forked from Telos4/RoboRally
extended remote control to work with keyboard arrow keys
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parent
80ee257a7d
commit
f0f846dc04
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@ -1,5 +1,6 @@
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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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@ -34,6 +35,11 @@ class Robot:
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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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@ -74,31 +80,43 @@ class Robot:
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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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import usocket
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# wait for connections on port 1234
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mysocket = usocket.socket()
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myaddr = usocket.getaddrinfo('192.168.4.1', 1234)[0][-1]
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mysocket.bind(myaddr)
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mysocket.listen(1)
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res = mysocket.accept() # this blocks until someone connects to the socket
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comm_socket = res[0]
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# read data until 'q\n' is sent
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listening = True
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while listening:
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data = comm_socket.readline()
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data_str = data.decode()
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print(data_str)
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if data_str == 'f\n':
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wall_e.forward(0.5)
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elif data_str == 'b\n':
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wall_e.backward(0.5)
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elif data_str == 'l\n':
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wall_e.spin_left(0.5)
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elif data_str == 'r\n':
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wall_e.spin_right(0.5)
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elif data_str == 'q\n':
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listening = False
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wall_e.remote_control()
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@ -1,10 +1,35 @@
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import socket
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import pygame
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rc_socket = socket.socket()
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rc_socket.connect(('192.168.4.1', 1234)) # connect to robot
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rc_socket.send('l\n') # left
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rc_socket.send('r\n') # right
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rc_socket.send('f\n') # forward
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rc_socket.send('b\n') # backward
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rc_socket.send('q\n') # quit
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pygame.init()
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pygame.display.set_mode()
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while True:
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events = pygame.event.get()
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for event in events:
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if event.type == pygame.KEYDOWN:
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if event.key == pygame.K_LEFT:
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u1 = -1.0
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u2 = 1.0
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print("turn left: ({},{})".format(u1, u2))
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elif event.key == pygame.K_RIGHT:
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u1 = 1.0
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u2 = -1.0
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print("turn right: ({},{})".format(u1, u2))
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elif event.key == pygame.K_UP:
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u1 = 1.0
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u2 = 1.0
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print("forward: ({},{})".format(u1, u2))
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elif event.key == pygame.K_DOWN:
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u1 = -1.0
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u2 = -1.0
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print("forward: ({},{})".format(u1, u2))
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rc_socket.send('({},{})\n'.format(u1, u2))
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elif event.type == pygame.KEYUP:
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u1 = 0.0
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u2 = 0.0
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print("key released, resetting: ({},{})".format(u1, u2))
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rc_socket.send('({},{})\n'.format(u1, u2))
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