Direct control fix

Author: sorre97

api.py

@@ -117,11 +117,17 @@ def stop():
     return 200
 
 def move(data):
-    bot.move(speed=data["speed"], elapse=data["elapse"], distance=data["distance"])
+    try:
+        bot.move(speed=data["speed"], elapse=data["elapse"], distance=data["distance"])
+    except Exception as e:
+        bot.move(speed=data["speed"], elapse=data["elapse"], distance=0)
     return 200
 
 def turn(data):
-    bot.turn(speed=data["speed"], time_elapse=data["elapse"])
+    try:
+        bot.turn(speed=data["speed"], elapse=data["elapse"])
+    except Exception as e:
+        bot.turn(speed=data["speed"], elapse=-1)
     return 200
 
 def exec(data):
@@ -136,7 +142,7 @@ def status():
     try:
         with open('/home/pi/coderbot/logs/reset_trigger_service.log', 'r') as log_file:
             data = [x for x in log_file.read().split('\n') if x]
-    except Exception:
+    except Exception: # direct control case
         data = [] # if file doesn't exist, no restore as ever been performed. return empty data
 
 

rotary_encoder/wheelsaxel.py

@@ -86,8 +86,10 @@ def control_time(self, power_left=100, power_right=100, time_elapse=0):
         self._is_moving = True
 
         # moving for desired time
-        sleep(time_elapse)
-        self.stop()
+        # fixed for direct control that uses time_elapse -1 and stops manually
+        if(time_elapse > 0):
+            sleep(time_elapse)
+            self.stop()
 
     """ Motor distance control allows the motors
             to run for a certain amount of distance (mm) """
@@ -123,14 +125,17 @@ def stop(self):
 
         # trying to fix distance different than zero after
         # wheels has stopped by re-resetting state after 0.5s
-        sleep(0.5)
+        sleep(0.1)
         self._left_motor.reset_state()
         self._right_motor.reset_state()
 
         # updating state
         self._is_moving = False
         # restoring callback
-        self._wheelsAxle_lock.release()
+        try:
+            self._wheelsAxle_lock.release()
+        except Exception as e:
+            pass
 
     # CALLBACK
     def cancel_callback(self):