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iracer_balance_board.py
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iracer_balance_board.py
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<time datetime="2013-05-06T16:46:30+01:00" is="relative-time">May 06, 2013</time>
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<a href="/conoro/iracer-controllers/commit/eeac61e39e1722ed387db0eae6804e350c876f3f" class="message" data-pjax="true" title="added code for Wii Balance Board + Raspberry Pi">added code for Wii Balance Board + Raspberry Pi</a>
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<td class="blob-line-code"><div class="code-body highlight"><pre><div class='line' id='LC1'><span class="c">#!/usr/bin/env python</span></div><div class='line' id='LC2'><span class="c"># -*- coding: utf-8 -*-</span></div><div class='line' id='LC3'><span class="c">#</span></div><div class='line' id='LC4'><span class="c"># Copyright (C) 2013 Conor O'Neill</span></div><div class='line' id='LC5'><span class="c">#</span></div><div class='line' id='LC6'><span class="c"># Licensed under the Apache License, Version 2.0 (the "License");</span></div><div class='line' id='LC7'><span class="c"># you may not use this file except in compliance with the License.</span></div><div class='line' id='LC8'><span class="c"># You may obtain a copy of the License at</span></div><div class='line' id='LC9'><span class="c">#</span></div><div class='line' id='LC10'><span class="c"># http://www.apache.org/licenses/LICENSE-2.0</span></div><div class='line' id='LC11'><span class="c">#</span></div><div class='line' id='LC12'><span class="c"># Unless required by applicable law or agreed to in writing, software</span></div><div class='line' id='LC13'><span class="c"># distributed under the License is distributed on an "AS IS" BASIS,</span></div><div class='line' id='LC14'><span class="c"># WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.</span></div><div class='line' id='LC15'><span class="c"># See the License for the specific language governing permissions and</span></div><div class='line' id='LC16'><span class="c"># limitations under the License.</span></div><div class='line' id='LC17'><br/></div><div class='line' id='LC18'><span class="sd">"""Simple code to control Arexx Dagu i-racer using Raspberry Pi and Wii Balance Board</span></div><div class='line' id='LC19'><br/></div><div class='line' id='LC20'><span class="sd">Usage:</span></div><div class='line' id='LC21'><span class="sd"> $ python iracer_balance_board.py</span></div><div class='line' id='LC22'><br/></div><div class='line' id='LC23'><span class="sd">"""</span></div><div class='line' id='LC24'><br/></div><div class='line' id='LC25'><span class="n">__author__</span> <span class="o">=</span> <span class="s">'cwjoneill@gmail.com (Conor O</span><span class="se">\'</span><span class="s">Neill)'</span></div><div class='line' id='LC26'><br/></div><div class='line' id='LC27'><span class="kn">import</span> <span class="nn">cwiid</span></div><div class='line' id='LC28'><span class="kn">import</span> <span class="nn">sys</span></div><div class='line' id='LC29'><span class="kn">import</span> <span class="nn">bluetooth</span></div><div class='line' id='LC30'><span class="kn">import</span> <span class="nn">time</span></div><div class='line' id='LC31'><span class="kn">import</span> <span class="nn">math</span></div><div class='line' id='LC32'><br/></div><div class='line' id='LC33'><span class="k">global</span> <span class="n">sock</span></div><div class='line' id='LC34'><span class="k">global</span> <span class="n">wiimote</span></div><div class='line' id='LC35'> </div><div class='line' id='LC36'><span class="k">def</span> <span class="nf">main</span><span class="p">():</span></div><div class='line' id='LC37'><br/></div><div class='line' id='LC38'><br/></div><div class='line' id='LC39'> <span class="k">print</span> <span class="s">'Press Red Sync Button in Battery Compartment of Balance Board...'</span></div><div class='line' id='LC40'><br/></div><div class='line' id='LC41'> <span class="c"># Wii Balance Board</span></div><div class='line' id='LC42'> <span class="n">rpt_mode</span> <span class="o">=</span> <span class="mi">0</span></div><div class='line' id='LC43'><br/></div><div class='line' id='LC44'> <span class="c"># Change the number below to the Bluetooth MAC address of your Wii Balance Board</span></div><div class='line' id='LC45'> <span class="c"># You get that by pressing red sync button in battery compartment and then running</span></div><div class='line' id='LC46'> <span class="c"># hcitool scan </span></div><div class='line' id='LC47'> <span class="n">wiimote</span> <span class="o">=</span> <span class="n">cwiid</span><span class="o">.</span><span class="n">Wiimote</span><span class="p">(</span><span class="s">"00:1E:35:C0:E3:FD"</span><span class="p">)</span></div><div class='line' id='LC48'><br/></div><div class='line' id='LC49'> <span class="n">rpt_mode</span> <span class="o">^=</span> <span class="n">cwiid</span><span class="o">.</span><span class="n">RPT_EXT</span></div><div class='line' id='LC50'> <span class="n">wiimote</span><span class="o">.</span><span class="n">rpt_mode</span> <span class="o">=</span> <span class="n">rpt_mode</span></div><div class='line' id='LC51'><br/></div><div class='line' id='LC52'><br/></div><div class='line' id='LC53'> <span class="c"># i-racer </span></div><div class='line' id='LC54'> <span class="c"># Change the number below to the Bluetooth MAC address of your i-racer</span></div><div class='line' id='LC55'> <span class="c"># You get that by turning on the i-racer and and then running</span></div><div class='line' id='LC56'> <span class="c"># hcitool scan </span></div><div class='line' id='LC57'> <span class="n">bd_addr</span> <span class="o">=</span> <span class="s">"00:12:05:09:95:33"</span></div><div class='line' id='LC58'> <span class="n">port</span> <span class="o">=</span> <span class="mi">1</span></div><div class='line' id='LC59'> <span class="n">sock</span> <span class="o">=</span> <span class="n">bluetooth</span><span class="o">.</span><span class="n">BluetoothSocket</span><span class="p">(</span> <span class="n">bluetooth</span><span class="o">.</span><span class="n">RFCOMM</span> <span class="p">)</span></div><div class='line' id='LC60'> <span class="n">sock</span><span class="o">.</span><span class="n">connect</span><span class="p">((</span><span class="n">bd_addr</span><span class="p">,</span> <span class="n">port</span><span class="p">))</span></div><div class='line' id='LC61'><br/></div><div class='line' id='LC62'> <span class="c"># Probably a good idea to have recently calibrated your Balance Board on your Wii</span></div><div class='line' id='LC63'> <span class="n">balance_calibration</span> <span class="o">=</span> <span class="n">wiimote</span><span class="o">.</span><span class="n">get_balance_cal</span><span class="p">()</span></div><div class='line' id='LC64'> <span class="c"># print balance_calibration</span></div><div class='line' id='LC65'> <span class="n">right_top_cal</span> <span class="o">=</span> <span class="n">balance_calibration</span><span class="p">[</span><span class="mi">0</span><span class="p">][</span><span class="mi">0</span><span class="p">]</span></div><div class='line' id='LC66'> <span class="n">right_bottom_cal</span> <span class="o">=</span> <span class="n">balance_calibration</span><span class="p">[</span><span class="mi">1</span><span class="p">][</span><span class="mi">0</span><span class="p">]</span></div><div class='line' id='LC67'> <span class="n">left_top_cal</span> <span class="o">=</span> <span class="n">balance_calibration</span><span class="p">[</span><span class="mi">2</span><span class="p">][</span><span class="mi">0</span><span class="p">]</span></div><div class='line' id='LC68'> <span class="n">left_bottom_cal</span> <span class="o">=</span> <span class="n">balance_calibration</span><span class="p">[</span><span class="mi">3</span><span class="p">][</span><span class="mi">0</span><span class="p">]</span></div><div class='line' id='LC69'><br/></div><div class='line' id='LC70'> <span class="k">while</span> <span class="bp">True</span><span class="p">:</span></div><div class='line' id='LC71'> <span class="c"># Quite a slow refresh rate. Feel free to reduce this time (it's in seconds)</span></div><div class='line' id='LC72'> <span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.5</span><span class="p">)</span></div><div class='line' id='LC73'> <span class="n">wiimote</span><span class="o">.</span><span class="n">request_status</span><span class="p">()</span></div><div class='line' id='LC74'><br/></div><div class='line' id='LC75'> <span class="n">right_top</span> <span class="o">=</span> <span class="n">wiimote</span><span class="o">.</span><span class="n">state</span><span class="p">[</span><span class="s">'balance'</span><span class="p">][</span><span class="s">'right_top'</span><span class="p">]</span> <span class="o">-</span> <span class="n">right_top_cal</span></div><div class='line' id='LC76'> <span class="n">right_bottom</span> <span class="o">=</span> <span class="n">wiimote</span><span class="o">.</span><span class="n">state</span><span class="p">[</span><span class="s">'balance'</span><span class="p">][</span><span class="s">'right_bottom'</span><span class="p">]</span> <span class="o">-</span> <span class="n">right_bottom_cal</span></div><div class='line' id='LC77'> <span class="n">left_top</span> <span class="o">=</span> <span class="n">wiimote</span><span class="o">.</span><span class="n">state</span><span class="p">[</span><span class="s">'balance'</span><span class="p">][</span><span class="s">'left_top'</span><span class="p">]</span> <span class="o">-</span> <span class="n">left_top_cal</span></div><div class='line' id='LC78'> <span class="n">left_bottom</span> <span class="o">=</span> <span class="n">wiimote</span><span class="o">.</span><span class="n">state</span><span class="p">[</span><span class="s">'balance'</span><span class="p">][</span><span class="s">'left_bottom'</span><span class="p">]</span> <span class="o">-</span> <span class="n">left_bottom_cal</span></div><div class='line' id='LC79'><br/></div><div class='line' id='LC80'> <span class="n">LEFT_RIGHT_MULTIPLIER</span> <span class="o">=</span> <span class="mf">1.2</span></div><div class='line' id='LC81'> <span class="n">FRONT_BACK_MULTIPLIER</span> <span class="o">=</span> <span class="mf">1.2</span></div><div class='line' id='LC82'><br/></div><div class='line' id='LC83'> <span class="n">lean</span> <span class="o">=</span> <span class="s">"Indeterminate"</span></div><div class='line' id='LC84'> </div><div class='line' id='LC85'> <span class="c"># No one on the Balance Board yet </span></div><div class='line' id='LC86'> <span class="k">if</span> <span class="p">((</span><span class="n">right_bottom</span> <span class="o"><</span> <span class="mi">100</span><span class="p">)</span> <span class="ow">and</span> <span class="p">(</span><span class="n">right_top</span> <span class="o"><</span> <span class="mi">100</span><span class="p">)</span> <span class="ow">and</span> <span class="p">(</span><span class="n">left_bottom</span> <span class="o"><</span> <span class="mi">100</span><span class="p">)</span> <span class="ow">and</span> <span class="p">(</span><span class="n">left_top</span> <span class="o"><</span> <span class="mi">100</span><span class="p">)):</span></div><div class='line' id='LC87'> <span class="n">lean</span> <span class="o">=</span> <span class="s">"Stop"</span></div><div class='line' id='LC88'><br/></div><div class='line' id='LC89'> <span class="c"># Leaning towards the front left of the Balance Board </span></div><div class='line' id='LC90'> <span class="k">elif</span> <span class="p">(((</span><span class="n">right_top</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">or</span> <span class="p">(</span><span class="nb">abs</span><span class="p">(</span><span class="n">left_top</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">right_top</span><span class="p">))</span> <span class="o">>=</span> <span class="n">LEFT_RIGHT_MULTIPLIER</span><span class="p">))</span> <span class="ow">and</span></div><div class='line' id='LC91'> <span class="p">((</span><span class="n">left_bottom</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">or</span> <span class="p">(</span><span class="nb">abs</span><span class="p">(</span><span class="n">left_top</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">left_bottom</span><span class="p">))</span> <span class="o">>=</span> <span class="n">FRONT_BACK_MULTIPLIER</span><span class="p">))):</span></div><div class='line' id='LC92'> <span class="n">lean</span> <span class="o">=</span> <span class="s">"Left Top"</span></div><div class='line' id='LC93'><br/></div><div class='line' id='LC94'> <span class="c"># Leaning towards the front right of the Balance Board </span></div><div class='line' id='LC95'> <span class="k">elif</span> <span class="p">(((</span><span class="n">left_top</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">or</span> <span class="p">(</span><span class="nb">abs</span><span class="p">(</span><span class="n">right_top</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">left_top</span><span class="p">))</span> <span class="o">>=</span> <span class="n">LEFT_RIGHT_MULTIPLIER</span><span class="p">))</span> <span class="ow">and</span></div><div class='line' id='LC96'> <span class="p">((</span><span class="n">right_bottom</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">or</span> <span class="p">(</span><span class="nb">abs</span><span class="p">(</span><span class="n">right_top</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">right_bottom</span><span class="p">))</span> <span class="o">>=</span> <span class="n">FRONT_BACK_MULTIPLIER</span><span class="p">))):</span></div><div class='line' id='LC97'> <span class="n">lean</span> <span class="o">=</span> <span class="s">"Right Top"</span></div><div class='line' id='LC98'><br/></div><div class='line' id='LC99'> <span class="c"># Leaning towards the back left of the Balance Board </span></div><div class='line' id='LC100'> <span class="k">elif</span> <span class="p">(((</span><span class="n">right_bottom</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">or</span> <span class="p">(</span><span class="nb">abs</span><span class="p">(</span><span class="n">left_bottom</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">right_bottom</span><span class="p">))</span> <span class="o">>=</span> <span class="n">LEFT_RIGHT_MULTIPLIER</span><span class="p">))</span> <span class="ow">and</span></div><div class='line' id='LC101'> <span class="p">((</span><span class="n">left_top</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">or</span> <span class="p">(</span><span class="nb">abs</span><span class="p">(</span><span class="n">left_bottom</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">left_top</span><span class="p">))</span> <span class="o">>=</span> <span class="n">FRONT_BACK_MULTIPLIER</span><span class="p">))):</span></div><div class='line' id='LC102'> <span class="n">lean</span> <span class="o">=</span> <span class="s">"Left Bottom"</span></div><div class='line' id='LC103'><br/></div><div class='line' id='LC104'> <span class="c"># Leaning towards the back right of the Balance Board </span></div><div class='line' id='LC105'> <span class="k">elif</span> <span class="p">(((</span><span class="n">right_top</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">or</span> <span class="p">(</span><span class="nb">abs</span><span class="p">(</span><span class="n">right_bottom</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">right_top</span><span class="p">))</span> <span class="o">>=</span> <span class="n">FRONT_BACK_MULTIPLIER</span><span class="p">))</span> <span class="ow">and</span></div><div class='line' id='LC106'> <span class="p">((</span><span class="n">left_bottom</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">or</span> <span class="p">(</span><span class="nb">abs</span><span class="p">(</span><span class="n">right_bottom</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">left_bottom</span><span class="p">))</span> <span class="o">>=</span> <span class="n">LEFT_RIGHT_MULTIPLIER</span><span class="p">))):</span></div><div class='line' id='LC107'> <span class="n">lean</span> <span class="o">=</span> <span class="s">"Right Bottom"</span></div><div class='line' id='LC108'><br/></div><div class='line' id='LC109'> <span class="c"># Leaning towards the front middle of the Balance Board </span></div><div class='line' id='LC110'> <span class="k">elif</span> <span class="p">(((</span><span class="n">right_bottom</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">or</span> <span class="p">(</span><span class="nb">abs</span><span class="p">(</span><span class="n">right_top</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">right_bottom</span><span class="p">))</span> <span class="o">>=</span> <span class="n">FRONT_BACK_MULTIPLIER</span><span class="p">))</span> <span class="ow">and</span></div><div class='line' id='LC111'> <span class="p">((</span><span class="n">left_bottom</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">or</span> <span class="p">(</span><span class="nb">abs</span><span class="p">(</span><span class="n">left_top</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">left_bottom</span><span class="p">))</span> <span class="o">>=</span> <span class="n">FRONT_BACK_MULTIPLIER</span><span class="p">))</span> <span class="ow">and</span></div><div class='line' id='LC112'> <span class="p">((</span><span class="n">right_top</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">or</span> <span class="p">(</span><span class="nb">abs</span><span class="p">(</span><span class="n">left_top</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">right_top</span><span class="p">))</span> <span class="o"><</span> <span class="n">LEFT_RIGHT_MULTIPLIER</span><span class="p">))):</span></div><div class='line' id='LC113'> <span class="n">lean</span> <span class="o">=</span> <span class="s">"Middle Top"</span></div><div class='line' id='LC114'><br/></div><div class='line' id='LC115'> <span class="c"># Leaning towards the back middle of the Balance Board </span></div><div class='line' id='LC116'> <span class="k">elif</span> <span class="p">(((</span><span class="n">right_top</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">or</span> <span class="p">(</span><span class="nb">abs</span><span class="p">(</span><span class="n">right_bottom</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">right_top</span><span class="p">))</span> <span class="o">>=</span> <span class="n">FRONT_BACK_MULTIPLIER</span><span class="p">))</span> <span class="ow">and</span></div><div class='line' id='LC117'> <span class="p">((</span><span class="n">left_top</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">or</span> <span class="p">(</span><span class="nb">abs</span><span class="p">(</span><span class="n">left_bottom</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">left_top</span><span class="p">))</span> <span class="o">>=</span> <span class="n">FRONT_BACK_MULTIPLIER</span><span class="p">))</span> <span class="ow">and</span></div><div class='line' id='LC118'> <span class="p">((</span><span class="n">right_bottom</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">or</span> <span class="p">(</span><span class="nb">abs</span><span class="p">(</span><span class="n">left_bottom</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">right_bottom</span><span class="p">))</span> <span class="o"><</span> <span class="n">LEFT_RIGHT_MULTIPLIER</span><span class="p">))):</span></div><div class='line' id='LC119'> <span class="n">lean</span> <span class="o">=</span> <span class="s">"Middle Bottom"</span></div><div class='line' id='LC120'><br/></div><div class='line' id='LC121'> <span class="c"># Anywhere in the middle of the board considered to be Stop </span></div><div class='line' id='LC122'> <span class="k">elif</span> <span class="p">(((</span><span class="n">right_bottom</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">or</span> <span class="p">(</span><span class="nb">abs</span><span class="p">(</span><span class="n">right_top</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">right_bottom</span><span class="p">))</span> <span class="o"><</span> <span class="n">FRONT_BACK_MULTIPLIER</span><span class="p">))</span> <span class="ow">and</span></div><div class='line' id='LC123'> <span class="p">((</span><span class="n">left_bottom</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">or</span> <span class="p">(</span><span class="nb">abs</span><span class="p">(</span><span class="n">left_top</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">left_bottom</span><span class="p">))</span> <span class="o"><</span> <span class="n">FRONT_BACK_MULTIPLIER</span><span class="p">))):</span></div><div class='line' id='LC124'> <span class="n">lean</span> <span class="o">=</span> <span class="s">"Stop"</span></div><div class='line' id='LC125'> <span class="k">print</span> <span class="n">lean</span></div><div class='line' id='LC126'> </div><div class='line' id='LC127'> <span class="c">#print ('Balance Report: right_top=%s right_bottom=%s ' + \</span></div><div class='line' id='LC128'> <span class="c"># 'left_top=%s left_bottom=%s') % \</span></div><div class='line' id='LC129'> <span class="c"># (right_top, right_bottom, left_top, left_bottom)</span></div><div class='line' id='LC130'> <span class="k">if</span> <span class="p">((</span><span class="n">right_bottom</span> <span class="o">!=</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">and</span> <span class="p">(</span><span class="n">right_top</span> <span class="o">!=</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">and</span> <span class="p">(</span><span class="n">left_bottom</span> <span class="o">!=</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">and</span> <span class="p">(</span><span class="n">left_top</span> <span class="o">!=</span> <span class="mi">0</span><span class="p">)):</span></div><div class='line' id='LC131'> <span class="k">print</span> <span class="p">(</span><span class="s">'RT/RB = </span><span class="si">%.2f</span><span class="s"> LT/LB = </span><span class="si">%.2f</span><span class="s"> RT/LT = </span><span class="si">%.2f</span><span class="s"> RB/LB = </span><span class="si">%.2f</span><span class="s">'</span><span class="p">)</span> <span class="o">%</span> \</div><div class='line' id='LC132'> <span class="p">(</span><span class="nb">abs</span><span class="p">(</span><span class="n">right_top</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">right_bottom</span><span class="p">)),</span> <span class="nb">abs</span><span class="p">(</span><span class="n">left_top</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">left_bottom</span><span class="p">)),</span> <span class="nb">abs</span><span class="p">(</span><span class="n">right_top</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">left_top</span><span class="p">)),</span> <span class="nb">abs</span><span class="p">(</span><span class="n">right_bottom</span><span class="o">/</span><span class="nb">float</span><span class="p">(</span><span class="n">left_bottom</span><span class="p">)))</span> </div><div class='line' id='LC133'><br/></div><div class='line' id='LC134'> <span class="k">if</span> <span class="p">(</span><span class="n">lean</span> <span class="o">==</span> <span class="s">"Left Top"</span><span class="p">):</span></div><div class='line' id='LC135'> <span class="c"># # 0x5X for left forward. 0x51 very slow. 0x5F fastest</span></div><div class='line' id='LC136'> <span class="n">sock</span><span class="o">.</span><span class="n">send</span><span class="p">(</span><span class="s">'</span><span class="se">\x5A</span><span class="s">'</span><span class="p">)</span></div><div class='line' id='LC137'> <span class="k">if</span> <span class="p">(</span><span class="n">lean</span> <span class="o">==</span> <span class="s">"Right Top"</span><span class="p">):</span></div><div class='line' id='LC138'> <span class="c"># # 0x6X for right forward. 0x11 very slow. 0x1F fastest</span></div><div class='line' id='LC139'> <span class="n">sock</span><span class="o">.</span><span class="n">send</span><span class="p">(</span><span class="s">'</span><span class="se">\x6A</span><span class="s">'</span><span class="p">)</span></div><div class='line' id='LC140'> <span class="k">if</span> <span class="p">(</span><span class="n">lean</span> <span class="o">==</span> <span class="s">"Middle Top"</span><span class="p">):</span></div><div class='line' id='LC141'> <span class="c"># # 0x1X for straight forward. 0x11 very slow. 0x1F fastest</span></div><div class='line' id='LC142'> <span class="n">sock</span><span class="o">.</span><span class="n">send</span><span class="p">(</span><span class="s">'</span><span class="se">\x1A</span><span class="s">'</span><span class="p">)</span></div><div class='line' id='LC143'> <span class="k">if</span> <span class="p">(</span><span class="n">lean</span> <span class="o">==</span> <span class="s">"Left Bottom"</span><span class="p">):</span></div><div class='line' id='LC144'> <span class="c"># # 0x7X for left backwards. 0x71 very slow. 0x7F fastest</span></div><div class='line' id='LC145'> <span class="n">sock</span><span class="o">.</span><span class="n">send</span><span class="p">(</span><span class="s">'</span><span class="se">\x7A</span><span class="s">'</span><span class="p">)</span></div><div class='line' id='LC146'> <span class="k">if</span> <span class="p">(</span><span class="n">lean</span> <span class="o">==</span> <span class="s">"Right Bottom"</span><span class="p">):</span></div><div class='line' id='LC147'> <span class="c"># # 0x8X for right backwards. 0x81 very slow. 0x8F fastest</span></div><div class='line' id='LC148'> <span class="n">sock</span><span class="o">.</span><span class="n">send</span><span class="p">(</span><span class="s">'</span><span class="se">\x8A</span><span class="s">'</span><span class="p">)</span></div><div class='line' id='LC149'> <span class="k">if</span> <span class="p">(</span><span class="n">lean</span> <span class="o">==</span> <span class="s">"Middle Bottom"</span><span class="p">):</span></div><div class='line' id='LC150'> <span class="c"># # 0x2X for straight backward. 0x21 very slow. 0x2F fastest</span></div><div class='line' id='LC151'> <span class="n">sock</span><span class="o">.</span><span class="n">send</span><span class="p">(</span><span class="s">'</span><span class="se">\x2A</span><span class="s">'</span><span class="p">)</span></div><div class='line' id='LC152'> <span class="k">if</span> <span class="p">(</span><span class="n">lean</span> <span class="o">==</span> <span class="s">"Stop"</span><span class="p">):</span></div><div class='line' id='LC153'> <span class="c"># #stop</span></div><div class='line' id='LC154'> <span class="n">sock</span><span class="o">.</span><span class="n">send</span><span class="p">(</span><span class="s">'</span><span class="se">\x00</span><span class="s">'</span><span class="p">)</span></div><div class='line' id='LC155'><br/></div><div class='line' id='LC156'><span class="n">main</span><span class="p">()</span></div></pre></div></td>
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