konni/uc-wifi-tx-udp
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tx-udp: change control scheme, try to optimize

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This commit is contained in:
Konstantin Koslowski 2021-07-17 00:37:46 +02:00
parent 8075579496
commit 83474b34c7
2 changed files with 42 additions and 27 deletions
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2
pymakr.conf
View file

@ -1,5 +1,5 @@
{
"address": "/dev/ttyUSB1",
"address": "/dev/esp-tx",
"username": "micro",
"password": "python",
"sync_folder": "src",

67
src/main.py
View file

@ -1,7 +1,7 @@
# main.py
import machine
import socket
from time import sleep
import time
from wifi import WifiSTA
@ -15,36 +15,38 @@ PIN_B1 = 0 # D2
PIN_B2 = 4 # D3
## Delay
DELAY_CMD = 0.1
DELAY_IRQ = 0.1
## HOST
RX_ADDR = ("192.168.11.220", 80)
# RX_ADDR = ("192.168.0.1", 80)
ts_cmd = 0
ts_irq = 0
s = None
def handle_btn_up(pin):
send_cmd("fwd")
global ts_irq
t = time.time()
if t > (ts_irq + DELAY_IRQ):
ts_irq = t
send_cmd("rotate")
def handle_btn_dn(pin):
send_cmd("rev")
# def handle_btn_b1(pin):
# global ts_irq
# t = time.time()
# if t > (ts_irq + DELAY_IRQ):
# ts_irq = t
# send_cmd("b1")
def handle_btn_le(pin):
send_cmd("left")
def handle_btn_ri(pin):
send_cmd("right")
def handle_btn_b1(pin):
send_cmd("b1")
def handle_btn_b2(pin):
send_cmd("b2")
# def handle_btn_b2(pin):
# global ts_irq
# t = time.time()
# if t > (ts_irq + DELAY_IRQ):
# ts_irq = t
# send_cmd("b2")
def send_cmd(cmd):
global s
print("cmd: {}".format(cmd))
global s, ts_cmd
# if time.time() > (ts_cmd + DELAY_CMD):
# ts_cmd = time.time()
try:
s.sendto(cmd.encode(), RX_ADDR)
except Exception as ex:
@ -57,19 +59,32 @@ def main():
btn_up = machine.Pin(PIN_UP, machine.Pin.IN, machine.Pin.PULL_UP)
btn_up.irq(trigger=machine.Pin.IRQ_FALLING, handler=handle_btn_up)
btn_dn = machine.Pin(PIN_DN, machine.Pin.IN, machine.Pin.PULL_UP)
btn_dn.irq(trigger=machine.Pin.IRQ_FALLING, handler=handle_btn_dn)
# btn_dn.irq(trigger=machine.Pin.IRQ_FALLING, handler=handle_btn_dn)
btn_le = machine.Pin(PIN_LE, machine.Pin.IN, machine.Pin.PULL_UP)
btn_le.irq(trigger=machine.Pin.IRQ_FALLING, handler=handle_btn_le)
# btn_le.irq(trigger=machine.Pin.IRQ_FALLING, handler=handle_btn_le)
btn_ri = machine.Pin(PIN_RI, machine.Pin.IN, machine.Pin.PULL_UP)
btn_ri.irq(trigger=machine.Pin.IRQ_FALLING, handler=handle_btn_ri)
# btn_ri.irq(trigger=machine.Pin.IRQ_FALLING, handler=handle_btn_ri)
btn_b1 = machine.Pin(PIN_B1, machine.Pin.IN, machine.Pin.PULL_UP)
btn_b1.irq(trigger=machine.Pin.IRQ_FALLING, handler=handle_btn_b1)
# btn_b1.irq(trigger=machine.Pin.IRQ_FALLING, handler=handle_btn_b1)
btn_b2 = machine.Pin(PIN_B2, machine.Pin.IN, machine.Pin.PULL_UP)
btn_b2.irq(trigger=machine.Pin.IRQ_FALLING, handler=handle_btn_b2)
# btn_b2.irq(trigger=machine.Pin.IRQ_FALLING, handler=handle_btn_b2)
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
while True:
sleep(0.01)
if not btn_le.value():
send_cmd("left")
elif not btn_ri.value():
send_cmd("right")
elif not btn_b1.value():
send_cmd("accel")
elif not btn_b2.value():
send_cmd("decel")
elif not btn_up.value():
send_cmd("rotate")
elif not btn_dn.value():
send_cmd("stop")
time.sleep(DELAY_CMD)
if __name__ == "__main__":
main()
main()