import machine import time class Motor: def __init__(self, enable, dir1, dir2): self.enable_pin = machine.Pin(enable, machine.Pin.OUT) self.enable_pwm = machine.PWM(self.enable_pin) self.enable_pwm.freq(500) self.dir1_pin = machine.Pin(dir1, machine.Pin.OUT) self.dir2_pin = machine.Pin(dir2, machine.Pin.OUT) self.direction = 1 # default direction: dir1_pin = HIGH, dir2_pin = LOW self.reverse() def reverse(self): self.direction = not self.direction self.dir1_pin.value(self.direction) self.dir2_pin.value(not self.direction) def control(self, value): if value > 0.0: # forward if not self.direction: # switch direction if necessary self.reverse() else: # backward if self.direction: # switch direction if necessary self.reverse() # apply value as pwm signal self.enable_pwm.duty(int(abs(value)*1023)) class Robot: def __init__(self): print("setting up motors") self.m1 = Motor(4, 16, 5) self.m2 = Motor(14, 0, 2) print("setup complete") def forward(self, seconds): print("Onward, to glory!") self.m1.control(1.0) self.m2.control(1.0) time.sleep(seconds) self.m1.control(0.0) self.m2.control(0.0) def backward(self, seconds): print("Better retreat...") 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_right(self, seconds): print("You spin my head right round, right round..") 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(-1.0) self.m2.control(1.0) time.sleep(seconds) self.m1.control(0.0) self.m2.control(0.0) def sequence(self): self.spin_left(0.3) self.spin_right(0.3) self.forward(0.5) 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