forked from Telos4/RoboRally
84 lines
2.9 KiB
Python
84 lines
2.9 KiB
Python
import machine
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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 Robot:
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def __init__(self):
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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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addr = i2c.scan()[0]
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print("i2c scan = {}".format(addr))
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print("setting up motors")
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self.m1 = d1motor.Motor(0, i2c, address=addr)
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self.m2 = d1motor.Motor(1, i2c, address=addr)
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print("motor setup complete")
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# setup socket for remote control
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self.addr = usocket.getaddrinfo('192.168.4.1', 1234)[0][-1]
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def remote_control(self):
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while True:
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# dirty hack: free memory such that reuse of socket is possible
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print(esp.freemem())
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if esp.freemem() < 9 * 1024:
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s = time.ticks_ms()
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while esp.freemem() < 9 * 1024:
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pass
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print("waited {} ms".format((time.ticks_ms() - s)))
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print("setting up socket communication")
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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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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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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 = int(float(l[0])*10000)
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print("u1 = {}".format(u1))
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u2 = int(float(l[1])*10000)
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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
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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
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listening = False
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finally:
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self.m1.speed(u1)
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self.m2.speed(u2)
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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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print("disconnected")
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wall_e = Robot()
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wall_e.remote_control()
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