123 lines
3.9 KiB
Python
123 lines
3.9 KiB
Python
import machine
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import time
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import usocket
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class Motor:
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def __init__(self, enable, dir1, dir2):
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self.enable_pin = machine.Pin(enable, machine.Pin.OUT)
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self.enable_pwm = machine.PWM(self.enable_pin)
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self.enable_pwm.freq(500)
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self.dir1_pin = machine.Pin(dir1, machine.Pin.OUT)
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self.dir2_pin = machine.Pin(dir2, machine.Pin.OUT)
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self.direction = 1 # default direction: dir1_pin = HIGH, dir2_pin = LOW
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self.reverse()
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def reverse(self):
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self.direction = not self.direction
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self.dir1_pin.value(self.direction)
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self.dir2_pin.value(not self.direction)
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def control(self, value):
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if value > 0.0: # forward
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if not self.direction: # switch direction if necessary
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self.reverse()
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else: # backward
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if self.direction: # switch direction if necessary
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self.reverse()
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# apply value as pwm signal
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self.enable_pwm.duty(int(abs(value)*1023))
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class Robot:
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def __init__(self):
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print("setting up motors")
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self.m1 = Motor(4, 16, 5)
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self.m2 = Motor(14, 0, 2)
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# wait for connections on port 1234
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self.socket = usocket.socket()
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self.addr = usocket.getaddrinfo('192.168.4.1', 1234)[0][-1]
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self.socket.bind(self.addr)
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print("setup complete")
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def forward(self, seconds):
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print("Onward, to glory!")
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self.m1.control(1.0)
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self.m2.control(1.0)
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time.sleep(seconds)
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self.m1.control(0.0)
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self.m2.control(0.0)
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def backward(self, seconds):
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print("Better retreat...")
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self.m1.control(-1.0)
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self.m2.control(-1.0)
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time.sleep(seconds)
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self.m1.control(0.0)
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self.m2.control(0.0)
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def spin_right(self, seconds):
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print("You spin my head right round, right round..")
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self.m1.control(1.0)
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self.m2.control(-1.0)
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time.sleep(seconds)
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self.m1.control(0.0)
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self.m2.control(0.0)
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def spin_left(self, seconds):
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print("spinning left")
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self.m1.control(-1.0)
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self.m2.control(1.0)
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time.sleep(seconds)
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self.m1.control(0.0)
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self.m2.control(0.0)
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def sequence(self):
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self.spin_left(0.3)
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self.spin_right(0.3)
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self.forward(0.5)
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self.backward(0.5)
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def remote_control(self):
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print("waiting for connections on {}".format(self.addr))
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self.socket.listen(1)
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res = self.socket.accept() # this blocks until someone connects to the socket
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comm_socket = res[0]
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print("connected!")
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listening = True
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while listening:
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# expected data: '(u1, u2)'\n"
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# where ui = control for motor i
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# ui \in [-1.0, 1.0]
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data = comm_socket.readline()
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data_str = data.decode()
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print("Data received: {}".format(data_str))
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try:
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print("processing data = {}".format(data_str))
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l = data_str.strip('()\n').split(',')
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print("l = {}".format(l))
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u1 = float(l[0])
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print("u1 = {}".format(u1))
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u2 = float(l[1])
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print("u2 = {}".format(u2))
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except ValueError:
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print("ValueError: Data has wrong format.")
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print("Data received: {}".format(data_str))
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print("Shutting down")
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u1 = u2 = 0.0
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listening = False
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except IndexError:
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print("IndexError: Data has wrong format.")
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print("Data received: {}".format(data_str))
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print("Shutting down")
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u1 = u2 = 0.0
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listening = False
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finally:
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self.m1.control(u1)
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self.m2.control(u2)
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wall_e = Robot()
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wall_e.remote_control()
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