def update (self):
#If the robot is sitting and the timer hasn't started
#it's time for the robot to stand up and start the timer
if self.sitting and not self.start_time:
self.start_time=time.time()
motion.stand_still()
#Tests if the robot is sitting or standing by checking the
#angle of the IMU. In not it starts the motion to enter a sitting position
if like(imu.get_angle()[1],0.001):
self.sitting=True
#Test if the robot is finished with the motions
if self.start_time and time.time()>self.start_time+1:
return "done"
def entry(self):
print("Entry still")
motion.stand_still()
self.start_time = time.time()
