def stop(self):
if self.interface == "I2C":
self.front_left.move(0, 0)
self.rear_left.move(0, 0)
self.front_right.move(0, 0)
self.rear_right.move(0, 0)
elif self.interface == "UDP":
motor_udp.stop()
self.state = MotorState.STOP
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
try:
tty.setraw(sys.stdin.fileno())
ch = sys.stdin.read(1)
finally:
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
return ch
if __name__ == "__main__":
while(True):
key = getKey()
d_logger.debug("Key %s pressed", key)
if(key == 'c'):
motor_udp.stop()
sys.exit(0)
elif(key == 'C'):
motor_udp.stop()
sys.exit(0)
elif(key == 'w'):
motor_udp.send_motor_speed_fl(50)
motor_udp.send_motor_speed_fr(50)
motor_udp.send_motor_speed_rr(50)
motor_udp.send_motor_speed_rl(50)
elif(key == 'W'):
motor_udp.send_motor_speed_fl(100)
motor_udp.send_motor_speed_fr(100)
motor_udp.send_motor_speed_rr(100)
motor_udp.send_motor_speed_rl(100)
elif(key == 'a'):