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

ch-13/2.1-collision-avoidance/robot/code.py

@@ -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()
 
 

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

@@ -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()
 
 

ch-13/2.3-movement-uncertainty/robot/code.py

@@ -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()