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import logging |
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from curio import sleep, Queue |
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from bricknil import attach, start |
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from bricknil.hub import PoweredUpRemote, BoostHub |
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from bricknil.sensor import InternalMotor, RemoteButtons, LED, Button |
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from bricknil.process import Process |
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from bricknil.const import Color |
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@attach(LED, name='led') |
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@attach(RemoteButtons, name='btns_right', capabilities=['sense_press']) |
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@attach(RemoteButtons, name='btns_left', capabilities=['sense_press']) |
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class Remote(PoweredUpRemote): |
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async def btns_left_change(self): |
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if self.btns_left.plus_pressed(): |
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await self.tell_robot.put('forward') |
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elif self.btns_left.minus_pressed(): |
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await self.tell_robot.put('backward') |
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else: |
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await self.tell_robot.put('stop') |
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async def btns_right_change(self): |
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if self.btns_right.plus_pressed(): |
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await self.tell_robot.put('right') |
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elif self.btns_right.minus_pressed(): |
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await self.tell_robot.put('left') |
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else: |
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await self.tell_robot.put('stop') |
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async def run(self): |
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self.message('Running') |
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# Set the remote LED to green to show we're ready |
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await self.led.set_color(Color.green) |
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while True: |
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await sleep(10) # Keep the remote running |
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@attach(LED, name='led') |
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@attach(InternalMotor, name='motor_right', port=InternalMotor.Port.B) |
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@attach(InternalMotor, name='motor_left', port=InternalMotor.Port.A) |
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class Robot(BoostHub): |
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async def run(self): |
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self.message("Running") |
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speed = 30 |
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# Set the robot LED to green to show we're ready |
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await self.led.set_color(Color.green) |
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while True: |
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msg = await self.listen_remote.get() |
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await self.listen_remote.task_done() |
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if msg=='forward': |
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self.message('going forward') |
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await self.motor_left.set_speed(speed) |
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await self.motor_right.set_speed(speed) |
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elif msg=='backward': |
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self.message('going backward') |
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await self.motor_left.set_speed(-speed) |
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await self.motor_right.set_speed(-speed) |
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elif msg=='stop': |
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self.message('stop') |
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await self.motor_left.set_speed(0) |
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await self.motor_right.set_speed(0) |
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elif msg=='left': |
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self.message('left') |
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await self.motor_left.set_speed(-speed) |
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await self.motor_right.set_speed(speed) |
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elif msg=='right': |
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self.message('right') |
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await self.motor_left.set_speed(speed) |
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await self.motor_right.set_speed(-speed) |
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async def system(): |
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robot = Robot('Vernie') |
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remote = Remote('remote') |
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# Define a message passing queue from the remote to the robot |
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remote.tell_robot = Queue() |
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robot.listen_remote = remote.tell_robot |
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if __name__ == '__main__': |
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logging.basicConfig(level=logging.INFO) |
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start(system) |
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virantha /
bricknil
