#!/usr/bin/env python

"""

Simple remote control.

The motors are controlled according to the following table.

Motor port Channel Buttons

---------- ------- -------

A 1 red

B 1 blue

C 2 red

D 2 blue

The program is stopped by pressing the baecon button.

"""

from ev3.ev3dev import Motor, NoSuchMotorError

from ev3.lego import InfraredSensor

from ev3.event_loop import EventLoop

ir = InfraredSensor()

motors = []

for port in 'ABCD':

try:

motor = Motor(port=port)

motor.regulation_mode = False

except NoSuchMotorError:

motor = None

motors.append(motor)

buttons = [

(ir.REMOTE.RED_UP, ir.REMOTE.RED_DOWN),

(ir.REMOTE.BLUE_UP, ir.REMOTE.BLUE_DOWN),

]

def ir_changed(event):

for channel in range(2):

state = event.evaluation[channel]

if state == ir.REMOTE.BAECON_MODE_ON:

for m in motors:

if m is not None:

m.stop()

loop.stop()

for button in range(2):

n = channel * 2 + button

motor = motors[channel * 2 + button]

if not motor:

pass

elif state == buttons[button][0]:

motor.run_forever(50)

elif state == buttons[button][1]:

motor.run_forever(-50)

else:

motor.stop()

loop = EventLoop()

loop.register_value_change(getter=lambda: ir.remote,

startvalue=ir.remote,

target=ir_changed)

loop.start()