From b310bdc25c2637681ae025335b8f97d9f80dd002 Mon Sep 17 00:00:00 2001
From: Siwat Sirichai <siwat@siwatinc.com>
Date: Fri, 4 Nov 2022 21:19:24 +0700
Subject: [PATCH 1/2] remove flask

---
 app.py | 40 ++--------------------------------------
 1 file changed, 2 insertions(+), 38 deletions(-)

diff --git a/app.py b/app.py
index c3c0ddc..54e3f81 100644
--- a/app.py
+++ b/app.py
@@ -6,12 +6,9 @@ import kuukar.kuukar_motion as kuukar_motion
 import kuukar.kuukar_lcd as kuukar_lcd
 import kuukar.kuukar_sensors as kuukar_sensors
 import kuukar.kuukar_environment as kuukar_environment
-from flask import Flask, request
 
 from kuukar.kuukar_config import SERIAL_MCU, SERIAL_DRV
 
-app = Flask(__name__)
-
 mcu = telemetrix_rpi_pico.TelemetrixRpiPico(com_port=SERIAL_MCU)
 drv = telemetrix_rpi_pico.TelemetrixRpiPico(com_port=SERIAL_DRV)
 sensors = kuukar_sensors.sensors(mcu)
@@ -20,7 +17,8 @@ motion = kuukar_motion.motion(mcu, drv, leds, sensors)
 lcd = kuukar_lcd.lcd(motion, sensors)
 environment = kuukar_environment.environment(lcd, leds, sensors)
 collision = kuukar_collision.collision(mcu, lcd, leds)
-motion.turn(30,3000)
+
+motion.roam_start()
 
 while True:
     temp = sensors.get_temperature()
@@ -30,37 +28,3 @@ while True:
     dist3 = sensors.sonar_get_distance(2)
     print(f'temp: {temp}, humidity: {humid}, dist1: {dist1}, dist2: {dist2}, dist3: {dist3}')
     time.sleep(1)
-
-@app.route('/drive')
-def drive():
-    speed = int(request.args.get('speed'))
-    motion.drive(speed)
-
-
-@app.route("/stop")
-def stop():
-    motion.stop()
-
-
-@app.route('/turn')
-def turn():
-    speed = int(request.args.get('speed'))
-    duration = int(request.args.get('duration'))
-    motion.turn(speed, duration)
-
-
-@app.route('/set_ambient_leds')
-def set_ambient_leds():
-    r = int(request.args.get('r'))
-    g = int(request.args.get('g'))
-    b = int(request.args.get('b'))
-    leds.set_ambient_led(r, g, b)
-
-
-@app.route('/set_mode')
-def set_mode():
-    mode = str(request.args.get('mode'))
-    if mode == "AI":
-        motion.roam_start()
-    elif mode == "MANUAL":
-        motion.roam_stop()

From cca77561b2d6b917f7c67814f219766e449041ba Mon Sep 17 00:00:00 2001
From: Siwat Sirichai <siwat@siwatinc.com>
Date: Fri, 4 Nov 2022 21:19:37 +0700
Subject: [PATCH 2/2] add delay in motion

---
 kuukar/kuukar_motion.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/kuukar/kuukar_motion.py b/kuukar/kuukar_motion.py
index d07f7f7..376c529 100644
--- a/kuukar/kuukar_motion.py
+++ b/kuukar/kuukar_motion.py
@@ -109,4 +109,6 @@ class motion:
                     self.turn(-23, TURN_TIME_FS_90DEG_MS)
                     self.drive(30)
             self.stop()
-            print("stopping")
\ No newline at end of file
+        
+            print("stopping")
+        time.sleep(0.5)
\ No newline at end of file