Chapter 11 code changes - async and bluetooth

2022-08-09 21:49:35 +01:00
parent 6b4660eb23
commit ad3f30b559
10 changed files with 270 additions and 109 deletions
@@ -0,0 +1,34 @@
+import time
+import board
+import busio
+import robot
+
+uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
+
+speed = 0.7
+stop_time = 0
+
+while True:
+  current_time = time.monotonic()
+  if current_time > stop_time:
+    robot.set_left(0)
+    robot.set_right(0)
+  left_value = robot.left_encoder.read()
+  right_value = robot.right_encoder.read()
+  uart.write(f"{left_value:.3f},{right_value:.3f}\n".encode() )
+  time.sleep(0.02)
+  if uart.in_waiting:
+    command = uart.readline().decode().strip()
+    if command.startswith("M"):
+      speed = float(command[1:])
+    elif command == "O":
+      stop_time = 0
+      robot.set_left(0)
+      robot.set_right(0)
+    elif command.startswith("O"):
+      stop_time = float(command[1:]) + current_time
+      robot.set_left(speed)
+      robot.set_right(speed)
+    elif command.startswith("?"):
+      uart.write(f"M{speed:.1f}\n".encode())
+      time.sleep(3)