Rearranged function order to make them easier to explain in guide.

Author: makermelissa

CircuitPython_CLUEbot/robot.py

@@ -47,17 +47,17 @@ def __init__(self, left_pin, right_pin, underlight_neopixel):
         self.set_underglow(PURPLE)
         self.set_speed(STOP)
 
-    @classmethod
-    def _init_motor(cls, pin):
-        pwm = pwmio.PWMOut(pin, frequency=50)
-        return adafruit_motor.servo.ContinuousServo(pwm, min_pulse=600, max_pulse=2400)
-
     @classmethod
     def _make_palette(cls, color):
         palette = displayio.Palette(1)
         palette[0] = color
         return palette
 
+    @classmethod
+    def _init_motor(cls, pin):
+        pwm = pwmio.PWMOut(pin, frequency=50)
+        return adafruit_motor.servo.ContinuousServo(pwm, min_pulse=600, max_pulse=2400)
+
     def _init_ble(self):
         self.ble = BLERadio()
         self.uart_service = UARTService()
@@ -90,6 +90,10 @@ def wait_for_connection(self):
     def is_connected(self):
         return self.ble.connected
 
+    def check_for_packets(self):
+        if self.uart_service.in_waiting:
+            self._process_packet(Packet.from_stream(self.uart_service))
+
     def set_underglow(self, color, save_release_color = False):
         if save_release_color:
             self.release_color = self.get_underglow()
@@ -158,14 +162,6 @@ def stop(self):
         time.sleep(0.5)
         self.set_underglow(color)
 
-    def check_for_packets(self):
-        if self.uart_service.in_waiting:
-            self._process_packet(Packet.from_stream(self.uart_service))
-
-    def _handle_color_packet(self, packet):
-        # Change the color
-        self.set_underglow(packet.color)
-
     def _remove_shapes(self):
         while len(self.display_group) > 1:
             self.display_group.pop()
@@ -259,6 +255,20 @@ def _set_status_stop(self):
         self._remove_shapes()
         self._add_centered_rect(100, 100)
 
+    def _process_packet(self, packet):
+        if isinstance(packet, ColorPacket):
+            self._handle_color_packet(packet)
+        elif isinstance(packet, ButtonPacket) and packet.pressed:
+            # do this when buttons are pressed
+            self._handle_button_press_packet(packet)
+        elif isinstance(packet, ButtonPacket) and not packet.pressed:
+            # do this when some buttons are released
+            self._handle_button_release_packet(packet)
+
+    def _handle_color_packet(self, packet):
+        # Change the color
+        self.set_underglow(packet.color)
+
     def _handle_button_press_packet(self, packet):
         if packet.button == ButtonPacket.UP:  # UP button pressed
             self.set_throttle(FWD)
@@ -285,13 +295,3 @@ def _handle_button_release_packet(self, packet):
             self.set_throttle(self.direction)
         if packet.button == ButtonPacket.LEFT:
             self.set_throttle(self.direction)
-
-    def _process_packet(self, packet):
-        if isinstance(packet, ColorPacket):
-            self._handle_color_packet(packet)
-        elif isinstance(packet, ButtonPacket) and packet.pressed:
-            # do this when buttons are pressed
-            self._handle_button_press_packet(packet)
-        elif isinstance(packet, ButtonPacket) and not packet.pressed:
-            # do this when some buttons are released
-            self._handle_button_release_packet(packet)