def set_motors(left, right):
msg = motor_t()
msg.timestamp = int(time.time())
msg.leftmotor = left
msg.rightmotor = right
lc.publish("BUTTERBOT_MOTOR", msg.encode())
while True:
for event in pygame.event.get():
if event.type == pygame.QUIT:
pygame.quit(); #sys.exit() if sys is imported
if event.type == pygame.KEYDOWN or event.type == pygame.KEYUP:
state = 0
if event.type == pygame.KEYDOWN: state = 1
if event.key == pygame.K_UP:
spd = 70*state
if event.key == pygame.K_DOWN:
spd = -70*state
if event.key == pygame.K_LEFT:
direction = 50*state
if event.key == pygame.K_RIGHT:
direction = -50*state
leftMotor = spd + direction
rightMotor = spd - direction
print("rightmotor: %d, leftmotor: %d" % (leftMotor, rightMotor))
msg = motor_t()
msg.timestamp = int(time.time())
msg.leftmotor = leftMotor
msg.rightmotor = rightMotor
lc.publish("BUTTERBOT_MOTOR", msg.encode())
time.sleep(.5)
rightMotor = 0
while True:
for event in pygame.event.get():
if event.type == pygame.QUIT:
pygame.quit()
#sys.exit() if sys is imported
if event.type == pygame.KEYDOWN or event.type == pygame.KEYUP:
state = 0
if event.type == pygame.KEYDOWN: state = 1
if event.key == pygame.K_UP:
spd = 70 * state
if event.key == pygame.K_DOWN:
spd = -70 * state
if event.key == pygame.K_LEFT:
direction = 50 * state
if event.key == pygame.K_RIGHT:
direction = -50 * state
leftMotor = spd + direction
rightMotor = spd - direction
print("rightmotor: %d, leftmotor: %d" % (leftMotor, rightMotor))
msg = motor_t()
msg.timestamp = int(time.time())
msg.leftmotor = leftMotor
msg.rightmotor = rightMotor
lc.publish("BUTTERBOT_MOTOR", msg.encode())
time.sleep(.5)
def set_motors(left, right):
msg = motor_t()
msg.timestamp = int(time.time())
msg.leftmotor = left
msg.rightmotor = right
lc.publish("BUTTERBOT_MOTOR", msg.encode())
