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Stop teh collision avoider task - so the robot stops moving on error.

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This commit is contained in:
Danny Staple 2022-12-28 16:52:08 +00:00
parent 6535128a06
commit 44509f515b
3 changed files with 6 additions and 3 deletions
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3
ch-13/2.1-collision-avoidance/robot/code.py
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@ -78,12 +78,13 @@ class Simulation:
async def main(self):
asyncio.create_task(self.distance_sensors.main())
asyncio.create_task(self.collision_avoider.main())
collision_avoider = asyncio.create_task(self.collision_avoider.main())
try:
while True:
await asyncio.sleep(0.1)
send_poses(self.poses)
finally:
collision_avoider.cancel()
robot.stop()

3
ch-13/2.2-moving-with-encoders/robot/code.py
View File

@ -132,13 +132,14 @@ class Simulation:
async def main(self):
asyncio.create_task(self.distance_sensors.main())
asyncio.create_task(self.collision_avoider.main())
collision_avoider = asyncio.create_task(self.collision_avoider.main())
try:
while True:
send_poses(self.poses)
await asyncio.sleep(0.05)
self.motion_model()
finally:
collision_avoider.cancel()
robot.stop()

3
ch-13/2.3-movement-uncertainty/robot/code.py
View File

@ -148,13 +148,14 @@ class Simulation:
async def main(self):
asyncio.create_task(self.distance_sensors.main())
asyncio.create_task(self.collision_avoider.main())
collision_avoider = asyncio.create_task(self.collision_avoider.main())
try:
while True:
send_poses(self.poses)
await asyncio.sleep(0.05)
self.motion_model()
finally:
collision_avoider.cancel()
robot.stop()