def go(self, speed, direction):
"""update the speed and direction of the robot"""
rightM = 0
leftM = 0
if direction == 0:
rightM = 100
leftM = 100
elif direction == 45:
rightM = 50
leftM = 100
elif direction == -45:
rightM = 100
leftM = 50
elif direction == 90:
rightM = -80
leftM = 80
elif direction == -90:
rightM = 80
leftM = -80
elif direction == 135:
rightM = -50
leftM = -100
elif direction == -135:
rightM = -100
leftM = -50
elif abs(direction) == 180:
rightM = -100
leftM = -100
speed = speed / 100.0
rightM = rightM * speed
leftM = leftM * speed
print rightM, leftM
self.pinsTL.acquire() # acquire a Thread Lock
if RobotHelper.isPositive(rightM):
self.pinArray["RightBack"].stop()
self.pinArray["RightFront"].start(rightM)
else:
self.pinArray["RightFront"].stop()
self.pinArray["RightBack"].start(abs(rightM))
if RobotHelper.isPositive(leftM):
self.pinArray["LeftBack"].stop()
self.pinArray["LeftFront"].start(leftM)
else:
self.pinArray["LeftFront"].stop()
self.pinArray["LeftBack"].start(abs(leftM))
self.pinsTL.release() # release the Thread Lock
