class Robot:
def __init__(self):
self.right_arm = Arm()
self.left_arm = Arm()
self.front_right_wheel = Wheel()
self.back_right_wheel = Wheel()
self.front_left_wheel = Wheel()
self.back_left_wheel = Wheel()
def move_forward(self):
self.front_right_wheel.forward()
self.back_right_wheel.forward()
self.front_left_wheel.forward()
self.back_left_wheel.forward()
def turn_right(self):
self.front_right_wheel.backward()
self.back_right_wheel.backward()
self.front_left_wheel.forward()
self.back_left_wheel.forward()
if not stop:
# if the panic stop is pressed.
# cache all the states then stop the wheels
left_cache = (left_wheel.state, left_wheel.speed)
right_cache = (right_wheel.state, right_wheel.speed)
left_wheel.stop()
right_wheel.stop()
stop = not stop
else:
# if resume pressed,
# resume the states of the wheels with cache
if left_cache[0] == "forward":
left_wheel.forward(left_cache[1])
elif left_cache[0] == "backward":
left_wheel.backward(left_cache[1])
else:
left_wheel.stop()
if right_cache[0] == "forward":
right_wheel.forward(right_cache[1])
elif right_cache[0] == "backward":
right_wheel.backward(right_cache[1])
else:
right_wheel.stop()
stop = not stop
# either panic stop or resume press, the state will change
# record it.
left_history.appendleft(left_wheel.get_state())
left_history.pop()
GPIO.setmode(GPIO.BCM)
left_wheel = Wheel('left', LEFT_CHANNEL)
right_wheel = Wheel('right', RIGHT_CHANNEL)
# move forward
left_wheel.forward()
right_wheel.forward()
sleep(3)
# stopped
left_wheel.stop()
right_wheel.stop()
sleep(3)
# move backward
left_wheel.backward()
right_wheel.backward()
sleep(3)
# stopped
left_wheel.stop()
right_wheel.stop()
sleep(3)
# Pivot left
left_wheel.backward()
right_wheel.forward()
sleep(3)
# stopped
left_wheel.stop()
