From df06dc59cc0a01807e6e8434849cc8acb8761e91 Mon Sep 17 00:00:00 2001
From: Laurens Valk <laurens@pybricks.com>
Date: Tue, 19 May 2020 15:19:18 +0200
Subject: [PATCH] ev3/snippets: bluetooth: update rover example

---
 .../ev3/bluetooth_read_spike/connection.py    |  6 +++-
 snippets/ev3/bluetooth_read_spike/main.py     |  3 +-
 snippets/ev3/bluetooth_read_spike/rover.py    | 28 +++++++++++++++++++
 3 files changed, 34 insertions(+), 3 deletions(-)
 create mode 100644 snippets/ev3/bluetooth_read_spike/rover.py

diff --git a/snippets/ev3/bluetooth_read_spike/connection.py b/snippets/ev3/bluetooth_read_spike/connection.py
index 6e5efce..d30eb74 100644
--- a/snippets/ev3/bluetooth_read_spike/connection.py
+++ b/snippets/ev3/bluetooth_read_spike/connection.py
@@ -28,7 +28,11 @@ def get_bluetooth_rfcomm_socket(address, channel):
 class SpikePrimeStreamReader():
     def __init__(self, address):
 
-        self.sock = get_bluetooth_rfcomm_socket(address, 1)
+        try:
+            self.sock = get_bluetooth_rfcomm_socket(address, 1)
+        except OSError as e:
+            print("Turn on Bluetooth on the EV3 and on SPIKE.")
+            raise e
 
         self._values = None
 
diff --git a/snippets/ev3/bluetooth_read_spike/main.py b/snippets/ev3/bluetooth_read_spike/main.py
index e16fc5a..901f215 100644
--- a/snippets/ev3/bluetooth_read_spike/main.py
+++ b/snippets/ev3/bluetooth_read_spike/main.py
@@ -13,6 +13,5 @@ spike = SpikePrimeStreamReader('F4:84:4C:AA:C8:A4')
 
 # Now you can simply read values!
 for i in range(100):
-    print(spike.orientation())
-    print(spike.device('B'))
+    print(spike.values())
     wait(100)
diff --git a/snippets/ev3/bluetooth_read_spike/rover.py b/snippets/ev3/bluetooth_read_spike/rover.py
new file mode 100644
index 0000000..f6f8dc2
--- /dev/null
+++ b/snippets/ev3/bluetooth_read_spike/rover.py
@@ -0,0 +1,28 @@
+#!/usr/bin/env pybricks-micropython
+from pybricks.hubs import EV3Brick
+from pybricks.tools import wait
+from pybricks.ev3devices import Motor
+from pybricks.robotics import DriveBase
+from pybricks.parameters import Port
+
+from connection import SpikePrimeStreamReader
+
+# Beep!
+ev3 = EV3Brick()
+ev3.speaker.beep()
+
+# Create the connection. See README.md to find the address for your SPIKE hub.
+spike = SpikePrimeStreamReader('F4:84:4C:AA:C8:A4')
+
+# Initialize the motors and drive base
+left_motor = Motor(Port.B)
+right_motor = Motor(Port.C)
+robot = DriveBase(left_motor, right_motor, wheel_diameter=55.5, axle_track=104)
+
+while True:
+    # Read the orientation
+    yaw, pitch, roll = spike.orientation()
+
+    # Set speed and turn rate based on orientation
+    robot.drive(-pitch*6, roll*2)
+    wait(20)