From bcb47f0d23f326b70c007da3aaa4925378f2deda Mon Sep 17 00:00:00 2001
From: Antoni Luong Pham <Antoni.LuongPham@GMail.com>
Date: Sun, 25 Oct 2020 13:51:57 -0700
Subject: [PATCH] sets/ev3/home/gripp3r: refactor main.py

---
 sets/ev3/home/gripp3r/.vscode/launch.json |  2 +-
 sets/ev3/home/gripp3r/README.md           |  7 +++++
 sets/ev3/home/gripp3r/gripp3r.py          | 37 -----------------------
 sets/ev3/home/gripp3r/main.py             | 21 +++++++++++++
 4 files changed, 29 insertions(+), 38 deletions(-)
 create mode 100644 sets/ev3/home/gripp3r/README.md
 create mode 100644 sets/ev3/home/gripp3r/main.py

diff --git a/sets/ev3/home/gripp3r/.vscode/launch.json b/sets/ev3/home/gripp3r/.vscode/launch.json
index 18fa898..d933aeb 100644
--- a/sets/ev3/home/gripp3r/.vscode/launch.json
+++ b/sets/ev3/home/gripp3r/.vscode/launch.json
@@ -8,7 +8,7 @@
 			"name": "Download and Run",
 			"type": "ev3devBrowser",
 			"request": "launch",
-			"program": "/home/robot/${workspaceRootFolderName}/gripp3r.py",
+			"program": "/home/robot/${workspaceRootFolderName}/main.py",
 			"interactiveTerminal": false
 		}
 	]
diff --git a/sets/ev3/home/gripp3r/README.md b/sets/ev3/home/gripp3r/README.md
new file mode 100644
index 0000000..2af71a8
--- /dev/null
+++ b/sets/ev3/home/gripp3r/README.md
@@ -0,0 +1,7 @@
+# Example LEGO® MINDSTORMS® EV3 Gripp3r Program
+
+This program requires LEGO® EV3 MicroPython v2.0 downloadable at https://education.lego.com/en-us/support/mindstorms-ev3/python-for-ev3.
+
+Building instructions can be found at https://www.lego.com/en-us/themes/mindstorms/buildarobot.
+
+You can drive Gripp3r around and make it grip or release objects by the IR beacon.
diff --git a/sets/ev3/home/gripp3r/gripp3r.py b/sets/ev3/home/gripp3r/gripp3r.py
index bf8015b..90f6240 100644
--- a/sets/ev3/home/gripp3r/gripp3r.py
+++ b/sets/ev3/home/gripp3r/gripp3r.py
@@ -1,21 +1,7 @@
-#!/usr/bin/env pybricks-micropython
-
-"""
-Example LEGO® MINDSTORMS® EV3 Gripp3r Program
----------------------------------------------
-
-This program requires LEGO® EV3 MicroPython v2.0 downloadable at:
-https://education.lego.com/en-us/support/mindstorms-ev3/python-for-ev3
-
-Building instructions can be found at:
-https://www.lego.com/en-us/themes/mindstorms/buildarobot
-"""
-
 from pybricks.hubs import EV3Brick
 from pybricks.ev3devices import Motor, TouchSensor, InfraredSensor
 from pybricks.media.ev3dev import SoundFile
 from pybricks.parameters import Button, Direction, Port, Stop
-from pybricks.tools import wait
 
 from rc_tank_util import RemoteControlledTank
 
@@ -75,26 +61,3 @@ class Gripp3r(RemoteControlledTank):
             while Button.BEACON in \
                     self.ir_sensor.buttons(channel=self.ir_beacon_channel):
                 pass
-
-    def main(
-            self,
-            driving_speed: float = 1000   # mm/s
-            ):
-        """
-        Gripp3r's main program performing various capabilities
-        """
-        self.gripping_motor.run_time(
-            speed=-500,
-            time=1000,
-            then=Stop.COAST,
-            wait=True)
-
-        while True:
-            self.drive_by_ir_beacon(speed=driving_speed)
-            self.grip_or_release_by_ir_beacon(speed=500)
-            wait(1)
-
-
-if __name__ == '__main__':
-    GRIPP3R = Gripp3r()
-    GRIPP3R.main(driving_speed=1000)
diff --git a/sets/ev3/home/gripp3r/main.py b/sets/ev3/home/gripp3r/main.py
new file mode 100644
index 0000000..b6c3cf3
--- /dev/null
+++ b/sets/ev3/home/gripp3r/main.py
@@ -0,0 +1,21 @@
+#!/usr/bin/env pybricks-micropython
+
+
+from pybricks.parameters import Stop
+from pybricks.tools import wait
+
+from gripp3r import Gripp3r
+
+
+gripp3r = Gripp3r()
+
+gripp3r.gripping_motor.run_time(
+    speed=-500,
+    time=1000,
+    then=Stop.COAST,
+    wait=True)
+
+while True:
+    gripp3r.drive_by_ir_beacon(speed=1000)
+    gripp3r.grip_or_release_by_ir_beacon(speed=500)
+    wait(1)