kuukar-rpi/kuukar/kuukar_collision.py

from telemetrix_rpi_pico import telemetrix_rpi_pico
from kuukar.kuukar_config import COLLISION_DETECTOR_PIN, COLLISION_ENABLE
from kuukar.kuukar_lcd import lcd
from kuukar.kuukar_leds import leds
from time import perf_counter as pc

class collision:
    lastCollision_ts = 0
    def __init__(self, mcu: telemetrix_rpi_pico.TelemetrixRpiPico, lcd: lcd, leds: leds) -> None:
        self.mcu = mcu
        self.lcd = lcd
        self.leds = leds
        if COLLISION_ENABLE:
            self.mcu.set_pin_mode_digital_input(COLLISION_DETECTOR_PIN, self.collision_handle)
        
    def collision_handle(self, data):
        val = data[2]
        if val == 1 and pc() - self.lastCollision_ts > 1.5:
            self.lcd.play_video("keke_hurt")
            self.lastCollision_ts = pc()