removed nodemcu firmware (no longer used)

nodemcu_firmware/flashing_notes.txt

@@ -1,2 +0,0 @@
-esptool.py --port /dev/ttyUSB0 write_flash -fm qio 0x00000 nodemcu-master-9-modules-2019-04-08-19-43-38-float.bin 
-

nodemcu_firmware/init.lua

@@ -1,46 +0,0 @@
-dofile('motor.lua')
-
-cfg={}
-cfg.ssid="robot-1"
-cfg.pwd="roborally"
-wifi.ap.config(cfg)
-
-sv = net.createServer() 
-
-Peer = {}
-function Peer:create(sck)
-  local peer = {}
-  setmetatable(peer, Peer)
-  peer.buffer = {}
-  return peer
-end
-function Peer:receive(sck, data)
-  self.buffer = self.buffer .. data
-  if #self.buffer >= 4 then
-	  dir = string.byte(self.buffer,1)
-	  if dir > 127 then dir = -256+dir end 
-	  motor_dir(1, dir)
-
-	  dir = string.byte(self.buffer,2)
-	  if dir > 127 then dir = -256+dir end 
-	  motor_dir(2, dir)
-
-	  delay = string.byte(self.buffer,3) * 256 + string.byte(self.buffer, 4)
-	  tmr.delay(delay) 
-
-	  motor_dir(1, 0)
-	  motor_dir(2, 0)
-	  self.buffer = {}
-  sck:close()
-  end
-end
-
-if sv then
--- listen to port 80 and call callback function if data is received
-  sv:listen(80,  
-function(conn)
-  peer = Peer:create(conn)
-  conn:on("receive", peer:receive(conn))
-  conn:send("robot-1 at your service")
-  end)
-end

nodemcu_firmware/motor.lua

@@ -1,28 +0,0 @@
-motor = {}
-motor[1] = {}
-motor[1][1] = 0
-motor[1][2] = 1
-motor[1][3] = 2
-
-motor[2] = {}
-motor[2][1] = 3
-motor[2][2] = 4
-motor[2][3] = 5
-
-for i,m in ipairs(motor) do
-	for i,g in ipairs(m) do
-		gpio.mode(g, gpio.OUTPUT)
-		gpio.write(g, 1)
-	end
-end
-
-function motor_dir(m, dir)
-	if dir ~= 0 then
-		gpio.write(motor[m][3], 1)
-		gpio.write(motor[m][1], (1-dir)/2)
-		gpio.write(motor[m][2], (1+dir)/2)
-	else
-		gpio.write(motor[m][3], 0)
-	end
-end
-

nodemcu_firmware/motor.lua.1

@@ -1,28 +0,0 @@
-motor = {}
-motor[1] = {}
-motor[1][1] = 0
-motor[1][2] = 1
-motor[1][3] = 2
-
-motor[2] = {}
-motor[2][1] = 3
-motor[2][2] = 4
-motor[2][3] = 5
-
-for i,m in ipairs(motor) do
-	for i,g in ipairs(m) do
-		gpio.mode(g, gpio.OUTPUT)
-		gpio.write(g, 1)
-	end
-end
-
-function motor_dir(m, dir)
-	if dir ~= 0 then
-		gpio.write(motor[m][3], 1)
-		gpio.write(motor[m][1], (1-dir)/2)
-		gpio.write(motor[m][2], (1+dir)/2)
-	else
-		gpio.write(motor[m][3], 0)
-	end
-end
-

nodemcu_firmware/motor.lua.2

@@ -1,47 +0,0 @@
-motor = {}
-motor[1] = {}
-motor[1][1] = 0
-motor[1][2] = 1
-motor[1][3] = 2
-
-motor[2] = {}
-motor[2][1] = 3
-motor[2][2] = 4
-motor[2][3] = 5
-
-for i,m in ipairs(motor) do
-	for i,g in ipairs(m) do
-		gpio.mode(g, gpio.OUTPUT)
-		gpio.write(g, 1)
-	end
-end
-
-function motor_dir(m, dir)
-	if dir ~= 0 then
-		gpio.write(motor[m][3], 1)
-		gpio.write(motor[m][1], (1-dir)/2)
-		gpio.write(motor[m][2], (1+dir)/2)
-	else
-		gpio.write(motor[m][3], 0)
-	end
-end
-
-Peer = {}
-function Peer:create(sck)
-	local peer = {}
-	setmetatable(peer, Peer)
-	peer.buffer = {}
-	return peer
-end
-function Peer:receive(sck, data)
-	self.buffer = self.buffer .. data
-	if #self.buffer >= 4 then
-	
-		sck:close()
-	end
-end
-
-function(conn)
-	peer = Peer:create(conn)
-	conn:on("receive", peer:receive)
-end

nodemcu_firmware/notes.txt

@@ -1,12 +0,0 @@
-# flashing firmware onto NodeMCU
-esptool.py --port /dev/ttyUSB0 write_flash -fm qio 0x00000 nodemcu-master-9-modules-2019-04-08-19-43-38-float.bin
-
-# connecting to NodeMCU via serial terminal
-cu -l /dev/ttyUSB0 -s 115200 dir
-
-# uploading code to NodeMCU
-nodemcu-uploader upload motor.lua
-nodemcu-uploader upload init.lua
-
-# sending data over wifi via socket
-nc 192.168.4.1 80

nodemcu_firmware/serial_terminal.txt

@@ -1 +0,0 @@
-cu -l /dev/ttyUSB0 -s 115200 dir

nodemcu_firmware/upload_notes.txt

@@ -1,2 +0,0 @@
-nodemcu-uploader upload motor.lua 
-nodemcu-uploader upload init.lua 

notes.txt

@@ -1,9 +0,0 @@
-https://hackaday.com/2016/06/14/hackaday-prize-entry-micro-robots-for-education/
-
-https://www.adafruit.com/product/3216
-
-https://www.exp-tech.de/plattformen/robotik/roboterfahrzeuge/7673/adafruit-mini-round-robot-chassis-kit-2wd-with-dc-motors?gclid=EAIaIQobChMIrpHIq4Ke4QIVSeAYCh0LTgdWEAQYCCABEgIQcfD_BwE
-
-https://www.exp-tech.de/plattformen/robotik/roboterfahrzeuge/7898/adafruit-mini-3-layer-round-robot-chassis-kit-2wd-with-dc-motors?gclid=EAIaIQobChMIrpHIq4Ke4QIVSeAYCh0LTgdWEAQYCyABEgI76vD_BwE
-
-

roboflut/keyboard_controller.py

@@ -1,43 +0,0 @@
-import socket
-import pygame
-
-pygame.init()
-pygame.display.set_mode((640, 480))
-
-rc_socket = socket.socket()
-try:
-    rc_socket.connect(('127.0.0.1', 1337)) # connect to robot
-except socket.error:
-    print("could not connect to socket")
-
-
-while True:
-    u1 = 0
-    u2 = 0
-    vmax = 10.0
-    events = pygame.event.get()
-    for event in events:
-        if event.type == pygame.KEYDOWN:
-            if event.key == pygame.K_LEFT:
-                u1 = -vmax / 10.0
-                u2 = vmax/ 10.0
-
-                print("turn left: ({},{})".format(u1, u2))
-            elif event.key == pygame.K_RIGHT:
-                u1 = vmax/ 10.0
-
-                u2 = -vmax/ 10.0
-
-                print("turn right: ({},{})".format(u1, u2))
-            elif event.key == pygame.K_UP:
-                u1 = vmax
-                u2 = vmax
-                print("forward: ({},{})".format(u1, u2))
-            elif event.key == pygame.K_DOWN:
-                u1 = -vmax 
-                u2 = -vmax 
-                print("backward: ({},{})".format(u1, u2))
-            rc_socket.send('({},{})\n'.format(u1, u2))
-        elif event.type == pygame.KEYUP:
-            print("key released, resetting: ({},{})".format(u1, u2))
-            rc_socket.send('({},{})\n'.format(u1, u2))

roboflut/roboflut.py

@@ -1,180 +0,0 @@
-import sys
-import socket
-import time
-import numpy as np
-
-import pygame
-
-from threading import Thread, Lock
-
-import scipy.integrate
-
-single_robot = True
-
-class Server:
-    def __init__(self):
-        self.ip = '127.0.0.1'
-        self.recv_port = 1337  # port for receiving data
-        self.send_port = 1338  # port for sending data
-        self.recv_addr = socket.getaddrinfo(self.ip, self.recv_port)[0][-1]
-
-        if not single_robot:
-            self.robots = []
-        else:
-            self.rob = Robot()
-
-        self.receiver = Thread(target=self.remote_control)
-        self.receiver.start()
-
-    def remote_control(self):
-        print("setting up socket communication ...")
-        recv_socket = socket.socket()
-        recv_socket.bind(self.recv_addr)
-        while True:
-            print("waiting for connections on {} ...".format(self.recv_addr))
-            recv_socket.listen(2)
-            (comm_socket, address) = recv_socket.accept() # this blocks until someone connects to the socket
-
-            print("starting thread for handling communication with {}".format(address))
-            Thread(target=self.handle_communication, args=(comm_socket, address)).start()
-
-    def handle_communication(self, socket, address):
-            print("connected!")
-            listening = True
-
-            if not single_robot:
-                rob = Robot()
-                self.robots.append(rob)
-
-            try:
-                while listening:
-                     # expected data: '(u1, u2)'\n"
-                     # where ui = control for motor i
-                     # ui \in [-1.0, 1.0]
-                    data = socket.recv(4096)
-                    data_str = data.decode()
-                    #print("Data received: {}".format(data_str))
-                    #print("processing data = {}".format(data_str))
-                    l = data_str.strip('()\n').split(',')
-                    #print("l = {}".format(l))
-                    u1 = float(l[0])
-                    #print("u1 = {}".format(u1))
-                    u2 = float(l[1])
-                    #print("u2 = {}".format(u2))
-
-                    if single_robot:
-                        self.rob.set_control(u1, u2)
-                    else:
-                        rob.set_control(u1, u2)
-            except ValueError:
-                print("ValueError: Data has wrong format.")
-                print("Data received: {}".format(data_str))
-            except IndexError:
-                print("IndexError: Data has wrong format.")
-                print("Data received: {}".format(data_str))
-            except Exception as e:
-                print("Some other error occured")
-                print("Exception: {}".format(e))
-            finally:
-                socket.close()
-                if not single_robot:
-                    self.robots.remove(rob)
-
-class Robot:
-    def __init__(self):
-        self.x = np.array([0.0, 0.0, 0.0])
-
-        self.u1 = 0.0
-        self.u2 = 0.0
-
-        self.r = 0.3
-        self.R = 0.5
-        self.d = 0.2
-
-        self.mutex = Lock()
-
-        self.omega_max = 50.0
-
-        self.integrator = scipy.integrate.ode(self.f)
-        self.integrator.set_integrator('dopri5')
-
-        self.simulator = Thread(target=self.simulate)
-        self.simulator.start()
-
-    def set_control(self, u1, u2):
-        self.mutex.acquire()
-        try:
-            self.u1 = u1
-            self.u2 = u2
-        finally:
-            self.mutex.release()
-
-    def simulate(self):
-        t0 = time.time()
-        t = time.time()-t0
-
-        while True:
-            self.mutex.acquire()
-            try:
-                self.integrator.set_f_params(self.omega_max * np.array([self.u1, self.u2]))
-            finally:
-                self.mutex.release()
-            self.integrator.set_initial_value(self.x, t)
-
-            dt = time.time() - t0 - t
-
-            self.x = self.integrator.integrate(self.integrator.t + dt)
-            t = time.time() - t0
-
-    def f(self, t, x, u):
-        r = self.r
-        d = self.d
-        R = self.R
-
-        theta = x[2]
-        omegar = u[0]
-        omegal = u[1]
-
-        dx = np.zeros((3,1))
-        dx[0] = (r/2.0 * np.cos(theta) - r * d/(2.0 * R) * np.sin(theta)) * omegar + \
-                (r/2.0 * np.cos(theta) + r * d/(2.0 * R) * np.sin(theta)) * omegal
-        dx[1] = (r/2.0 * np.sin(theta) + r * d/(2.0 * R) * np.cos(theta)) * omegar + \
-                (r/2.0 * np.sin(theta) - r * d/(2.0 * R) * np.cos(theta)) * omegal
-        dx[2] = r/(2.0 * R) * (omegar - omegal)
-
-        return dx
-
-def main(args):
-    # wait for connections of socket
-    s = Server()
-
-    background_colour = (255, 255, 255)
-    (width, height) = (640, 480)
-    screen = pygame.display.set_mode((width, height))
-    pygame.display.set_caption('Roboflut')
-    screen.fill(background_colour)
-    pygame.display.flip()
-
-    running = True
-    while running:
-        r = s.rob
-        #for r in s.robots:
-        x = int(r.x[0] + width/2.0)
-        y = int(r.x[1] + height / 2.0)
-        phi = r.x[2]
-        phases = ( phi + np.pi) % (2 * np.pi ) - np.pi
-
-        if x < 0 or x > width or y < 0 or y > height:
-            r.x[0] = 0.0
-            r.x[1] = 0.0
-        c = int((phases + 2.0 * np.pi) / (4.0 * np.pi) * 255)
-        #color = (c, c, c)
-        color = (0,0,0)
-
-        screen.set_at((x, y), color)
-
-        pygame.display.flip()
-
-
-if __name__ == '__main__':
-    main(sys.argv)