Source Code for Script script-demo_buggy_py

 1  from joy import * 
 2   
 3 -class Buggy( Plan ): 
 4 -  def __init__(self,*arg,**kw): 
 5      Plan.__init__(self,*arg,**kw) 
 6      self.r = self.app.robot.at 
 7       
 8 -  def onStart( self ): 
 9      progress("Buggy started") 
10     
11 -  def onStop( self ): 
12      progress("Stopping") 
13      self.r.lwheel.set_speed(0) 
14      self.r.rwheel.set_speed(0) 
15   
16 -  def behavior( self ): 
17      oncePer = self.app.onceEvery(0.5) 
18      while True: 
19        yield 
20        # Read joystick from application's StickFilter  
21        sf = self.app.sf 
22        lspeed = sf.getValue('joy0axis1') 
23        rspeed = sf.getValue('joy0axis4') 
24        #print(lspeed,rspeed) 
25         
26        self.r.lwheel.set_speed(lspeed*200) 
27        self.r.rwheel.set_speed(rspeed*200) 
28   
29        if oncePer(): 
30          progress("Buggy: left wheel %6f right wheel %6f" 
31            % (lspeed,rspeed)) 
32       
33 -class BuggyApp( JoyApp ): 
34 -  def __init__(self,robot=dict(count=2),*arg,**kw): 
35      cfg = dict () 
36      JoyApp.__init__(self,robot=robot,cfg=cfg,*arg,**kw) 
37     
38 -  def onStart(self): 
39      sf = StickFilter(self,dt=0.05) 
40      sf.setLowpass( 'joy0axis1',10) 
41      sf.setLowpass( 'joy0axis4',10) 
42      sf.start() 
43      self.sf = sf 
44      self.ma = Buggy(self)  
45         
46 -  def onEvent(self,evt): 
47      if evt.type == JOYAXISMOTION: 
48        # Forward a copy of the event to the StickFilter plan 
49        self.sf.push(evt) 
50      # Buttons --> press button0 to stop buggy; release to start 
51      elif evt.type==JOYBUTTONDOWN and evt.joy==0 and evt.button==0: 
52        self.ma.stop() 
53      elif evt.type==JOYBUTTONUP and evt.joy==0 and evt.button==0: 
54        self.ma.start() 
55   
56      # Hide robot position events 
57      elif evt.type==CKBOTPOSITION: 
58        return 
59      JoyApp.onEvent(self,evt) 
60   
61 -  def onStop(self): 
62      self.ma.onStop() 
63         
64  if __name__=="__main__": 
65    app = BuggyApp() 
66    app.run() 
67