Add bot driving slower

compLib/Motor.py

@@ -10,6 +10,10 @@ MAX_MOTOR_SPEED = 65535
 MOTOR_PERCENTAGE_MULT = MAX_MOTOR_SPEED / 100.0
 MOTOR_CURVE = [0.0, 0.0, 426.5, 692.0, 842.5, 953.5, 1032.5, 1090.5, 1135.5, 1171.0, 1203.5, 1230.0, 1249.5, 1268.0, 1283.0, 1298.5, 1308.0, 1320.0, 1332.0, 1339.5, 1352.5]
 
+SPEED_LOCK = False
+SPEED_MULT = 1.0
+
+
 class MotorMode(IntEnum):
     COAST = 0,
     FORWARD = 1,
@@ -29,6 +33,10 @@ class Motor(object):
         :param mode: Motor mode. See enum MotorMode for more info
         :raises: IndexError
         """
+
+        if SPEED_LOCK:
+            return
+
         if port <= 0 or port > MOTOR_COUNT:
             raise IndexError("Invalid Motor port specified!")
 
@@ -70,6 +78,7 @@ class Motor(object):
         elif percent > 0:
             mode = MotorMode.FORWARD
 
+        percent *= SPEED_MULT
         pwm = percent * MOTOR_PERCENTAGE_MULT
 
         Motor.pwm(port, int(pwm), mode)
@@ -172,4 +181,38 @@ class Motor(object):
         return Motor.__interpolateSpeed(curve, requiredSpeed)
 
 
+    @staticmethod
+    def robot_state_loop():
+        import time
+        from compLib.Api import Seeding
+
+        global SPEED_LOCK
+        global SPEED_MULT
+
+        while True:
+            try:
+                state, status = Seeding.get_robot_state()
+                SPEED_MULT = state["speed"] / 100.0
+
+                if state["left"] != -1 or state["right"] != -1:
+                    Motor.power(1, state["right"])
+                    Motor.power(4, state["left"])
+                    SPEED_LOCK = True
+                    time.sleep(state["time"])
+                    SPEED_LOCK = False
+                    Motor.power(1, 0)
+                    Motor.power(4, 0)
+                else:
+                    time.sleep(0.25)
+            except:
+                time.sleep(0.25)
+                pass
+
+    @staticmethod
+    def start_robot_state_loop():
+        from threading import Thread
+        robot_state_thread = Thread(target=Motor.robot_state_loop)
+        robot_state_thread.setDaemon(True)
+        robot_state_thread.start()
+
 atexit.register(Motor.all_off)