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ch-13/4.3.1-test-dist-sensors/code.py

@@ -0,0 +1,42 @@
+import time
+import json
+import robot
+import asyncio
+
+def send_json(data):
+    robot.send_line(json.dumps(data))
+
+class DistanceSensorTracker:
+    def __init__(self):
+        robot.left_distance.distance_mode = 2
+        robot.right_distance.distance_mode = 2
+        self.left = 300
+        self.right = 300
+
+    async def main(self):
+        robot.left_distance.start_ranging()
+        robot.right_distance.start_ranging()
+        while True:
+            if robot.left_distance.data_ready and robot.left_distance.distance:
+                self.left = robot.left_distance.distance * 10  # convert to mm
+                robot.left_distance.clear_interrupt()
+            if robot.right_distance.data_ready and robot.right_distance.distance:
+                self.right = robot.right_distance.distance * 10
+                robot.right_distance.clear_interrupt()
+            await asyncio.sleep(0.01)
+
+async def distance_reporter(sensors: DistanceSensorTracker):
+    while True:
+        data = {
+            "distance": {
+                "left": sensors.left, 
+                "right": sensors.right
+            }
+        }
+        print(data)
+        send_json(data)
+        await asyncio.sleep(0.1)
+
+distance_sensors = DistanceSensorTracker()
+asyncio.create_task(distance_sensors.main())
+asyncio.run(distance_reporter(distance_sensors))