False, timeout=0.5, max_tries=10):
"""Create new controller.
Arguments:
port -- The device where e-puck robot is connected (e.g. /dev/rfcomm0).
asynchronous -- Set True to use asynchronous communication.
Synchronous communication is default.
timeout -- How long to wait before the message is sent again.
max_tries -- How many tries before raising an exception (in async).
"""
try:
if asynchronous:
self.comm = AsyncComm(port, timeout, max_tries)
self.comm.start()
else:
self.comm = SyncComm(port, timeout)
except CommError as e:
raise ControllerError(e)
self.command_index = random.randrange(len(string.printable))
self.command_i = string.printable[self.command_index]
self.motor_speed = [0, 0]
self.body_led = False
self.front_led = False
self.leds = 8 * [False]
self.logger = logging.getLogger('Controller')
