code: async def identify(self, duration_s: int = 5):
          
          count = duration_s * 4
          on = False
          for sec in range(count):
              then = self._loop.time()
              self.set_lights(button=on)
              on = not on
              now = self._loop.time()
              await asyncio.sleep(max(0, 0.25-(now-then)))
          self.set_lights(button=True)
docs: Blink the button light to identify the robot.
  
          :param int duration_s: The duration to blink for, in seconds.