The robot moves - not sure the arrows face the right way.

ch-13/2-displaying-a-pose/robot/code.py

@@ -13,24 +13,8 @@ class Simulation:
     for n in range(population_size):
       self.poses[n] = random.uniform(0, arena.width), random.uniform(0, arena.height), random.uniform(0, 360)
   
-  async def run(self):
-    for n in range(3):
-      encoder_left = robot.left_encoder.read()
-      encoder_right = robot.right_encoder.read()
-      robot.set_speed(0.3, 0.3)
-      await asyncio.sleep(0.1)
-      left_movement = robot.left_encoder.read() - encoder_left
-      right_movement = robot.right_encoder.read() - encoder_right
-      speed_in_mm = robot.ticks_to_m((left_movement + right_movement) / 2) / 1000
-      for pose in self.poses:
-        pose[0] += speed_in_mm * np.cos(np.radians(pose[2]))
-        pose[1] += speed_in_mm * np.sin(np.radians(pose[2]))
-        pose[2] += robot.ticks_to_degrees(left_movement - right_movement) / robot.wheel_separation_mm
-        pose[2] = pose[2] % 360
-    robot.set_speed(0, 0)
 
 async def command_handler(simulation):
-  simulation_task = None
   while True:
     if robot.uart.in_waiting:
       print("Receiving data...")
@@ -39,7 +23,6 @@ async def command_handler(simulation):
       except UnicodeError:
         print("Invalid data")
         continue
-      print(f"Received data: {data}")
       try:
         request = json.loads(data)
         print(f"Received command: {request}")
@@ -53,15 +36,6 @@ async def command_handler(simulation):
             "target_zone": arena.target_zone,
          }
          robot.uart.write((json.dumps(response)+"\n").encode())
-      elif request["command"] == "reset":
-        simulation.__init__()
-      elif request["command"] == "run":
-        simulation_task = asyncio.create_task(simulation.run())
-      elif request["command"] == "stop":
-        robot.set_speed(0, 0)
-        if simulation_task:
-          simulation_task.cancel()
-          simulation_task = None
     else:
       response = {
         "poses": simulation.poses.tolist(),