#########################################
# MotorDualPwm.py
# description: Motor service which support 2 pwr pwm pins clockwise and counterclockwise
# categories: motor
# more info @: http://myrobotlab.org/service/MotorDualPwm
#########################################
# Config
port="COM3"
# start optional virtual arduino service, used for test
if ('virtual' in globals() and virtual):
    virtualArduino = runtime.start("virtualArduino", "VirtualArduino")
    virtualArduino.connect(port)
arduino = runtime.start("arduino","Arduino")
motor = runtime.start("motor","MotorDualPwm")
arduino.connect(port)
motor.setPwmPins(10,11)
motor.attach(arduino)
# At this point you should be able to control the motor thru the Gui
# move both motors forward
# at 50% power
# for 2 seconds
motor.move(0.5)
sleep(2) 
# move both motors backward
# at 50% power
# for 2 seconds
motor.move(-0.5)
sleep(2)
# stop and lock
motor.stopAndLock()
# after locking
# motor should not move
motor.move(0.5)
sleep(2)
# unlock motor and move it
motor.unlock()
motor.move(0.5)
sleep(2)
motor.stop()

#########################################
# Pir.py
# description: PIR - Passive Infrared Sensor
# categories: sensor
# more info @: http://myrobotlab.org/service/Pir
#########################################
 
from datetime import datetime
 
# start the service
pir = Runtime.start('pir','Pir')
pir.setPin('23')
 
# start a micro controller
mega = Runtime.start('mega','Arduino')
 
# start a speech synthesis service
mouth = Runtime.start('mouth','LocalSpeech')
 
# connect the micro controller
mega.connect('/dev/ttyACM1')
mega.attach(pir)
 
# attach the pir sensor to the micro controller
pir.attach('mega')
 
# subscribe to the pir's publishSense method - callback will be python onSense
python.subscribe('pir', 'publishSense')
# enable the pir
pir.enable()
 
# callback method - change state of pir this method will be called
def onSense(data):
    print('onSense', data, str(datetime.now()))
    mouth = Runtime.getService('mouth')
    if data:
        mouth.speak('I see you')
    else:
        mouth.speak('where did you go?')