print("+++disarmed+++")
if RVRisOn == True:
# set all LEDs to green
rvr.led_control.set_all_leds_color(
color=Colors.green)
tim.sleep(1)
else:
print("The RVR is OFF!")
# RVR armed?
if armed:
if button == 'dpad_up':
print("FORWARD")
if RVRisOn == True:
# drive
rvr.drive_with_heading(
speed=driveSpeed,
heading=driveHeading,
flags=DriveFlagsBitmask.none.value)
else:
print("The RVR is OFF!")
elif button == 'dpad_down':
print("BACKWARD")
if RVRisOn == True:
# drive
rvr.drive_with_heading(
speed=driveSpeed,
heading=driveHeading,
flags=DriveFlagsBitmask.drive_reverse.
value)
else:
print("The RVR is OFF!")
elif button == 'dpad_left':
class SpheroHandler:
def __init__(self):
self.imu = ttypes.IMU(False, 0, 0, 0)
self.accelerometer = ttypes.Accelerometer(False, 0, 0, 0)
self.color = ttypes.Color(False, 0, 0, 0, 0, 0)
self.ambient = ttypes.AmbientLight(False, 0)
self.rvr = SpheroRvrObserver()
self.rvr.wake()
time.sleep(2)
self.rvr.reset_yaw()
self.rvr.sensor_control.add_sensor_data_handler(
service=RvrStreamingServices.imu, handler=self.imu_handler)
self.rvr.sensor_control.add_sensor_data_handler(
service=RvrStreamingServices.color_detection,
handler=self.color_detected_handler)
self.rvr.sensor_control.add_sensor_data_handler(
service=RvrStreamingServices.accelerometer,
handler=self.accelerometer_handler)
self.rvr.sensor_control.add_sensor_data_handler(
service=RvrStreamingServices.ambient_light,
handler=self.ambient_light_handler)
self.rvr.sensor_control.start(interval=250)
def sense(self):
return ttypes.SensorData(self.imu, self.accelerometer, self.ambient,
self.color)
def drive_with_heading(self, speed, heading, flags):
#print(f"speed={speed}, heading={heading}, flags={flags}")
self.rvr.drive_with_heading(
speed=speed, # Valid speed values are 0-255
heading=heading, # Valid heading values are 0-359
flags=flags)
time.sleep(0.1)
def imu_handler(self, imu_data):
data = imu_data["IMU"]
self.imu.is_valid = data["is_valid"]
self.imu.roll = data["Roll"]
self.imu.pitch = data["Pitch"]
self.imu.yaw = data["Yaw"]
def color_detected_handler(self, color_detected_data):
data = color_detected_data["ColorDetection"]
self.color.is_valid = data["is_valid"]
self.color.r = data["R"]
self.color.g = data["G"]
self.color.b = data["B"]
self.color.index = data["Index"]
self.color.confidence = data["Confidence"]
def accelerometer_handler(self, accelerometer_data):
data = accelerometer_data["Accelerometer"]
self.accelerometer.is_valid = data["is_valid"]
self.accelerometer.x = data["X"]
self.accelerometer.Y = data["Y"]
self.accelerometer.Z = data["Z"]
def ambient_light_handler(self, ambient_light_data):
data = ambient_light_data["AmbientLight"]
self.ambient.is_valid = data["is_valid"]
self.ambient.value = data["Light"]