✨

encoder_free.py

@@ -1,4 +1,3 @@
-import time
 from time import sleep
 
 import robot

robot.py

@@ -16,7 +16,7 @@ class Robot(object):
     In case you experience trouble - consider using only commands that do not
     use the wheel encoders.
     """
-    def __init__(self, port = '/dev/ttyACM0'):
+    def __init__(self, port: str = '/dev/ttyACM0'):
         """
         The constructor port parameter can be changed from default value if you
         want to control the robot directly from your labtop (instead of from
@@ -51,7 +51,7 @@ class Robot(object):
         print((self.send_command(cmd)))
         self.serial_read.close()
 
-    def send_command(self, cmd, sleep_ms=0.0):
+    def send_command(self, cmd : str, sleep_ms: float=0.0):
         """Sends a command to the Arduino robot controller"""
         self.serial_read.write(cmd.encode('ascii'))
         sleep(sleep_ms)
@@ -59,14 +59,15 @@ class Robot(object):
         return str_val
 
 
-    def _power_checker(self, power):
+    def _power_checker(self, power: int):
         """
         Checks if a power value is in the set {0, [40;127]}.
         This is an internal utility function.
         """
         return  (power == 0) or (power >=40 and power <=127)
 
-    def go_diff(self, power_left, power_right, dir_left, dir_right):
+    def go_diff(self, power_left : int, power_right : int, dir_left : int,
+                dir_right : int):
         """
         Start left motor with motor power powerLeft (in {0, [40;127]} and the
         numbers must be integer) and direction dirLeft (0=reverse, 1=forward)
@@ -85,13 +86,13 @@ class Robot(object):
         ):
             print("WARNING: Read the docstring of Robot.go_diff()!")
             return ""
-        else:
+
-            pl_int = int(power_left)
+        pl_int = int(power_left)
-            pr_int = int(power_right)
+        pr_int = int(power_right)
-            dl_int = int(dir_left)
+        dl_int = int(dir_left)
-            dr_int = int(dir_right)
+        dr_int = int(dir_right)
-            cmd = f"d{pl_int},{pr_int},{dl_int},{dr_int}\n"
+        cmd = f"d{pl_int},{pr_int},{dl_int},{dr_int}\n"
-            return self.send_command(cmd)
+        return self.send_command(cmd)
 
 
     def stop(self):
@@ -106,7 +107,7 @@ class Robot(object):
 
 
 
-    def read_sensor(self, sensorid):
+    def read_sensor(self, sensorid : int):
         """
         Send a read sensor command with sensorid and return sensor value.
 

test_arduino_encoders.py

@@ -1,4 +1,3 @@
-import time
 from time import sleep
 
 import robot