From ac2cb7d1c7373df3796e7ea56b56dd13fe50a77a Mon Sep 17 00:00:00 2001
From: Steven Shamlian <sshamlian@irobot.com>
Date: Thu, 18 Jan 2024 10:39:16 -0500
Subject: [PATCH] First pass at an example using one robot's sensors to drive
 another

---
 examples_experimental/multidrive.py | 46 +++++++++++++++++++++++++++++
 1 file changed, 46 insertions(+)
 create mode 100644 examples_experimental/multidrive.py

diff --git a/examples_experimental/multidrive.py b/examples_experimental/multidrive.py
new file mode 100644
index 0000000..28b0e29
--- /dev/null
+++ b/examples_experimental/multidrive.py
@@ -0,0 +1,46 @@
+#
+# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2021-2024 iRobot Corporation. All rights reserved.
+#
+
+import math
+
+from irobot_edu_sdk.backend.bluetooth import Bluetooth
+from irobot_edu_sdk.robots import event, hand_over, Root
+
+backend1 = Bluetooth('R00T')
+backend2 = Bluetooth('Root')
+wheel = Root(backend1)
+robot = Root(backend2)
+
+accel = False
+
+@event(wheel.when_play)
+async def play(wheel):
+    global accel
+    print('play wheel!')  # Put your code here!
+    while True:
+        accel = await wheel.get_accelerometer()
+
+@event(robot.when_play)
+async def play(robot):
+    global accel
+    print('play robot!')  # Put your code here!
+    while True:
+        try:
+            angle = abs(math.atan2(-accel[0], accel[1]))
+            speed = 10 - min(abs(accel[2] / 100), 10)
+        except TypeError: # other robot hasn't published yet
+            angle = math.pi / 2
+            speed = 0
+
+        # normalize to [-2, 2] from left to right
+        angle /= (0.2 * math.pi)
+        angle -= 2
+
+        vl = max(min((  angle  + 1) * speed, 10), -10)
+        vr = max(min(((-angle) + 1) * speed, 10), -10)
+
+        await robot.set_wheel_speeds(vl, vr)
+
+wheel.play()
+#robot.play() - only want to have one call to play since it's blocking; doesn't matter which object you call from