class WSHandler(tornado.websocket.WebSocketHandler):
def open(self):
print('connection opened...')
self.m = TwoMotorDriveSteer(13,15,7,11)
self.rangeFinder = RangeFinder(16,18)
def on_message(self, message): # receives the data from the webpage and is stored in the variable message
print(message)
if message == "get":
self.rangeFinder.sendData(message)
time.sleep(0.1)
x = self.rangeFinder.getData()
print(x)
else:
self.m.sendData(message)
def on_close(self):
print('connection closed...')
self.m.sendData("stop")
self.m.sendData("coast")
self.m.sendData("center")
from robotDevices import TwoMotorDriveSteer
import time
def cleanUp(m):
"""
"""
m.sendData("stop")
m.sendData("coast")
m.sendData("center")
try:
m = TwoMotorDriveSteer(13,15,7,11)
m.sendData("coast")
m.sendData("center")
m.sendData("forward")
time.sleep(2)
m.sendData("reverse")
time.sleep(2)
m.sendData("stop")
for i in range(3):
m.sendData("right"); time.sleep(0.3)
m.sendData("left"); time.sleep(0.3)
for i in range(2):
m.sendData("right")
m.sendData("forward")