bump_task.py

Go to the documentation of this file.

from pyb import Pin, Timer, ADC

class Bump_Task:
    
    def __init__(self, c_state, bump_sensor_right, bump_sensor_left,bump_on_off, bump_flg):
        self.c_state = c_state
        self.bump_sensor_right=bump_sensor_right
        self.bump_sensor_left=bump_sensor_left
        self.state=0
        self.bump_on_off=bump_on_off
        self.bump_flg=bump_flg
        self.bump_flg.put(0)
 
    
    def run(self):
        while (True):
            # bump sensor off
            if self.state==0:
                if self.bump_on_off.get() ==1:
                    self.state=1
                    
                yield
            # bump sensor on
            elif self.state==1:
                
                if self.bump_on_off.get() ==0:
                    self.state=0
                if True in (self.bump_sensor_left.is_pressed(), self.bump_sensor_right.is_pressed()):
                    print('bumped')
                    self.bump_flg.put(1)
                
                
            else:
                    raise ValueError("Not that many states")
            yield self.state