def _stop_loop(self):
""" User called stop. Loop while it's still a stop command """
logging.info("Motor 1 and 2 stopped")
motors.setSpeeds(0, 0)
#loop until we get another command.
while self.COMMAND == "stop":
time.sleep(0.1)
def _forward_loop(self):
""" User called forward. Loop while it's still a forward command """
#stop the motors
motors.setSpeeds(0, 0)
logging.info("Motor 1 and 2 forward")
#ramp up from 0 to MAX_SPEED
initial_speeds = list(range(0, MAX_SPEED, 1))
self._run_motors(initial_speeds, False, self.COMMAND)
#MAX_SPEED 10 times
normal_speeds = [MAX_SPEED] * 10
#loop until we get a different command
while self.COMMAND == "forward":
self._run_motors(normal_speeds, False, self.COMMAND)
time.sleep(0.1)
def _left_loop(self):
""" User called left. Loop while it's still a left command """
#stop motors
motors.setSpeeds(0, 0)
logging.info("Motor Left")
#ramp up to 75. Slower than MAX_SPEED
initial_speeds = list(range(0, -75, -1))
self._run_motors(initial_speeds, True, self.COMMAND)
#10 more times at 75
normal_speeds = [-75] * 10
#loop until we get a different command
while self.COMMAND == "left":
self._run_motors(normal_speeds, True, self.COMMAND)
time.sleep(0.1)
def _right_loop(self):
""" User called right. Loop while it's still a right command """
#stop motors
motors.setSpeeds(0, 0)
logging.info("Motor Right")
#ramp up to 75
initial_speeds = list(range(0, 75, 1))
self._run_motors(initial_speeds, True, self.COMMAND)
#75 10 times
normal_speeds = [75] * 10
#loop until we get a different command
while self.COMMAND == "right":
self._run_motors(normal_speeds, True, self.COMMAND)
time.sleep(0.1)
def _backward_loop(self):
""" User called backward. Loop while it's still a backward command """
#stop motors
motors.setSpeeds(0, 0)
logging.info("Motor 1 and 2 backward")
#ramp up to MAX_SPEED
initial_speeds = list(range(0, -MAX_SPEED, -1))
self._run_motors(initial_speeds, False, self.COMMAND)
#max speed 10 times
normal_speeds = [-MAX_SPEED] * 10
#loop until we get a different command
while self.COMMAND == "backward":
self._run_motors(normal_speeds, False, self.COMMAND)
time.sleep(0.1)