Trapos

Introducción

Los subprocesos permiten que un robot ejecute múltiples tareas simultáneamente dentro del mismo programa. Facilitan la multitarea, permitiendo que el robot realice acciones independientes simultáneamente.

Nota: Debes primero definir una función para usarla con un hilo.

Constructor – Crea e inicia nuevos hilos.

• Thread – Starts a new thread that runs the specified function in parallel with the main program.

Acción – Controlar hilos en ejecución.

• stop – Stops a thread manually, useful for halting background behavior.

Constructor

Thread

Thread creates and starts a thread. When you create a thread, you can name it to manage it individually in your project.

Uso:

my_thread = Thread(my_function)

Parámetros	Descripción
my_thread	Opcional. Un nombre para el nuevo hilo.
my_function	El nombre de una función definida previamente.

Nota: Una función siempre debe definirse antes de ser llamada.

# Drive forward while blinking lights
def blink_lights():
    while True:
        robot.led.on(ALL_LEDS, RED)
        wait(0.5, SECONDS)
        robot.led.on(ALL_LEDS, BLUE)
        wait(0.5, SECONDS)
blink_lights_thread = Thread(blink_lights)
robot.move_at(0)

# Run multiple threads simultaneously
# Turn right, blink lights and display heading at once
def blink_lights():
    while True:
        robot.led.on(ALL_LEDS, RED)
        wait(0.5, SECONDS)
        robot.led.on(ALL_LEDS, GREEN)
        wait(0.5, SECONDS)

def display_heading():
    while True:
        robot.screen.clear_row()
        robot.screen.set_cursor(1, 1)
        robot.screen.print(f"Heading: {robot.inertial.get_yaw()}")
        wait(50, MSEC)

blink_lights_thread = Thread(blink_lights)     
display_heading_thread = Thread(display_heading)
robot.turn(RIGHT)

Acción

stop

stop stops a thread manually, which is useful when a task is no longer needed or when a program needs to reset or reassign threads. Once a thread is stopped, it cannot be restarted. To run it again, you must create a new thread using Thread.

Uso:

my_thread.stop()

Parámetros	Descripción
my_thread	A previously started thread object. This is the name assigned when the thread was created using Thread.

"""
Run multiple threads simultaneously
Turn right, blink lights and display heading at once
Stop blinking lights after 2 seconds
"""
def blink_lights():
    while True:
        robot.led.on(ALL_LEDS, RED)
        wait(0.5, SECONDS)
        robot.led.off(ALL_LEDS)
        wait(0.5, SECONDS)

def display_heading():
    while True:
        robot.screen.clear_row()
        robot.screen.set_cursor(1, 1)
        robot.screen.print(f"Heading: {robot.inertial.get_yaw()}")
        wait(50, MSEC)

blink_lights_thread = Thread(blink_lights)     
display_heading_thread = Thread(display_heading)
robot.turn(RIGHT)

wait(2, SECONDS)
blink_lights_thread.stop()