Bluetooth examples for chapter 9

2022-06-22 22:30:37 +01:00
parent 115e9e03ef
commit f3d8c7a0d6
24 changed files with 169 additions and 530 deletions
@@ -0,0 +1,45 @@
+import board 
+import time
+import busio
+from adafruit_bluefruit_connect.button_packet import ButtonPacket
+import robot
+
+
+uart = busio.UART(board.GP12,board.GP13,baudrate=9600, timeout=0.01)
+
+class RobotControl:
+  stop_at = 0
+  speed = 0.8
+  timeout = 3
+
+  def send_control(self, packet):
+    if packet.button == ButtonPacket.UP:
+      robot.set_left(self.speed)
+      robot.set_right(self.speed)
+    elif packet.button == ButtonPacket.DOWN:
+      robot.set_left(-self.speed)
+      robot.set_right(-self.speed)
+    elif packet.button == ButtonPacket.LEFT:
+      robot.set_left(-self.speed)
+      robot.set_right(self.speed)
+    elif packet.button == ButtonPacket.RIGHT:
+      robot.set_left(self.speed)
+      robot.set_right(-self.speed)
+    self.stop_at = time.time() + self.timeout
+
+
+control = RobotControl()
+
+print("Waiting for control signals...")
+while True:
+    data = uart.read(32)
+    if data is not None and data.startswith(b'!B'):
+      packet = ButtonPacket.from_bytes(data)
+      print("Button:", packet.button, "pressed:", packet.pressed)
+      if packet.pressed:
+        control.send_control(packet)
+      else:
+        robot.stop()
+
+    if control.stop_at < time.time():
+      robot.stop()