bluetooth python car

car.py

#!/usr/bin/env python

# sudo apt-get install bluez python-gobject
# hcitool scan
# echo 1234 | bluez-simple-agent hci0 00:12:05:09:90:51
# bluez-test-device trusted 00:12:05:09:90:51 yes

import socket
import time

class BluetoothCar:
    def __init__(self, mac_address):
        self.speed = 15
        self.socket = socket.socket(socket.AF_BLUETOOTH, socket.SOCK_STREAM, socket.BTPROTO_RFCOMM)
        self.socket.connect((mac_address, 1))

    def _write(self, data_byte):
        self.socket.send(bytearray([data_byte + self.speed]))

    def set_speed(self, speed):
        self.speed = min(15, max(0, speed))

    def drive(self, command, duration=1.0):
        self._write(command)
        time.sleep(duration)
        self.stop()
        
    def forwards(self, duration=1.0):
        self.drive(0x10, duration)
        
    def reverse(self, duration=1.0):
        self.drive(0x20, duration)

    def left(self, duration=1.0):
        self.drive(0x50, duration)

    def right(self, duration=1.0):
        self.drive(0x60, duration)

    def stop(self):
        self._write(0x00)
    
    def __del__(self):
        self.stop()

if __name__ == "__main__":
    car = BluetoothCar("00:12:05:09:90:51")
    car.reverse(2)
    car.set_speed(7)
    car.forwards()
    car.left()
    car.right()
    car.reverse()