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robot.py
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robot.py
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import motor
import keyhandler
import time
import thread
class robostate :
quit = moving = False
movetime = time.time()
def stopthread(state):
# print state.moving
while not state.quit :
#print "time: ", time.time(), " moved:", movetime
# print moving
if time.time() > state.movetime + 0.3 and state.moving :
motor.stop()
state.moving = False
time.sleep(0.1)
def move(movecall, state):
state.moving = True
state.movetime = time.time()
print "moving at ", time.time(), " movetime ", state.movetime
movecall()
# stopthread()
state = robostate()
print "Starting"
thread.start_new_thread(stopthread, (state,))
print "Started"
while not state.quit:
key = keyhandler.getch()
print key
keyNum = ord(key)
print keyNum
if keyNum == 65:
print "up"
move(motor.forward, state)
elif keyNum == 66:
print "down"
move(motor.back, state)
elif keyNum == 67:
print "right"
move(motor.right, state)
elif keyNum == 68:
print "left"
move(motor.left, state)
elif key == 'q':
state.quit = True
else :
print "press q to quit"
time.sleep(0.1)
motor.stop()