#!/usr/bin/env python
# -*- coding: utf-8 -*-
import logging
import time
import signal
import sys
from epuck import Controller, WrongCommand
c = Controller('/dev/rfcomm0', asynchronous=True)
bias = 200
too_close = 2000
max_speed = 1000
min_speed = -1000
# Signal handler to cleanup after shutdown
def handle_signal(signum, frame):
r = c.set_speed(0, 0)
r.join()
sys.exit(0)
# SIGINT is interrupt signal sent by CTRL+C
signal.signal(signal.SIGINT, handle_signal)
while True:
# Read values from proximity sensors
r = c.get_proximity_sensors()
def __init__(self):
logging.basicConfig(level=logging.WARNING)
self.c = Controller('/dev/rfcomm0', asynchronous=True)
self.state_request = None
# Get first state
self.state = self.c.get_turning_selector().get_response()