shittyrobot.py

@@ -61,28 +61,21 @@ do_ap()
 s = setup_listener()
 c = []
 
-debug = False
-
 def controlloop(last_start, next_action):
     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 debug:
-            print(' DEADTIME -> ignore')
-        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 debug:
-            print(' ACTION TIMED OUT -> stopping')
-        next_action = (0,0)
+       print(' ACTION TIMED OUT -> stopping')
+       next_action = (0,0)
     elif next_action is None:
-        return last_start
-
-    if debug:
-        print('Starting action: ', next_action)
+       return last_start
+    
+    print('Starting action: ', next_action)
     
     if next_action[0] == 1:
         MOTOR_A0.on()
@@ -124,25 +117,24 @@ def mainloop(l):
 
     last_pixel_update = 0
 
-    #for i in range(6):
-    #    LED_NP[i] = (255,255,255, 255)
-    #LED_NP.write()
-    #time.sleep(1)
+    for i in range(6):
+        LED_NP[i] = (255,255,255, 255)
+    LED_NP.write()
+    time.sleep(1)
     
     while True:
         ctr += 1
         # run one iteration of control loop
         last_action_start = controlloop(last_action_start, next_action)
-        #if time.time() > last_pixel_update + 0.5:
-        #    #LED_NP[ctr % 6] = (ctr*3 % 255, ctr*2 % 255, (ctr+1)*3 % 255)
-        #    last_pixel_update = time.time()
-        #    LED_NP.write()
+        if time.time() > last_pixel_update + 0.5:
+            #LED_NP[ctr % 6] = (ctr*3 % 255, ctr*2 % 255, (ctr+1)*3 % 255)
+            last_pixel_update = time.time()
+            LED_NP.write()
 
         a = None
         try:
             a = y.read(1)
-            if debug:
-                print('RCV: ', a)
+            print('RCV: ', a)
             y.write(a)
         except OSError:
             # timeout