from time import ctime
import json
from zumi.zumi import Zumi
HOST = '192.168.0.5'
PORT = 10000
BUFSIZE = 1024
ADDR = (HOST,PORT)
clientSocket = socket(AF_INET, SOCK_STREAM)# ^d^| ^d ^w^p ^q ^f^m ^u^x ^|^d ^u^| ^f^l ^s ^}^d ^c^} ^d $
clientSocket.connect(ADDR)# ^d^| ^d ^w^p ^q ^f^m ^}^d ^k^| ^o^d ^u^| ^k .
zumi = Zumi()
while True :
data = clientSocket.recv(BUFSIZE)
print(data.decode())
tmp_str2 = data.decode().split(",")
if len(tmp_str2) != 2:
print("this is no data")
continue
l_speed = int(tmp_str2[0])
r_speed = int(tmp_str2[1])
print('l_speed {0} r_speed {1}'.format(l_speed,r_speed))
#-126 and 127 range
zumi.control_motors(l_speed, r_speed)
print('connect is success')
speed = 30
threashold = 70
prev_state = -1
HEAD = zumi.read_z_angle()
try:
while True:
ir_readings = zumi.get_all_IR_data()
left = ir_readings[1]
right = ir_readings[3]
print(left, right)
if left > threashold and right > threashold:
print('1')
zumi.control_motors(speed, speed, 0)
prev_state = 0
elif left < threashold and right > threashold:
print('2')
zumi.control_motors(-int(speed/3), int(speed/3), 0)
prev_state = 1
elif left > threashold and right < threashold:
print('3')
zumi.control_motors(int(speed/3), -int(speed/3), 0)
prev_state = 2
else:
if prev_state ==1 :
print('11')
zumi.control_motors(int(speed/2), -int(speed/2), 0)
else:
print('22')