Merge pull request #16 from sphero-inc/feature/send-last-command-before-close

Always delay 200 ms before closing the serial port

Author: Jim-Konish

getting_started/asyncio/magnetometer/magnetometer_calibrate_to_north.py

@@ -18,19 +18,26 @@
 # Flag used to indicate that calibration is complete
 calibration_completed = False
 
+# Initial yaw offset to magnetic North
+yaw_north = 0
+
 # Handler for completion of calibration
 async def on_calibration_complete_notify_handler(response):
     global calibration_completed
+    global yaw_north
 
     print('Calibration complete, response:', response)
+    yaw_north = response['yaw_north_direction']
     calibration_completed = True
+    
 
 
 async def main():
     """ This program demonstrates the magnetometer calibration to find north.
     """
 
     global calibration_completed
+    global yaw_north
 
     await rvr.wake()
 
@@ -47,7 +54,33 @@ async def main():
     # Wait to complete the calibration.  Note: In a real project, a timeout mechanism
     # should be here to prevent the script from getting caught in an infinite loop
     while not calibration_completed:
-        await asyncio.sleep(0)
+        await asyncio.sleep(.1)
+
+    print('Turning to face north')
+
+    # Turn to face north
+    await rvr.drive_with_yaw_normalized(
+        yaw_angle=yaw_north, 
+        linear_velocity=0
+    )
+
+    # Leave some time for it to complete the move
+    await asyncio.sleep(2)
+
+    # Reset yaw to zero.  After this, zero heading will be magnetic north
+    await rvr.reset_yaw()
+
+    print('Turning to face east')
+
+    # You can now drive along compass headings as follows (adjust linear velocity to drive forward)
+    await rvr.drive_with_heading(
+        speed = 0,  # This is normalized 0-255.  0 will cause RVR to turn in place
+        heading=90, # This is the compass heading
+        flags=0     # Just leave this at zero to drive forward
+    )
+
+    # Allow some time for the move to complete before we end our script
+    await asyncio.sleep(2)
 
     await rvr.close();
 

getting_started/observer/magentometer/__init__.py renamed to getting_started/observer/magnetometer/__init__.py

@@ -23,6 +23,9 @@ def main():
 
         rvr.get_magnetometer_reading(handler=get_magnetometer_reading_response_handler)
 
+        # Keep the script running briefly so we actually get to report the response.
+        time.sleep(1)
+
     except KeyboardInterrupt:
         print('\nProgram terminated with keyboard interrupt.')
 

getting_started/observer/magentometer/get_magnetometer_reading.py renamed to getting_started/observer/magnetometer/get_magnetometer_reading.py

@@ -10,6 +10,8 @@
 # Flag used to indicate that calibration is complete
 calibration_completed = False
 
+# Initial yaw offset to magnetic North
+yaw_north = 0
 
 # Handler for completion of calibration
 def on_calibration_complete_notify_handler(response):
@@ -20,11 +22,16 @@ def on_calibration_complete_notify_handler(response):
 
 
 def main():
-    """ This program demonstrates the magnetometer calibration to find north.
+    """ This program demonstrates the following:
+        1. Run magnetometer calibration to find the yaw angle of magnetic north
+        2. Turn to face magnetic north
+        3. Reset the yaw angle to zero at north
+        4. Turn to face a compass heading
     """
 
     try:
         global calibration_completed
+        global yaw_north
 
         rvr.wake()
 
@@ -43,6 +50,32 @@ def main():
         while not calibration_completed:
             time.sleep(0)
 
+        print('Turning to face north')
+
+        # Turn to face north
+        rvr.drive_with_yaw_normalized(
+            yaw_angle=yaw_north, # This is the target yaw angle, which RVR will turn to face.
+            linear_velocity=0,   # This is normalized 0-255.  0 will cause RVR to turn in place
+        )
+
+        # Leave some time for it to complete the move
+        time.sleep(2)
+
+        # Reset yaw to zero.  After this, zero heading will be magnetic north
+        rvr.reset_yaw()
+
+        print('Turning to face east')
+
+         # You can now drive along compass headings as follows (adjust linear velocity to drive forward)
+        rvr.drive_with_heading(
+            speed = 0,  # This is normalized 0-255.  0 will cause RVR to turn in place
+            heading=90, # This is the compass heading
+            flags=0     # Just leave this at zero to drive forward
+        )
+
+        # Allow some time for the move to complete before we end our script
+        time.sleep(2)
+
     except KeyboardInterrupt:
         print('\nProgram terminated with keyboard interrupt.')
 

getting_started/observer/magentometer/magnetometer_calibrate_to_north.py renamed to getting_started/observer/magnetometer/magnetometer_calibrate_to_north.py

@@ -63,7 +63,8 @@ def request_error_responses_only(self, is_enabled):
     async def close(self): 
         if len(self._sensor_control.enabled_sensors) > 0: 
             await self._sensor_control.clear()
-            await asyncio.sleep(.2)
+        
+        await asyncio.sleep(.2)
 
         await self._dal.close()
 

sphero_sdk/asyncio/client/toys/sphero_rvr_async.py

@@ -64,8 +64,8 @@ def request_error_responses_only(self, is_enabled):
     def close(self): 
         if len(self._sensor_control.enabled_sensors) > 0: 
             self._sensor_control.clear()
-            time.sleep(.2)
-
+        
+        time.sleep(.2)
         self._dal.close()
 
     def echo(self, data, handler, target, timeout=None):