welterde/shittyrobot
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base: welterde:a7c3d5f84d45f682dcddcb9609885f25b5500e2d
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compare: welterde:48fd906e496c92af299b3def9e6ab15c08feb224
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welterde:master

No commits in common. "a7c3d5f84d45f682dcddcb9609885f25b5500e2d" and "48fd906e496c92af299b3def9e6ab15c08feb224" have entirely different histories.
a7c3d5f84d ... 48fd906e49

1 changed files with 17 additions and 25 deletions
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shittyrobot.py
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@ -61,28 +61,21 @@ 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:
if debug: print(' DEADTIME -> ignore')
print(' DEADTIME -> ignore') return last_start
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:
if debug: print(' ACTION TIMED OUT -> stopping')
print(' ACTION TIMED OUT -> stopping') next_action = (0,0)
next_action = (0,0)
elif next_action is None: elif next_action is None:
return last_start return last_start
if debug: print('Starting action: ', next_action)
print('Starting action: ', next_action)
if next_action[0] == 1: if next_action[0] == 1:
MOTOR_A0.on() MOTOR_A0.on()
@ -124,25 +117,24 @@ def mainloop(l):
last_pixel_update = 0 last_pixel_update = 0
#for i in range(6): for i in range(6):
# LED_NP[i] = (255,255,255, 255) LED_NP[i] = (255,255,255, 255)
#LED_NP.write() LED_NP.write()
#time.sleep(1) time.sleep(1)
while True: while True:
ctr += 1 ctr += 1
# run one iteration of control loop # run one iteration of control loop
last_action_start = controlloop(last_action_start, next_action) last_action_start = controlloop(last_action_start, next_action)
#if time.time() > last_pixel_update + 0.5: if time.time() > last_pixel_update + 0.5:
# #LED_NP[ctr % 6] = (ctr*3 % 255, ctr*2 % 255, (ctr+1)*3 % 255) #LED_NP[ctr % 6] = (ctr*3 % 255, ctr*2 % 255, (ctr+1)*3 % 255)
# last_pixel_update = time.time() last_pixel_update = time.time()
# LED_NP.write() LED_NP.write()
a = None a = None
try: try:
a = y.read(1) a = y.read(1)
if debug: print('RCV: ', a)
print('RCV: ', a)
y.write(a) y.write(a)
except OSError: except OSError:
# timeout # timeout