Stop the action when hit a wall.

README.md

@@ -57,18 +57,26 @@ Acceptable values for *direction*:
 
 ### Examples
 
+#### Action successfully completed
+
     $ GET http://192.168.1.16:5000/move/forward/50
     {"message": "OK", "direction": "forward", "action": "move"}
 
 In this case the HTTP status code returned is 200.
 
+#### Unable to understand the request
+
     $ GET http://192.168.1.16:5000/move/nowhere
     {"message": "Unknown direction", "direction": "nowhere", "action": "move"}
 
 In this case the HTTP status code returned is 400.
 
+#### Hit a wall
+
+    $ GET http://192.168.1.16:5000/move/forward?blocks=25
+    {"action": "move", "direction": "forward", "message": "hit_wall"}
 
-## Retrieve values from sensors
+## Retrieve values from sensors (not yet implemented)
 
     $ GET http://192.168.1.16:5000/sensor/<sensor_name>
 

web/lib/movements.py

@@ -17,8 +17,18 @@ __revision__ = "$Date: 2015/11/05 $"
 __copyright__ = "Copyright (c) 2014-2015 Cédric Bonhomme"
 __license__ = ""
 
+import time
 from ev3.ev3dev import Motor
 
+from web import button
+
+def stop(motorA, motorB):
+    """
+    Stop the motors.
+    """
+    motorA.stop()
+    motorB.stop()
+
 def run_position_limited(motorA, motorB, position):
     """
     Run for a limitied position.
@@ -31,3 +41,11 @@ def run_position_limited(motorA, motorB, position):
     motorB.run_position_limited(position_sp=position, speed_sp=800,
                    stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=1000,
                    amp_down_sp=1000)
+    # Wait for the completion of the command before sending the result
+    while "running" in motorA.state.split(" ") and \
+                        "running" in motorB.state.split(" "):
+        time.sleep(0.1)
+        if button.is_pushed:
+            stop(motorA, motorB)
+            return "hit_wall"
+    return "OK"

web/views/views.py

@@ -17,6 +17,7 @@ __revision__ = "$Date: 2015/11/04 $"
 __copyright__ = "Copyright (c) 2014-2015 Cédric Bonhomme"
 __license__ = ""
 
+import time
 from flask import render_template, current_app, request, session, \
     url_for, redirect, g, send_from_directory, make_response, abort, Markup
 from flask.ext.login import LoginManager, login_user, logout_user, \
@@ -26,6 +27,7 @@ from ev3.ev3dev import Motor
 
 import conf
 from web.decorators import to_response
+from web.lib import movements
 from web import app
 from web.lib import movements
 from web import right_wheel, left_wheel, button, ir_sensor, color_sensor
@@ -69,14 +71,8 @@ def move(direction="forward", speed=800):
         nb_blocks = request.args.get("blocks", None)
         if None is not nb_blocks:
             position = int(nb_blocks) * 360
-            left_wheel.position = 0
-            left_wheel.run_position_limited(position_sp=position, speed_sp=800,
-                           stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=1000,
-                           ramp_down_sp=1000)
-            right_wheel.position = 0
-            right_wheel.run_position_limited(position_sp=position, speed_sp=800,
-                           stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=1000,
-                           amp_down_sp=1000)
+            result["message"] = movements.run_position_limited(left_wheel,
+                                                        right_wheel, position)
         else:
             left_wheel.run_forever(speed * 1, regulation_mode=False)
             right_wheel.run_forever(speed * 1, regulation_mode=False)
@@ -85,14 +81,8 @@ def move(direction="forward", speed=800):
         nb_blocks = request.args.get("blocks", None)
         if None is not nb_blocks:
             position = int(nb_blocks) * -360
-            left_wheel.position = 0
-            left_wheel.run_position_limited(position_sp=position, speed_sp=800,
-                           stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=1000,
-                           ramp_down_sp=1000)
-            right_wheel.position = 0
-            right_wheel.run_position_limited(position_sp=position, speed_sp=800,
-                           stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=1000,
-                           amp_down_sp=1000)
+            result["message"] = movements.run_position_limited(left_wheel,
+                                                        right_wheel, position)
         else:
             left_wheel.run_forever(speed * -1, regulation_mode=False)
             right_wheel.run_forever(speed * -1, regulation_mode=False)