welterde/shittyrobot
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debug print statements optional

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This commit is contained in:
Tassilo Schweyer 2025-12-29 01:20:21 +01:00
parent e6daa24561
commit a7c3d5f84d
1 changed files with 17 additions and 9 deletions
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26
shittyrobot.py
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@ -61,21 +61,28 @@ do_ap()
s = setup_listener() s = setup_listener()
c = [] c = []
debug = False
def controlloop(last_start, next_action): def controlloop(last_start, next_action):
now = time.ticks_us() now = time.ticks_us()
if debug:
print('CTRL: ', last_start, next_action)
print('CTRL: ', last_start, next_action)
if time.ticks_diff(now, time.ticks_add(last_start, 100000)) < 0: if time.ticks_diff(now, time.ticks_add(last_start, 100000)) < 0:
print(' DEADTIME -> ignore') if debug:
return last_start print(' DEADTIME -> ignore')
return last_start
if next_action is None and time.ticks_diff(time.ticks_add(last_start, 601000), now) > 0: if next_action is None and time.ticks_diff(time.ticks_add(last_start, 601000), now) > 0:
print(' ACTION TIMED OUT -> stopping') if debug:
next_action = (0,0) print(' ACTION TIMED OUT -> stopping')
next_action = (0,0)
elif next_action is None: elif next_action is None:
return last_start return last_start
print('Starting action: ', next_action) if debug:
print('Starting action: ', next_action)
if next_action[0] == 1: if next_action[0] == 1:
MOTOR_A0.on() MOTOR_A0.on()
@ -134,7 +141,8 @@ def mainloop(l):
a = None a = None
try: try:
a = y.read(1) a = y.read(1)
print('RCV: ', a) if debug:
print('RCV: ', a)
y.write(a) y.write(a)
except OSError: except OSError:
# timeout # timeout