sumorobot-firmware/main.py

import ubinascii
import _thread
import os
import network
from utime import sleep_ms
from machine import Timer, Pin, PWM

print("Press Ctrl-C to stop boot script...")
sleep_ms(200)

led_power = Pin(25, Pin.OUT)
led_power.value(1)

pwm_left = PWM(Pin(15), freq=50, duty=0)
pwm_right = PWM(Pin(13), freq=50, duty=0)

HOSTNAME = "sumo-%s" % \
  ubinascii.hexlify(network.WLAN().config('mac'),':').decode().replace(":","")[6:]

url = "ws://sumo.koodur.com:80/p2p/%s/browser/" % HOSTNAME

ap_if = network.WLAN(network.AP_IF)
ap_if.active(False)

wlan = network.WLAN(network.STA_IF)
wlan.active(True)
wlan.config(dhcp_hostname=HOSTNAME)
wlan.connect("sumo", "salakala")
#wlan.connect("k-space.ee legacy","")

while not wlan.isconnected():
    print("Connecting to wifi...")
    sleep_ms(100)

print("Connected to wifi!", wlan.ifconfig())
print("Hi my name is:")
print(HOSTNAME)
def map_vals(value, leftMin, leftMax, rightMin, rightMax):
	#http://stackoverflow.com/questions/1969240/mapping-a-range-of-values-to-another
	# Figure out how 'wide' each range is
	leftSpan = leftMax - leftMin
	rightSpan = rightMax - rightMin

	# Convert the left range into a 0-1 range (float)
	valueScaled = float(value - leftMin) / float(leftSpan)

	# Convert the 0-1 range into a value in the right range.
	return int(rightMin + (valueScaled * rightSpan))



import socket
import time
from time import sleep_ms

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
sock.settimeout(0.3)
sock.bind(("", 44444))
while True:
    try:
        buf = sock.recv(20)
    except OSError: # timed out
        pwm_left.duty(0)
        pwm_right.duty(0)
        continue

    try:
        value, forward, backward = buf.decode("ascii").split(":")
    except ValueError:
        continue
    forward, backward = int(forward), int(backward)

    if forward:
        left, right = 10, -10
    elif backward:
        left, right = -10, 10
    else:
        left, right = 0, 0

    mapped = map_vals(int(value),-400,400,-10,10)
    if abs(mapped) > 5:
        left -= mapped
        right -= mapped

    if left < -10:
        left = -10
    if left > 10:
        left = 10
    if right < -10:
        right = -10
    if right > 10:
        right = 10
    if abs(left) > 2:
        pwm_left.duty(78 + left)
    else:
        pwm_left.duty(0)
    if abs(right) > 2:
        pwm_right.duty(78 + right)
    else:
        pwm_right.duty(0)
    sleep_ms(20)