Changeset 42 for remote_control/puzzlebox_brainstorms_remote_control.py

Timestamp:

05/18/10 03:42:20 (12 years ago)

Author:

sc

Message:

• initial support for discrete control commands

File:

• remote_control/puzzlebox_brainstorms_remote_control.py (modified) (5 diffs)

remote_control/puzzlebox_brainstorms_remote_control.py

@@ -9 +9 @@
 # For more information please refer to http://www.gnu.org/copyleft/gpl.html
 #
-# Last Update: 2010.02.05
+# Last Update: 2010.05.03
 #
 #####################################################################
@@ -26 +26 @@
 
 DEBUG = 2
+
+DISCRETE_CONTROL_COMMANDS = configuration.DISCRETE_CONTROL_COMMANDS
 
 BLUETOOTH_DEVICE = configuration.BLUETOOTH_DEVICE
@@ -155 +157 @@
                 
                 # Continue operating motors while control program pauses
-                time.sleep(duration)
+                if DISCRETE_CONTROL_COMMANDS:
+                        time.sleep(duration)
+                        
+                        self.stop_motors(connection)
+        
+        
+        ##################################################################
+        
+        def stop_motors(self, connection):
+                
+                "Stop both motors"
+                
+                left_motor = self.connect_to_port(MOTOR_PORT_LEFT)
+                right_motor = self.connect_to_port(MOTOR_PORT_RIGHT)
                 
                 # Issue command to stop both motors
@@ -266 +281 @@
         def run(self, command):
                 
-                if (command == 'test_drive'):
-                        self.test_drive(self.connection)
-                
-                elif (command == 'drive_forward'):
+                if (command == 'drive_forward'):
                         self.drive_forward(self.connection, duration=3)
                 
@@ -286 +298 @@
                 elif (command == 'turn_right_in_reverse'):
                         self.turn_right_in_reverse(self.connection)
+                
+                elif (command == 'stop_motors'):
+                        self.stop_motors(self.connection)
+                
+                elif (command == 'test_drive'):
+                        self.test_drive(self.connection)