dxax = -int(binascii.b2a_hex(ser.read()).decode('utf-8'), 16)
if dxax <= -128:
dxax = dxax + 256
#print('[A B C D : X Y] = [' + str(btn[0]) + ' ' + str(btn[1]) + ' ' + str(btn[2]) + ' ' + str(btn[3]) + ' : ' + str(dxax) + ' ' + str(dyax)+ ']')
elif dtyp == '11':
#print('Idle')
val = ser.read()
val = ser.read()
if dxax > 8 and dxax_old <= 8:
gb.move_stepper(BOARD_A, STEPPER_A, -20000)
print('Forward')
elif dxax < -8 and dxax_old >= -8:
gb.move_stepper(BOARD_A, STEPPER_A, 20000)
print('Backword')
elif abs(dxax) <= 8 and abs(dxax_old) > 8:
gb.stop_stepper(BOARD_A, STEPPER_A, 1)
print('Stop')
if dyax > 8 and dyax_old <= 8:
gb.move_stepper(BOARD_B, STEPPER_B, -20000)
gb.move_stepper(BOARD_B, STEPPER_C, 20000)
print('Left')
elif dyax < -8 and dyax_old >= -8:
gb.move_stepper(BOARD_B, STEPPER_B, 20000)
gb.move_stepper(BOARD_B, STEPPER_C, -20000)
print('Right')
elif abs(dyax) <= 8 and abs(dyax_old) > 8:
gb.stop_stepper(BOARD_B, STEPPER_B, 1)
gb.stop_stepper(BOARD_B, STEPPER_C, 1)
print('Stop')
dxax_old = dxax
dyax_old = dyax
gb.move_brushed(BOARD, BRS_A, BACKW)
#print('[A B C D : X Y] = [' + str(btn[0]) + ' ' + str(btn[1]) + ' ' + str(btn[2]) + ' ' + str(btn[3]) + ' : ' + str(dxax) + ' ' + str(dyax)+ ']')
elif dtyp == '08':
dyax_old = dyax
dxax_old = dxax
val = ser.read()
dyax = -int(binascii.b2a_hex(ser.read()).decode('utf-8'), 16)
if dyax <= -128:
dyax = dyax + 256
dxax = -int(binascii.b2a_hex(ser.read()).decode('utf-8'), 16)
if dxax <= -128:
dxax = dxax + 256
#print('[A B C D : X Y] = [' + str(btn[0]) + ' ' + str(btn[1]) + ' ' + str(btn[2]) + ' ' + str(btn[3]) + ' : ' + str(dxax) + ' ' + str(dyax)+ ']')
elif dtyp == '11':
#print('Idle')
val = ser.read()
val = ser.read()
if dxax > 8 and dxax_old <= 8:
gb.move_stepper(BOARD, STEPPER_B, -20000)
print('Forward')
elif dxax < -8 and dxax_old >= -8:
gb.move_stepper(BOARD, STEPPER_B, 20000)
print('Backword')
elif abs(dxax) <= 8 and abs(dxax_old) > 8:
gb.stop_stepper(BOARD, STEPPER_B, 1)
print('Stop')
dxax_old = dxax
dyax_old = dyax
gb.emergency_stop()