chapter 9 code

ch-9/5-bluetooth-accelerometer-drive/code.py

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+import board 
+import time
+import busio
+from adafruit_bluefruit_connect.accelerometer_packet import AccelerometerPacket
+import robot
+
+
+uart = busio.UART(board.GP12,board.GP13,baudrate=9600, timeout=0.01)
+
+stop_at = 0
+speed = 0.8
+
+print("Waiting for accelerometer signals...")
+while True:
+  if uart.in_waiting:
+    packet = AccelerometerPacket.from_stream(uart)
+    speed = packet.z * 0.1
+    turning = packet.y * 0.1
+    if abs(speed) > 0.3 or abs(turning) > 0.1:
+      print("speed:", speed, "turning:", turning)
+      robot.set_left(speed + turning)
+      robot.set_right(speed - turning)
+    else:
+      robot.stop()
+    stop_at = time.time() + 1
+
+  if time.time() > stop_at:
+    robot.stop()