Pushed competition code

autonomy_main_logging.py

@@ -231,9 +231,14 @@ def set_gps_waypoint():
             # distance = 2 # for testing, comment out later
             if distance < .5:
                 rovecomm_node.write(drive.send_drive(0, 0))
-                state_switcher.handle_event(rs.AutonomyEvents.REACHED_MARKER, rs.ApproachingMarker(), then=logging.info("Reached Marker")) # commented for testing, remove the commenting for running
+
+                # rovecomm_node.write(RoveCommPacket(1000, 'h', (0,0), ip_octet_4=140))
+                # state_switcher.handle_event(rs.AutonomyEvents.REACHED_MARKER, rs.ApproachingMarker(), then=logging.info("Reached Marker")) # commented for testing, remove the commenting for running
+
+
                 with open(outString, 'a') as f:
                     f.write(time.strftime("%H%M%S") + " ApproachingMarker: Reached Marker, entering Idle()\n")
+
                 notify.notify_finish()
                 continue
             else:

drivers/notify.py

@@ -1,41 +1,38 @@
-import time
-import struct
-
-from drivers.rovecomm import RoveCommEthernetUdp, RoveCommPacket
-
-
-DRIVE_BOARD_IP = "192.168.1.142"
-NOTIFY_ID = 7000
-
-
-class Notify:
-
-    def __init__(self, rove_comm):
-        self.rove_comm_node = rove_comm
-
-    def _notify(self, val):
-        self.rove_comm_node.write(RoveCommPacket(NOTIFY_ID, 'b', (val,0), ip_octet_4='142'))
-
-    def notify_finish(self):
-        self._notify(50)
-        time.sleep(1)
-        self._notify(0)
-        time.sleep(1)
-        self._notify(50)
-        time.sleep(1)
-        self._notify(0)
-        time.sleep(1)
-        self._notify(50)
-        time.sleep(1)
-        self._notify(0)
-        time.sleep(1)
-        self._notify(50)
-        time.sleep(5)
-        self._notify(0)
-
-
-if __name__ == '__main__':
-    rove_comm_node = RoveCommEthernetUdp("oof.txt")
-    notify = Notify(rove_comm_node)
-
-    notify.notify_finish()
+import time
+import struct
+
+from drivers.rovecomm import RoveCommEthernetUdp, RoveCommPacket
+
+
+DRIVE_BOARD_IP = "192.168.1.142"
+NOTIFY_ID = 7000
+
+
+class Notify:
+
+    def __init__(self, rove_comm):
+        self.rove_comm_node = rove_comm
+
+    def _notify(self, val):
+        self.rove_comm_node.write(RoveCommPacket(NOTIFY_ID, 'b', (val,0), ip_octet_4='142'))
+
+    def notify_finish(self):
+        self._notify(50)
+        time.sleep(1)
+        self._notify(0)
+        time.sleep(1)
+        self._notify(50)
+        time.sleep(1)
+        self._notify(0)
+        time.sleep(1)
+        self._notify(50)
+        time.sleep(5)
+        self._notify(0)
+
+
+if __name__ == '__main__':
+    rove_comm_node = RoveCommEthernetUdp("oof.txt")
+    notify = Notify(rove_comm_node)
+
+    notify.notify_finish()
+