forked from Telos4/RoboRally
130 lines
4.6 KiB
Python
130 lines
4.6 KiB
Python
import machine
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import sys
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from machine import I2C, Pin
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import d1motor
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import time
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import usocket
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import esp
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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(250)
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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 speed(self, value):
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if value > 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)*10.23))
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class Robot:
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def __init__(self):
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i2c = False
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if i2c:
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print("setting up I2C ...")
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#d1 = Pin(5)
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#d2 = Pin(4)
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#i2c = I2C(scl=d1, sda=d2)
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#i2c_scan = i2c.scan()
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i2c_scan = []
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if len(i2c_scan) > 0:
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i2c_addr = i2c_scan[0]
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print("i2c scan = {}".format(i2c_addr))
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print("setting up motors ...")
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self.m1 = d1motor.Motor(0, i2c, address=i2c_addr)
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self.m2 = d1motor.Motor(1, i2c, address=i2c_addr)
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self.m1.speed(0)
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self.m2.speed(0)
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print("motor setup complete!")
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else:
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print("error: no i2c interfaces found!")
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sys.exit(1)
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else:
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self.m1 = Motor(14, 13, 12)
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self.m2 = Motor(5, 0, 4)
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ip = my_ip[0]
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# setup socket for remote control
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self.addr = usocket.getaddrinfo(ip, 1234)[0][-1]
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def remote_control(self):
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while True:
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print("setting up socket communication ...")
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socket_setup_complete = False
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while not socket_setup_complete:
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try:
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print("trying to create socket on address {}".format(self.addr))
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socket = usocket.socket()
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socket.bind(self.addr)
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print("socket setup complete!")
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socket_setup_complete = True
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except Exception as e:
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print("could not create socket. error msg: {}\nwaiting 1 sec and retrying...".format(e))
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time.sleep(1.0)
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print("waiting for connections on {} ...".format(self.addr))
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socket.listen(1)
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res = 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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try:
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while listening:
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# expected data: '(t, 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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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 = int(float(l[0])*100)
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print("u1 = {}".format(u1))
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u2 = int(float(l[1])*100)
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print("u2 = {}".format(u2))
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self.m1.speed(u1)
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self.m2.speed(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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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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except Exception as e:
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print("Some other error occured")
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print("Exception: {}".format(e))
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finally:
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print("Shutting down ...")
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u1 = u2 = 0
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self.m1.speed(u1)
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self.m2.speed(u2)
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listening = False
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comm_socket.close()
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socket.close()
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del comm_socket
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del socket
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wall_e = Robot()
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wall_e.remote_control()
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