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@@ -17,9 +17,10 @@
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# along with BeeWatch. If not, see <http://www.gnu.org/licenses/>.
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#
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# Python Libraries
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+import curio
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import logging
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-# import time
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-import trio
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+import threaing
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+import time
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# My Libraries
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import digilib.pin
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log = logging.getLogger(__name__+"")
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@@ -42,32 +43,42 @@ class BeeWeighingScale(digilib.pin.PinAPIBase):
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class PinAPIBee(digilib.pin.PinAPIBase):
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engine_left = None
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engine_right = None
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+ action_in_process = False
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def __init__(self):
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super(PinAPIBee,self).__init__()
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self.engine_right = self.make_engine(4,17)
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self.engine_left = self.make_engine(27,22)
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+ def __enter__(self):
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+ if self.action_in_process:
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+ lpin.debug("action already in process, not entering")
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+ return False
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def make_engine(self,*args):
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return digilib.pin.PCEngine(*args)
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- def turn_left(self):
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- right_on = self.engine_right.is_on
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+ def turn(self,direction,respond_method):
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+ lpin.debug(threading.current_thread())
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+ with self ad
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+ lpin.info("turning {}".format(direction))
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+ right_state = self.engine_right.is_on
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right_speed = self.engine_right.speed
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- left_on = self.engine_left.is_on
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+ left_state = self.engine_left.is_on
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left_speed = self.engine_left.speed
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- self.engine_right.turn_on()
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- self.engine_right.set_speed(1)
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- self.engine_left.turn_on()
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- self.engine_left.set_speed(1)
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- trio.sleep(2)
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- if not right_on:
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- self.engine_right.turn_off()
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+ if direction == "right":
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+ self.engine_right.set_state(False)
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+ self.engine_left.set_state(True)
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+ self.engine_left.set_speed(1)
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+ elif direction == "left":
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+ self.engine_right.set_state(True)
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+ self.engine_right.set_speed(1)
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+ self.engine_left.set_state(False)
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+ # curio.sleep(2)
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+ time.sleep(2)
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+ self.engine_right.set_state(right_state)
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self.engine_right.set_speed(right_speed)
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- if not left_on:
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- self.engine_left.turn_off()
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+ self.engine_left.set_state(left_state)
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self.engine_left.set_speed(left_speed)
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+ lpin.info("done turning {}".format(direction))
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# set engines to previous values
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+ def turn_left(self,respond_method):
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+ self.turn("left")
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def turn_right(self):
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- pass
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- lpin.info("turning right is not implemented")
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- # self.engine_left.stop()
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- # self.engine_right.start()
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- # set engines to previous values
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+ self.turn("right")
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