From 254a4e25ae699ae8b775ac676db919569034921c Mon Sep 17 00:00:00 2001
From: spirkelmann <simon.pirkelmann@gmail.com>
Date: Sat, 13 Apr 2019 14:25:41 +0200
Subject: [PATCH] added wireless control via sockets

---
 micropython_firmware/main.py | 35 +++++++++++++++++++++++++++++++----
 1 file changed, 31 insertions(+), 4 deletions(-)

diff --git a/micropython_firmware/main.py b/micropython_firmware/main.py
index 97db979..8dcafff 100644
--- a/micropython_firmware/main.py
+++ b/micropython_firmware/main.py
@@ -54,16 +54,16 @@ class Robot:
     
     def spin_right(self, seconds):
         print("You spin my head right round, right round..")
-        self.m1.control(0.8)
-        self.m2.control(-0.8)
+        self.m1.control(1.0)
+        self.m2.control(-1.0)
         time.sleep(seconds)
         self.m1.control(0.0)
         self.m2.control(0.0)
     
     def spin_left(self, seconds):
         print("spinning left")
-        self.m1.control(-0.8)
-        self.m2.control(0.8)
+        self.m1.control(-1.0)
+        self.m2.control(1.0)
         time.sleep(seconds)
         self.m1.control(0.0)
         self.m2.control(0.0)
@@ -75,3 +75,30 @@ class Robot:
         self.backward(0.5)
 
 wall_e = Robot()
+
+import usocket
+
+# wait for connections on port 1234
+mysocket = usocket.socket()
+myaddr = usocket.getaddrinfo('192.168.4.1', 1234)[0][-1]
+mysocket.bind(myaddr)
+mysocket.listen(1)
+res = mysocket.accept() # this blocks until someone connects to the socket
+comm_socket = res[0]
+
+# read data until 'q\n' is sent
+listening = True
+while listening:
+     data = comm_socket.readline()
+     data_str = data.decode()
+     print(data_str)
+     if data_str == 'f\n':
+         wall_e.forward(0.5)
+     elif data_str == 'b\n':
+         wall_e.backward(0.5)
+     elif data_str == 'l\n':
+         wall_e.spin_left(0.5)
+     elif data_str == 'r\n':
+         wall_e.spin_right(0.5)
+     elif data_str == 'q\n':
+         listening = False