Know turn behaviour for chapter 12.

ch-12/3-always-face-north/code.py

@@ -19,8 +19,6 @@ class FaceNorthController:
         robot.set_left(control_signal)
         robot.set_right(-control_signal)
 
-
-# control loop
 async def control_loop():
   controller = FaceNorthController()
   last_time = time.monotonic()
@@ -34,30 +32,20 @@ async def control_loop():
     controller.update(dt, angle)
     robot.uart.write(f"{angle}, 0\n".encode())
 
-# main
 async def main():
+  while not robot.check_imu_status():
+    await asyncio.sleep(0.1)
+
+  robot.uart.write("Ready to go!\n".encode())
+  # Wait for start signal
+  while True:
+    if robot.uart.in_waiting:
+      command = robot.uart.readline().decode().strip()
+      if command == "start":
+        break
+    await asyncio.sleep(0.1)
+
   await control_loop()
 
-def check_status():
-  sys_status, gyro, accel, mag = robot.imu.calibration_status
-  print(f"Sys: {sys_status}, Gyro: {gyro}, Accel: {accel}, Mag: {mag}")
-  robot.uart.write(f"Sys: {sys_status}, Gyro: {gyro}, Accel: {accel}, Mag: {mag}\n".encode())
-  return sys_status == 3
-
-
-while not check_status():
-  time.sleep(0.1)
-
-print("Ready to go!")
-robot.uart.write("Ready to go!\n".encode())
-# Wait for start signal
-while True:
-  if robot.uart.in_waiting:
-    command = robot.uart.readline().decode().strip()
-    if command == "start":
-      break
-    else:
-      print("Unknown command: {}".format(command))
-  time.sleep(0.1)
-
+print("Starting")
 asyncio.run(main())

ch-12/3-always-face-north/robot.py

@@ -67,3 +67,8 @@ def set_left(speed):
 
 def set_right(speed):
     set_speed(right_motor, speed)
+
+def check_imu_status():
+  sys_status, gyro, accel, mag = imu.calibration_status
+  uart.write(f"Sys: {sys_status}, Gyro: {gyro}, Accel: {accel}, Mag: {mag}\n".encode())
+  return sys_status == 3