classed_go_around.py

__author__ = 'kanehiro'
from ev3dev.auto import *
from time import sleep

class GoAround:
    SPEED = 500
    def __init__(self):
        self.motors = [LargeMotor(address) for address in (OUTPUT_B, OUTPUT_C)]
        assert all([m.connected for m in self.motors]),\
            "Two large motors should be connected to ports B and C"
        self.us = UltrasonicSensor(); assert self.us.connected

    def green(self):
        for light in (Leds.LEFT, Leds.RIGHT):
            Leds.set_color(light, Leds.GREEN)
    def red(self):
        for light in (Leds.LEFT, Leds.RIGHT):
            Leds.set_color(light, Leds.RED)

    def start(self):
        # Turn Forward lights on:
        self.green()
        # Start Alarm
        self.alarm(3)
        sleep(3)

        for m in self.motors:
            m.run_forever(speed_sp=self.SPEED)

    def forward(self):
        # Turn Forward lights on:
        self.green()

        for m in self.motors:
            m.run_forever(speed_sp=self.SPEED)

    def back(self):
        self.red()
        self.alarm(2)
        for m in self.motors:
            m.run_timed(speed_sp=self.SPEED * -1, time_sp=1000)
        # When motor is stopped, its `state` attribute returns empty list.
        # Wait until both motors are stopped:
        # any([True,True,False]) # => True
        self.__motor_wait(0.1)

    def turn(self):
        self.green()
        speed = self.SPEED
        for m in self.motors:
            m.run_timed(speed_sp=speed, time_sp=500)
            speed *= -1
        self.__motor_wait(0.1)

    def __motor_wait(self,interval):
        while any(m.state for m in self.motors):
            sleep(interval)

    def alarm(self,count):
        # Start Alarm
        Sound.tone([(1000, 500, 500)] * count)

    def stop(self):
        Leds.all_off()
        for m in self.motors:
            m.stop(stop_action='brake')
    @property
    def us_value(self):
        return self.us.value()