From 65c81834c9d3ec469dd20666518ec3fe4ae3de89 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Pavel=20Lobodinsky=CC=81?= <pavel.lobo@gmail.com>
Date: Mon, 3 Jan 2022 23:35:34 +0100
Subject: [PATCH] pybricks.hubs.PrimeHub: Added a cleanup example.

---
 doc/main/hubs/primehub.rst           |  7 ++++++
 examples/pup/hub_primehub/cleanup.py | 33 ++++++++++++++++++++++++++++
 2 files changed, 40 insertions(+)
 create mode 100644 examples/pup/hub_primehub/cleanup.py

diff --git a/doc/main/hubs/primehub.rst b/doc/main/hubs/primehub.rst
index a194296..6cc4aec 100644
--- a/doc/main/hubs/primehub.rst
+++ b/doc/main/hubs/primehub.rst
@@ -235,3 +235,10 @@ Turning the hub off
 
 .. literalinclude::
     ../../../examples/pup/hub_primehub/system_shutdown.py
+
+Clean up after program stop
+*****************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/cleanup.py
+
diff --git a/examples/pup/hub_primehub/cleanup.py b/examples/pup/hub_primehub/cleanup.py
new file mode 100644
index 0000000..e7de877
--- /dev/null
+++ b/examples/pup/hub_primehub/cleanup.py
@@ -0,0 +1,33 @@
+from pybricks.hubs import PrimeHub
+from pybricks.parameters import Color, Port
+from pybricks.pupdevices import ColorSensor, UltrasonicSensor
+
+# Initialize the hub
+hub = PrimeHub()
+
+# Initialize the sensors
+ultrasonic_sensor = UltrasonicSensor(Port.E)
+color_sensor = ColorSensor(Port.F)
+
+# Turn on upper halves
+ultrasonic_sensor.lights.on([50, 50, 0, 0])
+
+
+# Your robot's code goes here
+def main():
+    while True:
+        color = color_sensor.color()
+        if color == Color.RED:
+            hub.display.text("R")
+        else:
+            hub.display.text("?")
+
+
+# Wrap the code in try-finally to ensure the cleanup code is always executed
+# no matter if the program gets stopped gracefully by the user or by an error
+try:
+    main()
+finally:
+    # The cleanup code goes here
+    color_sensor.lights.off()
+    ultrasonic_sensor.lights.off()