update
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0899deb958
commit
002c4bde18
4 changed files with 141 additions and 84 deletions
48
src/esc.py
48
src/esc.py
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@ -3,7 +3,7 @@ from time import sleep
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DELTA = 10
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DELTA_TURN = 5
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DELTA_MAX = 30
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DELTA_TURN_MAX = 60
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class Esc:
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def __init__(self, pin_m1_ena, pin_m1_in1, pin_m1_in2,
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@ -11,66 +11,76 @@ class Esc:
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self.m1 = Motor("m1", pin_m1_ena, pin_m1_in1, pin_m1_in2)
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self.m2 = Motor("m2", pin_m2_ena, pin_m2_in1, pin_m2_in2)
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def fwd(self):
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## regular movement
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def accel(self):
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speed = min((self.m1.speed + self.m2.speed)/2 + DELTA, 100)
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self.m1.set_speed(speed)
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self.m2.set_speed(speed)
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def rev(self):
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def decel(self):
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speed = max((self.m1.speed + self.m2.speed)/2 - DELTA, -100)
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self.m1.set_speed(speed)
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self.m2.set_speed(speed)
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# m1: left, m2: right
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def left(self):
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s1 = self.m1.speed
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s2 = self.m2.speed
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avg = (s1 + s2)/2
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delta = s2 - s1
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if delta <= (DELTA_MAX - 2*DELTA_TURN):
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if delta <= (DELTA_TURN_MAX - 2*DELTA_TURN):
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self.m1.dec(DELTA_TURN)
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self.m2.inc(DELTA_TURN)
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elif delta == DELTA_MAX:
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print("delta reached, not changing")
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elif delta > (DELTA_MAX):
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print("delta exceeded, resetting")
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elif delta > (DELTA_TURN_MAX):
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# print("delta exceeded, resetting")
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self.m1.set_speed(avg - DELTA_TURN)
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self.m2.set_speed(avg + DELTA_TURN)
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# elif delta == DELTA_TURN_MAX:
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# print("delta reached, not changing")
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def right(self):
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s1 = self.m1.speed
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s2 = self.m2.speed
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avg = (s1 + s2)/2
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delta = s1 - s2
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if delta <= (DELTA_MAX - 2*DELTA_TURN):
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if delta <= (DELTA_TURN_MAX - 2*DELTA_TURN):
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self.m1.inc(DELTA_TURN)
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self.m2.dec(DELTA_TURN)
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elif delta == DELTA_MAX:
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print("delta reached, not changing")
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elif delta > (DELTA_MAX):
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print("delta exceeded, resetting")
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elif delta > (DELTA_TURN_MAX):
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# print("delta exceeded, resetting")
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self.m1.set_speed(avg + DELTA_TURN)
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self.m2.set_speed(avg - DELTA_TURN)
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# elif delta == DELTA_TURN_MAX:
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# print("delta reached, not changing")
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# stop
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def b1(self):
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## extra
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def neutral(self):
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speed = (self.m1.speed + self.m2.speed)/2
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self.m1.set_speed(speed)
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self.m2.set_speed(speed)
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def stop(self):
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self.m1.set_speed(0)
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self.m2.set_speed(0)
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def b2(self):
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def rotate(self):
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if self.m1.speed >= 0:
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self.m1.set_speed(0)
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self.m2.set_speed(0)
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sleep(1)
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sleep(0.25)
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self.m1.set_speed(-50)
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self.m2.set_speed(50)
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sleep(0.75)
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else:
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self.m1.set_speed(0)
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self.m2.set_speed(0)
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sleep(1)
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sleep(0.25)
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self.m1.set_speed(50)
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self.m2.set_speed(-50)
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sleep(0.75)
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def get_status(self):
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s = (self.m1.get_status(), self.m2.get_status())
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s = "{}, {}".format(self.m1.get_status(), self.m2.get_status())
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return s
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104
src/main.py
104
src/main.py
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@ -1,69 +1,99 @@
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# main.py
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import machine
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import usocket as socket
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from time import sleep
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import time
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from esc import Esc
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from wifi import WifiAP
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from wifi import WifiSTA
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# local
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from credentials import *
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import wifi
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# import web
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PIN_M1_ENA = 5 # D1
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PIN_M1_IN1 = 4 # D2
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PIN_M1_IN2 = 0 # D3
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PIN_M2_IN1 = 12 # D6
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PIN_M2_IN2 = 13 # D7
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PIN_M2_ENA = 15 # D8
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## Pins
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## M1: left, M2: right
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# PIN_M1_ENA = 5 # D1
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# PIN_M1_IN1 = 4 # D2
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# PIN_M1_IN2 = 0 # D3
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# PIN_M2_IN1 = 12 # D6
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# PIN_M2_IN2 = 13 # D7
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# PIN_M2_ENA = 15 # D8
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## M1: right, M2: left
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PIN_M1_IN1 = 12 # D6
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PIN_M1_IN2 = 13 # D7
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PIN_M1_ENA = 15 # D8
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PIN_M2_ENA = 5 # D1
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PIN_M2_IN1 = 4 # D2
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PIN_M2_IN2 = 0 # D3
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## Parameters
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T_NEUTRAL=0.5
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T_STATUS=2
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## Variables
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esc = None
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def main():
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print("main")
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global esc
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wifi_sta = WifiSTA()
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# wifi_ap = WifiAP()
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# wifiSTA = wifi.WifiSTA(SSID, PASS)
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wifiAP = wifi.WifiAP(SSID, PASS)
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wifiAP.connect()
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esc = Esc(PIN_M1_ENA, PIN_M1_IN1, PIN_M1_IN2,
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PIN_M2_ENA, PIN_M2_IN1, PIN_M2_IN2)
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s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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s.setsockopt(socket.SOL_SOCKET,socket.SO_REUSEADDR, 1)
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s.settimeout(0.1)
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s.bind(("", 80))
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ts_cmd = 0
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ts_status = 0
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while True:
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# wifiSTA.check()
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request = ""
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try:
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request, addr = s.recvfrom(256)
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req = request.decode()
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print("data: {}, from: {}".format(req, addr))
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if len(request) == 0:
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print("no data")
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continue
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except:
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print("error: no data")
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except OSError as ex:
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pass
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except Exception as ex:
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print("Exception Type:{}, args: {}".format(type(ex).__name__, ex.args))
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if "fwd" in req:
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print("--> fwd")
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esc.fwd()
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if len(request) > 0:
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print('len > 0')
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ts_cmd = time.time()
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req = request.decode()
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print("data: {}, from: {}".format(req, addr))
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elif "left" in req:
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print("--> left")
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esc.left()
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## buttons
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if "accel" in req:
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esc.accel()
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print(esc.get_status())
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elif "left" in req:
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esc.left()
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print(esc.get_status())
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elif "decel" in req:
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esc.decel()
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print(esc.get_status())
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elif "right" in req:
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esc.right()
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print(esc.get_status())
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elif "stop" in req:
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esc.stop()
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print(esc.get_status())
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elif "rotate" in req:
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esc.rotate()
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else:
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print("unknown: {}".format(req))
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elif "rev" in req:
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print("--> rev")
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esc.rev()
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elif "right" in req:
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print("--> right")
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esc.right()
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if time.time() > (ts_cmd + T_NEUTRAL):
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ts_cmd = time.time()
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# print(" -: neutral")
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esc.neutral()
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# print(esc.get_status())
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elif "b1" in req:
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print("--> b1")
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esc.b1()
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if time.time() > (ts_status + T_STATUS):
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ts_status = time.time()
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print(esc.get_status())
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elif "b2" in req:
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print("--> b2")
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esc.b2()
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if __name__ == "__main__":
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main()
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20
src/motor.py
20
src/motor.py
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@ -1,5 +1,5 @@
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import machine
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from time import sleep
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import time
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class Motor:
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@ -16,27 +16,27 @@ class Motor:
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# state
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self.dir = -1
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self.speed = -1
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sleep(1)
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time.sleep(1)
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# initialize motors
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self.set_speed(0)
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print(self.get_status())
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def get_status(self):
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s = "[{}:status] pins {},{} duty {}".format(self.name, self.pin1.value(), self.pin2.value(), self.pwm.duty())
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s = "[{}:status] pins {},{} duty {}".format(
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self.name, self.pin1.value(), self.pin2.value(), self.pwm.duty())
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return s
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def set_dir(self, dir):
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if self.dir == dir:
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return
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self.dir = dir
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v1 = 1 if dir == self.DIR_FWD else 0
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v2 = 0 if dir == self.DIR_FWD else 1
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v1 = 1 if self.dir == self.DIR_FWD else 0
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v2 = 0 if self.dir == self.DIR_FWD else 1
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self.pin1.value(v1)
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self.pin2.value(v2)
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def set_speed(self, speed=100):
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print("[{}:set_speed] {} [-100:100]".format(self.name, speed))
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if speed < 0:
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def set_speed(self, speed):
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# print("{}:set_speed] {} -100:100".format(self.name, speed))
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if (speed < 0):
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self.set_dir(self.DIR_REV)
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else:
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self.set_dir(self.DIR_FWD)
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@ -50,4 +50,4 @@ class Motor:
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def dec(self, delta):
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speed = max(self.speed - delta, -100)
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self.set_speed(speed)
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self.set_speed(speed)
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53
src/wifi.py
53
src/wifi.py
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@ -1,4 +1,3 @@
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from credentials import *
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import network
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import time
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@ -7,25 +6,43 @@ netmask = "255.255.255.0"
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gateway = "192.168.0.1"
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dns = "192.168.0.1"
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if_ap = network.WLAN(network.AP_IF)
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if_sta = network.WLAN(network.STA_IF)
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class WifiAP:
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def __init__(self):
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global if_ap, if_sta
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if_sta.active(False)
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if_ap.active(True)
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if_ap.ifconfig([address, netmask, gateway, dns])
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if_ap.config(essid=SSID, password=PASS)
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print("network config {}".format(if_ap.ifconfig()))
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def __init__(self, ssid, password):
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self.ssid = ssid
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self.password = password
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# STA: disable
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self.if_sta = network.WLAN(network.STA_IF)
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self.if_sta.active(False)
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# AP: enable
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self.if_ap = network.WLAN(network.AP_IF)
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def connect(self):
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self.if_ap.active(True)
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self.if_ap.ifconfig([address, netmask, gateway, dns])
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self.if_ap.config(essid=self.ssid, password=self.password)
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print("network config {}".format(self.if_ap.ifconfig()))
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class WifiSTA:
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def __init__(self):
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global if_ap, if_sta
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if_ap.active(False)
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if_sta.active(True)
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if_sta.connect(SSID, PASS)
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while not if_sta.isconnected():
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pass
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def __init__(self, ssid, password):
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self.ssid = ssid
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self.password = password
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# AP: disable
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self.if_ap = network.WLAN(network.AP_IF)
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self.if_ap.active(False)
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# STA: enable
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self.if_sta = network.WLAN(network.STA_IF)
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self.if_sta.active(True)
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def check(self):
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if not self.if_sta.isconnected():
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print("wifi down, reconnecting...")
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self.connect()
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def connect(self):
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print("connecting wifi")
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self.if_sta.active(True)
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self.if_sta.connect(self.ssid, self.password)
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while not self.if_sta.isconnected():
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time.sleep(0.1)
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print("network config {}".format(if_sta.ifconfig()))
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print("network config {}".format(self.if_sta.ifconfig()))
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