def arduino_dataIn(channel, data):
# read the available data
data_available = arduino_in.decode(data)
global sensors_ir, encoders, motor_status, extra_io, Data_Unpacked, sensor_distance
# update the IR sensors values
sensors_ir = np.array([
data_available.extreme_left, data_available.left,
data_available.center, data_available.right,
data_available.extreme_right
])
# update the encoders
encoders = np.array([
np.long(data_available.encoder_left),
np.long(data_available.encoder_right)
])
# update the motor status
motor_status = data_available.motorEnable
# update the extra IOs data
extra_io = np.array([data_available.extra_io1, data_available.extra_io2])
# update the sensor distance read
temp = data_available.distance
if temp < 450:
sensor_distance = temp
# for debugging
Data_Unpacked = str(sensors_ir) + ',' + str(encoders) + ',' + str(
motor_status) + ',' + str(extra_io) + ',' + str(sensor_distance)
def arduino_dataIn(channel, data):
global node_time, status_counter, lcm_started
# read the available data
lcm_started = 1
data_available = arduino_in.decode(data)
# check the node connection status
# keep tracking the device time
node_time = timer()