RoboRally/micropython_firmware/main.py

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import machine
import sys
from machine import I2C, Pin
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import d1motor
import time
import usocket
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import esp
class Robot:
def __init__(self):
print("setting up I2C ...")
d1 = Pin(5)
d2 = Pin(4)
i2c = I2C(scl=d1, sda=d2)
i2c_scan = i2c.scan()
if len(i2c_scan) > 0:
i2c_addr = i2c_scan[0]
print("i2c scan = {}".format(i2c_addr))
print("setting up motors ...")
self.m1 = d1motor.Motor(0, i2c, address=i2c_addr)
self.m2 = d1motor.Motor(1, i2c, address=i2c_addr)
self.m1.speed(0)
self.m2.speed(0)
print("motor setup complete!")
else:
print("error: no i2c interfaces found!")
sys.exit(1)
ip = my_ip[0]
# setup socket for remote control
self.addr = usocket.getaddrinfo(ip, 1234)[0][-1]
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def remote_control(self):
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while True:
print("setting up socket communication ...")
socket_setup_complete = False
while not socket_setup_complete:
try:
print("trying to create socket on address {}".format(self.addr))
socket = usocket.socket()
socket.bind(self.addr)
print("socket setup complete!")
socket_setup_complete = True
except Exception as e:
print("could not create socket. error msg: {}\nwaiting 1 sec and retrying...".format(e))
time.sleep(1.0)
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print("waiting for connections on {} ...".format(self.addr))
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socket.listen(1)
res = socket.accept() # this blocks until someone connects to the socket
comm_socket = res[0]
print("connected!")
listening = True
while listening:
# expected data: '(u1, u2)'\n"
# where ui = control for motor i
# ui \in [-1.0, 1.0]
try:
data = comm_socket.readline()
data_str = data.decode()
#print("Data received: {}".format(data_str))
#print("processing data = {}".format(data_str))
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l = data_str.strip('()\n').split(',')
#print("l = {}".format(l))
u1 = int(float(l[0])*100)
#print("u1 = {}".format(u1))
u2 = int(float(l[1])*100)
#print("u2 = {}".format(u2))
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except ValueError:
print("ValueError: Data has wrong format.")
print("Data received: {}".format(data_str))
print("Shutting down ...")
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u1 = u2 = 0
listening = False
except IndexError:
print("IndexError: Data has wrong format.")
print("Data received: {}".format(data_str))
print("Shutting down ...")
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u1 = u2 = 0
listening = False
except Exception as e:
print("Some other error occured")
print("Exception: {}".format(e))
print("Shutting down ...")
u1 = u2 = 0
listening = False
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finally:
self.m1.speed(u1)
self.m2.speed(u2)
comm_socket.close()
socket.close()
del comm_socket
del socket
print("disconnected!")
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wall_e = Robot()
wall_e.remote_control()