update lib, scripts

Subproject commit e919a485260a9da2f115a2c91d5cc7768023187c

Subproject commit 7871841272503dc8d05a583956b92cb152378a7f

#!/usr/bin/python

import time

import pigpio

I2C_ADDR=0x22  # 34

def i2c(id, tick):

    global pi

    s, b, d = pi.bsc_i2c(I2C_ADDR)

    print("status={:021b} received={} {}".format(s, b, list(d)))

pi = pigpio.pi()

if not pi.connected:

    exit()

# Respond to BSC slave activity

e = pi.event_callback(pigpio.EVENT_BSC, i2c)

pi.bsc_i2c(I2C_ADDR)  # Configure BSC as I2C slave

time.sleep(3600)

e.cancel()

pi.bsc_i2c(0)  # Disable BSC peripheral

pi.stop()

        # We take off when the commander is created

        with MotionCommander(scf) as mc:

            print('Taking off!')

            time.sleep(0.1)

            time.sleep(1)

            # There is a set of functions that move a specific distance

            # We can move in all directions

            print('Moving forward 0.5m')

            mc.forward(0.5)

            # Wait a bit

            time.sleep(1)

            print('Moving up 0.2m')

            mc.up(0.2)

            # Wait a bit

            time.sleep(1)

            print('Doing a 180deg circle')

            mc.circle_right(0.1, velocity=0.1, angle_degrees=180)

            print('Moving down 0.2m')

            mc.down(0.2)

            # Wait a bit

            time.sleep(1)

            print('Moving forward 0.5m')

            mc.forward(0.5)

            # We land when the MotionCommander goes out of scope

            print('Landing!')

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