Added coroutine to TrialApp; changed TouchSensor to be True when

Charles Weir · Charles Weir · commit d5e7792a4321 · 2014-03-20T23:40:00.000Z
pressed.
diff --git a/BrickPython/Sensor.py b/BrickPython/Sensor.py
@@ -35,7 +35,7 @@ def portNumFromId(portNumOrIdChar):
             result = portNumOrIdChar
         else:
             result = int(portNumOrIdChar) - 1
-        assert( result in range(0,3))
+        assert( result in range(0,4))
         return result
 
     def __init__(self, port, type=RAW):
diff --git a/BrickPython/TouchSensor.py b/BrickPython/TouchSensor.py
@@ -9,16 +9,19 @@ class TouchSensor(Sensor):
     Parameter *port* may be either a value (BrickPi.PORT_1) or an integer '1'-'5'
 
     Just using the BrickPi TYPE_SENSOR_TOUCH didn't work for me; hence this.
+
+    value() is True if the button is pressed; False otherwise.
     '''
     def __init__(self, port):
         Sensor.__init__(self, port, Sensor.RAW)
         #: Function that gets called with new value as parameter when the value changes - default, none.
         self.callbackFunction = lambda x: 0
+        self.recentValue = True # default, 0, is pressed.
 
     def updateValue(self, newValue):
         previousValue = self.recentValue
         Sensor.updateValue(self, newValue)
-        self.recentValue = True if self.recentValue > 500 else False
+        self.recentValue = False if self.recentValue > 500 else True
         if self.recentValue != previousValue:
             self.callbackFunction(self.recentValue)
 
diff --git a/ExamplePrograms/TrialApp.py b/ExamplePrograms/TrialApp.py
@@ -6,25 +6,26 @@
 sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.abspath(sys.argv[0]))))
 
 from BrickPython.TkApplication import TkApplication
-from BrickPython.Sensor import Sensor
+from BrickPython.TouchSensor import TouchSensor
 import logging
 
 class App(TkApplication):
     '''Application to
     '''
 
     def __init__(self):
-        TkApplication.__init__(self, {'1': Sensor.ULTRASONIC_CONT })
+        TkApplication.__init__(self, {'4': TouchSensor })
         self.doorLocked = False
         self.addSensorCoroutine( self.turnWhenDetected() )
         self.root.wm_title("Trial running")
         for c in "ABCD":
             self.motor(c).zeroPosition()
 
     def turnWhenDetected(self):
+        sensor = self.sensor('4')
         while True:
-            for i in self.waitMilliseconds(500): yield
-            print self.sensor('4').value()
+            for i in sensor.waitForChange(): yield
+            print sensor.value()
 
 
 ##        for c in "ABCD":
diff --git a/test/TestTouchSensor.py b/test/TestTouchSensor.py
@@ -13,29 +13,29 @@ def testTouchSensor(self):
         sensor = TouchSensor( '1' )
         self.assertEquals(sensor.port, 0)
         self.assertEquals( sensor.idChar, '1' )
-        self.assertEquals( sensor.value(), False )
+        self.assertEquals( sensor.value(), True ) # Pressed in
         sensor.updateValue( 1000 )
-        self.assertEquals( sensor.value(), True )
+        self.assertEquals( sensor.value(), False )
 
     def testTextRepresentation(self):
-        self.assertEquals( repr(TouchSensor( '1' ) ), 'TouchSensor 1: 0')
+        self.assertEquals( repr(TouchSensor( '1' ) ), 'TouchSensor 1: True')
 
     def testCallbackWhenChanged(self):
-        result = [False]
+        result = [True]
         def callbackFunc(x):
             result[0] = x
         sensor = TouchSensor( '1' )
         sensor.callbackFunction = callbackFunc
         sensor.updateValue( 1000 )
-        self.assertEquals( result[0], True )
+        self.assertEquals( result[0], False )
         # And no call when it doesn't change
-        result[0] = False
+        result[0] = True
         sensor.updateValue( 1000 )
-        self.assertEquals( result[0], False )
+        self.assertEquals( result[0], True )
         # But does get a call when it changes back
-        result[0] = True
+        result[0] = False
         sensor.updateValue( 20 )
-        self.assertEquals( result[0], False )
+        self.assertEquals( result[0], True )
 
     def testCoroutineWaitingForChange(self):
         sensor = TouchSensor( '1' )
