class Robot():
# 100 ms update (stable frequency) / 50 ms update (maximum frequency)
PERIODIC_DELAY = 0.05
stopped = False
def __init__(self):
self.drive = Drive()
self.oi = OperatorInterface(self.drive)
self.drive.setOperatorInterface(self.oi)
def update(self):
self.drive.update()
def stop(self):
self.stopped = True
self.drive.stop()
self.oi.stop()
def periodic(self):
nextTime = time.time()
while (not self.stopped):
try:
self.update()
nextTime = nextTime + self.PERIODIC_DELAY
delay = max(0, nextTime - time.time())
if (delay == 0):
print("--------------THRASH--------------")
time.sleep(delay)
except:
print("Exception in Periodic")
traceback.print_exc()
self.stop()
