ecki/Robotics-at-Home-with-Raspberry-Pi-Pico
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This commit is contained in:
Danny Staple
2023-01-02 12:26:53 +00:00
parent 92e3f85094
commit d56b89787e
1 changed files with 5 additions and 7 deletions
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ch-11/1-measuring-wheel-speeds/code.py
+4 -6
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@@ -32,7 +32,9 @@ async def command_handler():
robot.stop() robot.stop()
elif command.startswith("G"): elif command.startswith("G"):
await asyncio.sleep(5) await asyncio.sleep(5)
asyncio.create_task(stop_motors_after(float(command[1:]))) asyncio.create_task(
stop_motors_after(float(command[1:]))
)
robot.set_left(Settings.speed) robot.set_left(Settings.speed)
robot.set_right(Settings.speed) robot.set_right(Settings.speed)
elif command.startswith("?"): elif command.startswith("?"):
@@ -41,9 +43,5 @@ async def command_handler():
await asyncio.sleep(3) await asyncio.sleep(3)
await asyncio.sleep(0) await asyncio.sleep(0)
try: asyncio.create_task(motor_speed_loop())
motor_task = asyncio.create_task(motor_speed_loop())
asyncio.run(command_handler()) asyncio.run(command_handler())
finally:
motor_task.cancel()
robot.stop()