rx: initial commit with udp

src/boot.py

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+# boot.py - - runs on boot-up

src/esc.py

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+from motor import Motor
+from time import sleep
+
+delta = 10
+
+class Esc:
+    def __init__(self, pin_m1_ena, pin_m1_in1, pin_m1_in2,
+                 pin_m2_ena, pin_m2_in1, pin_m2_in2):
+        self.m1 = Motor("m1", pin_m1_ena, pin_m1_in1, pin_m1_in2)
+        self.m2 = Motor("m2", pin_m2_ena, pin_m2_in1, pin_m2_in2)
+
+    def fwd(self):
+        speed = min((self.m1.speed + self.m2.speed)/2 + delta, 100)
+        self.m1.set_speed(speed)
+        self.m2.set_speed(speed)
+
+    def rev(self):
+        speed = max((self.m1.speed + self.m2.speed)/2 - delta, -100)
+        self.m1.set_speed(speed)
+        self.m2.set_speed(speed)
+
+    def left(self):
+        self.m1.dec(delta)
+        self.m2.inc(delta)
+
+    def right(self):
+        self.m1.inc(delta)
+        self.m2.dec(delta)
+
+    # stop
+    def b1(self):
+        self.m1.set_speed(0)
+        self.m2.set_speed(0)
+
+    def b2(self):
+        if self.m1.speed >= 0:
+            self.m1.set_speed(0)
+            self.m2.set_speed(0)
+            sleep(1)
+            self.m1.set_speed(-50)
+            self.m2.set_speed(50)
+        else:
+            self.m1.set_speed(0)
+            self.m2.set_speed(0)
+            sleep(1)
+            self.m1.set_speed(50)
+            self.m2.set_speed(-50)
+
+    def get_status(self):
+        s = (self.m1.get_status(), self.m2.get_status())
+        return s

src/main.py

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+# main.py
+import machine
+import usocket as socket
+from time import sleep
+from esc import Esc
+from wifi import WifiAP
+from wifi import WifiSTA
+# import web
+
+PIN_M1_ENA = 5 # D1
+PIN_M1_IN1 = 4 # D2
+PIN_M1_IN2 = 0 # D3
+PIN_M2_IN1 = 12 # D6
+PIN_M2_IN2 = 13 # D7
+PIN_M2_ENA = 15 # D8
+
+esc = None
+
+def main():
+    print("main")
+    global esc
+    wifi_sta = WifiSTA()
+    # wifi_ap = WifiAP()
+    esc = Esc(PIN_M1_ENA, PIN_M1_IN1, PIN_M1_IN2,
+              PIN_M2_ENA, PIN_M2_IN1, PIN_M2_IN2)
+    s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    s.setsockopt(socket.SOL_SOCKET,socket.SO_REUSEADDR, 1)
+    s.bind(("", 80))
+
+    while True:
+        request = ""
+        try:
+            request, addr = s.recvfrom(256)
+            req = request.decode()
+
+            print("data: {}, from: {}".format(req, addr))
+            if len(request) == 0:
+                print("no data")
+                continue
+        except:
+            print("error: no data")
+            pass
+
+        if "fwd" in req:
+            print("--> fwd")
+            esc.fwd()
+
+        elif "left" in req:
+            print("--> left")
+            esc.left()
+
+        elif "rev" in req:
+            print("--> rev")
+            esc.rev()
+
+        elif "right" in req:
+            print("--> right")
+            esc.right()
+
+        elif "b1" in req:
+            print("--> b1")
+            esc.b1()
+
+        elif "b2" in req:
+            print("--> b2")
+            esc.b2()
+
+if __name__ == "__main__":
+    main()

src/motor.py

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+import machine
+from time import sleep
+
+
+class Motor:
+    PWM_MAX = 1023
+    DIR_FWD = 1
+    DIR_REV = 0
+
+    def __init__(self, name, ena, p1, p2):
+        self.name = name
+        self.pin1 = machine.Pin(p1, machine.Pin.OUT)
+        self.pin2 = machine.Pin(p2, machine.Pin.OUT)
+        self.pwm = machine.PWM(machine.Pin(ena, machine.Pin.OUT))
+        self.pwm.freq(1000)
+        # state
+        self.dir = -1
+        self.speed = -1
+        sleep(1)
+        # initialize motors
+        self.set_speed(0)
+        print(self.get_status())
+
+    def get_status(self):
+        s = "[{}:status] pins {},{} duty {}".format(self.name, self.pin1.value(), self.pin2.value(), self.pwm.duty())
+        return s
+
+    def set_dir(self, dir):
+        if self.dir == dir:
+            return
+        self.dir = dir
+        v1 = 1 if dir == self.DIR_FWD else 0
+        v2 = 0 if dir == self.DIR_FWD else 1
+        self.pin1.value(v1)
+        self.pin2.value(v2)
+
+    def set_speed(self, speed=100):
+        print("[{}:set_speed] {} [-100:100]".format(self.name, speed))
+        if speed < 0:
+            self.set_dir(self.DIR_REV)
+        else:
+            self.set_dir(self.DIR_FWD)
+        self.speed = speed
+        s = int(self.PWM_MAX * abs(speed)/100)
+        self.pwm.duty(s)
+
+    def inc(self, delta):
+        speed = min(self.speed + delta, 100)
+        self.set_speed(speed)
+
+    def dec(self, delta):
+        speed = max(self.speed - delta, -100)
+        self.set_speed(speed)

src/wifi.py

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+from credentials import *
+import network
+import time
+
+address = "192.168.0.1"
+netmask = "255.255.255.0"
+gateway = "192.168.0.1"
+dns = "192.168.0.1"
+
+if_ap = network.WLAN(network.AP_IF)
+if_sta = network.WLAN(network.STA_IF)
+
+class WifiAP:
+    def __init__(self):
+        global if_ap, if_sta
+        if_sta.active(False)
+        if_ap.active(True)
+        if_ap.ifconfig([address, netmask, gateway, dns])
+        if_ap.config(essid=SSID, password=PASS)
+        print("network config {}".format(if_ap.ifconfig()))
+
+class WifiSTA:
+    def __init__(self):
+        global if_ap, if_sta
+        if_ap.active(False)
+        if_sta.active(True)
+        if_sta.connect(SSID, PASS)
+        while not if_sta.isconnected():
+            pass
+            time.sleep(0.1)
+        print("network config {}".format(if_sta.ifconfig()))