def move_right(): ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_FORWARD, adc_convert_1, ack) ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_REVERSE, adc_convert_1, ack)
def stop(): ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_STOP, adc_convert_1, ack) ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_STOP, adc_convert_1, ack)
def move_reverse(): ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_REVERSE, adc_convert_1, ack) ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_REVERSE, adc_convert_2, ack) time.sleep(2)
print("Button 2 to exit") ret = exp.ain(lk.MODULE_ONE, buffer) adc_convert_1 = (buffer[0] / 4) adc_convert_2 = (buffer[1] / 4) print("Motor Speed 1:", adc_convert_1) print("Motor Speed 2:", adc_convert_2) ret = exp.din(lk.MODULE_ONE, buffer); button_state = buffer[0]; print("Button Value:", button_state) if((button_state & exp.BUTTON_0_MASK)==0): ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_FORWARD, adc_convert_1, ack) ret = exp.dout_x(lk.MODULE_ONE, exp.OUT_0, lk.ON, ack) else: ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_STOP, adc_convert_1, ack) ret = exp.dout_x(lk.MODULE_ONE, exp.OUT_0, lk.OFF, ack) if((button_state & exp.BUTTON_1_MASK)==0): ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_FORWARD, adc_convert_2, ack) ret = exp.dout_x(lk.MODULE_ONE, exp.OUT_1, lk.ON, ack) else: ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_STOP, adc_convert_1, ack) ret = exp.dout_x(lk.MODULE_ONE, exp.OUT_1, lk.OFF, ack) if((button_state & exp.BUTTON_2_MASK)==0): running = False
def move_forward(): ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_FORWARD, adc_convert_1, ack) ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_FORWARD, adc_convert_2, ack) time.sleep(2)
print("Button 2 to exit") ret = exp.ain(lk.MODULE_ONE, buffer) adc_convert_1 = (buffer[0] / 4) adc_convert_2 = (buffer[1] / 4) print("Motor Speed 1:", adc_convert_1) print("Motor Speed 2:", adc_convert_2) ret = exp.din(lk.MODULE_ONE, buffer) button_state = buffer[0] print("Button Value:", button_state) if ((button_state & exp.BUTTON_0_MASK) == 0): ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_FORWARD, adc_convert_1, ack) ret = exp.dout_x(lk.MODULE_ONE, exp.OUT_0, lk.ON, ack) else: ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_STOP, adc_convert_1, ack) ret = exp.dout_x(lk.MODULE_ONE, exp.OUT_0, lk.OFF, ack) if ((button_state & exp.BUTTON_1_MASK) == 0): ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_FORWARD, adc_convert_2, ack) ret = exp.dout_x(lk.MODULE_ONE, exp.OUT_1, lk.ON, ack) else: ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_STOP, adc_convert_1, ack) ret = exp.dout_x(lk.MODULE_ONE, exp.OUT_1, lk.OFF, ack)
def broadcast(broadcast_in): if 'exp_motor_1_fwd' in broadcast_in: lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_FORWARD, this_motor_speed.get_motor_1_speed(), ack) if 'exp_motor_1_rev' in broadcast_in: lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_REVERSE, this_motor_speed.get_motor_1_speed(), ack) if 'exp_motor_1_stop' in broadcast_in: lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_STOP, 0, ack) if 'exp_motor_1_brake' in broadcast_in: lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_BRAKE, 0, ack) if 'exp_motor_2_fwd' in broadcast_in: lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_FORWARD, this_motor_speed.get_motor_2_speed(), ack) if 'exp_motor_2_rev' in broadcast_in: lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_REVERSE, this_motor_speed.get_motor_2_speed(), ack) if 'exp_motor_2_stop' in broadcast_in: lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_STOP, 0, ack) if 'exp_motor_2_brake' in broadcast_in: lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_BRAKE, 0, ack) print broadcast_in for i in range(OUTPUT_PINS): if (('exp_dout_pin' + str(i)) in broadcast_in): output_pos = broadcast_in.find('exp_dout_pin' + str(i)) data_list = broadcast_in[(output_pos + 12):].split('_', 2) pin_value = int(data_list[0], 10) pin_state = data_list[1] pin_state = pin_state[:4] #print data_list #print pin_value #print pin_state if (('high' in pin_state) or ('on' in pin_state) or ('1' in pin_state)): #print ('Pin Value On is: ' + str(pin_value)) lk_ret = exp.dout_x(lk.MODULE_ONE, pin_value, 1, ack) #print str(lk_ret) #print str(ack[0]) else: if (('low' in pin_state) or ('off' in pin_state) or ('0' in pin_state)): #print ('Pin Value Off is: ' + str(pin_value)) lk_ret = exp.dout_x(lk.MODULE_ONE, pin_value, 0, ack) #print str(lk_ret) #print str(ack[0]) #Explorer Analogue ----------------------------------------------------------------------------------------------- if 'exp_ain_0' in broadcast_in: exp.ain(lk.MODULE_ONE, buffer) sensor_name = 'lk_exp_ain_0' bcast_str = 'sensor-update "%s" %d' % (sensor_name, buffer[0]) #print bcast_str send_scratch_command(bcast_str) if 'exp_ain_1' in broadcast_in: exp.ain(lk.MODULE_ONE, buffer) sensor_name = 'lk_exp_ain_1' bcast_str = 'sensor-update "%s" %d' % (sensor_name, buffer[1]) #print bcast_str send_scratch_command(bcast_str) #Explorer Digital ----------------------------------------------------------------------------------------------- if 'exp_din' in broadcast_in: exp.din(lk.MODULE_ONE, buffer) sensor_name = 'lk_exp_din' bcast_str = 'sensor-update "%s" %d' % (sensor_name, buffer[0]) #print bcast_str send_scratch_command(bcast_str)
def broadcast(broadcast_in): if 'exp_motor_1_fwd' in broadcast_in: lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_FORWARD, this_motor_speed.get_motor_1_speed(), ack) if 'exp_motor_1_rev' in broadcast_in: lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_REVERSE, this_motor_speed.get_motor_1_speed(), ack) if 'exp_motor_1_stop' in broadcast_in: lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_STOP, 0, ack) if 'exp_motor_1_brake' in broadcast_in: lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_1, exp.MOTOR_BRAKE, 0, ack) if 'exp_motor_2_fwd' in broadcast_in: lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_FORWARD, this_motor_speed.get_motor_2_speed(), ack) if 'exp_motor_2_rev' in broadcast_in: lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_REVERSE, this_motor_speed.get_motor_2_speed(), ack) if 'exp_motor_2_stop' in broadcast_in: lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_STOP, 0, ack) if 'exp_motor_2_brake' in broadcast_in: lk_ret = exp.motors(lk.MODULE_ONE, exp.MOTOR_2, exp.MOTOR_BRAKE, 0, ack) print broadcast_in for i in range(OUTPUT_PINS): if (('exp_dout_pin' + str(i)) in broadcast_in): output_pos = broadcast_in.find('exp_dout_pin' + str(i)) data_list = broadcast_in[(output_pos+12):].split('_', 2) pin_value = int(data_list[0], 10) pin_state = data_list[1] pin_state = pin_state[:4] #print data_list #print pin_value #print pin_state if (('high' in pin_state) or ('on' in pin_state) or ('1' in pin_state)): #print ('Pin Value On is: ' + str(pin_value)) lk_ret = exp.dout_x(lk.MODULE_ONE, pin_value, 1, ack) #print str(lk_ret) #print str(ack[0]) else: if (('low' in pin_state) or ('off' in pin_state) or ('0' in pin_state)): #print ('Pin Value Off is: ' + str(pin_value)) lk_ret = exp.dout_x(lk.MODULE_ONE, pin_value, 0, ack) #print str(lk_ret) #print str(ack[0]) #Explorer Analogue ----------------------------------------------------------------------------------------------- if 'exp_ain_0' in broadcast_in: exp.ain(lk.MODULE_ONE, buffer) sensor_name = 'lk_exp_ain_0' bcast_str = 'sensor-update "%s" %d' % (sensor_name, buffer[0]) #print bcast_str send_scratch_command(bcast_str) if 'exp_ain_1' in broadcast_in: exp.ain(lk.MODULE_ONE, buffer) sensor_name = 'lk_exp_ain_1' bcast_str = 'sensor-update "%s" %d' % (sensor_name, buffer[1]) #print bcast_str send_scratch_command(bcast_str) #Explorer Digital ----------------------------------------------------------------------------------------------- if 'exp_din' in broadcast_in: exp.din(lk.MODULE_ONE, buffer) sensor_name = 'lk_exp_din' bcast_str = 'sensor-update "%s" %d' % (sensor_name, buffer[0]) #print bcast_str send_scratch_command(bcast_str)