chapter 9 code

ch-9/4-bluetooth-teleop/code.py

@@ -7,39 +7,29 @@ import robot
 
 uart = busio.UART(board.GP12,board.GP13,baudrate=9600, timeout=0.01)
 
-class RobotControl:
-  stop_at = 0
-  speed = 0.8
-  timeout = 3
-
-  def send_control(self, packet):
-    if packet.button == ButtonPacket.UP:
-      robot.set_left(self.speed)
-      robot.set_right(self.speed)
-    elif packet.button == ButtonPacket.DOWN:
-      robot.set_left(-self.speed)
-      robot.set_right(-self.speed)
-    elif packet.button == ButtonPacket.LEFT:
-      robot.set_left(-self.speed)
-      robot.set_right(self.speed)
-    elif packet.button == ButtonPacket.RIGHT:
-      robot.set_left(self.speed)
-      robot.set_right(-self.speed)
-    self.stop_at = time.time() + self.timeout
-
-
-control = RobotControl()
+stop_at = 0
+speed = 0.8
 
 print("Waiting for control signals...")
 while True:
-    data = uart.read(32)
-    if data is not None and data.startswith(b'!B'):
-      packet = ButtonPacket.from_bytes(data)
-      print("Button:", packet.button, "pressed:", packet.pressed)
-      if packet.pressed:
-        control.send_control(packet)
-      else:
-        robot.stop()
+  if uart.in_waiting:
+    packet = ButtonPacket.from_stream(uart)
+    if packet:
+      if not packet.pressed:
+          robot.stop()
+      elif packet.button == ButtonPacket.UP:
+        robot.set_left(speed)
+        robot.set_right(speed)
+      elif packet.button == ButtonPacket.DOWN:
+        robot.set_left(-speed)
+        robot.set_right(-speed)
+      elif packet.button == ButtonPacket.LEFT:
+        robot.set_left(-speed)
+        robot.set_right(speed)
+      elif packet.button == ButtonPacket.RIGHT:
+        robot.set_left(speed)
+        robot.set_right(-speed)
+      stop_at = time.time() + 3
 
-    if control.stop_at < time.time():
-      robot.stop()        
+  if time.time() > stop_at:
+    robot.stop()