29 lines
695 B
Python
29 lines
695 B
Python
import board
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import time
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import busio
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from adafruit_bluefruit_connect.accelerometer_packet import AccelerometerPacket
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import robot
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uart = busio.UART(board.GP12,board.GP13,baudrate=9600, timeout=0.01)
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stop_at = 0
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speed = 0.8
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print("Waiting for accelerometer signals...")
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while True:
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if uart.in_waiting:
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packet = AccelerometerPacket.from_stream(uart)
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speed = packet.z * 0.1
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turning = packet.y * 0.1
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if abs(speed) > 0.3 or abs(turning) > 0.1:
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print("speed:", speed, "turning:", turning)
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robot.set_left(speed + turning)
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robot.set_right(speed - turning)
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else:
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robot.stop()
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stop_at = time.time() + 1
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if time.time() > stop_at:
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robot.stop()
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