102 lines
2.4 KiB
Python
102 lines
2.4 KiB
Python
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import ubinascii
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import _thread
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import os
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import network
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from utime import sleep_ms
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from machine import Timer, Pin, PWM
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print("Press Ctrl-C to stop boot script...")
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sleep_ms(200)
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led_power = Pin(25, Pin.OUT)
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led_power.value(1)
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pwm_left = PWM(Pin(15), freq=50, duty=0)
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pwm_right = PWM(Pin(13), freq=50, duty=0)
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HOSTNAME = "sumo-%s" % \
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ubinascii.hexlify(network.WLAN().config('mac'),':').decode().replace(":","")[6:]
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url = "ws://sumo.koodur.com:80/p2p/%s/browser/" % HOSTNAME
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ap_if = network.WLAN(network.AP_IF)
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ap_if.active(False)
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wlan = network.WLAN(network.STA_IF)
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wlan.active(True)
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wlan.config(dhcp_hostname=HOSTNAME)
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#wlan.connect("sumo", "salakala")
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wlan.connect("sumo","salakala")
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while not wlan.isconnected():
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print("Connecting to wifi...")
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sleep_ms(100)
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print("Connected to wifi!", wlan.ifconfig())
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print("Hi my name is:")
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print(HOSTNAME)
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def map_vals(value, leftMin, leftMax, rightMin, rightMax):
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#http://stackoverflow.com/questions/1969240/mapping-a-range-of-values-to-another
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# Figure out how 'wide' each range is
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leftSpan = leftMax - leftMin
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rightSpan = rightMax - rightMin
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# Convert the left range into a 0-1 range (float)
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valueScaled = float(value - leftMin) / float(leftSpan)
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# Convert the 0-1 range into a value in the right range.
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return int(rightMin + (valueScaled * rightSpan))
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import socket
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import time
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from time import sleep_ms
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sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
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sock.settimeout(0.3)
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sock.bind(("", 44444))
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while True:
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try:
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buf = sock.recv(20)
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except OSError: # timed out
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pwm_left.duty(0)
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pwm_right.duty(0)
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continue
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try:
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value, forward, backward = buf.decode("ascii").split(":")
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except ValueError:
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continue
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forward, backward = int(forward), int(backward)
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if forward:
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left, right = 10, -10
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elif backward:
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left, right = -10, 10
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else:
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left, right = 0, 0
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mapped = map_vals(int(value),-400,400,-10,10)
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if abs(mapped) > 5:
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left -= mapped
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right -= mapped
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if left < -10:
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left = -10
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if left > 10:
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left = 10
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if right < -10:
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right = -10
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if right > 10:
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right = 10
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if abs(left) > 2:
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pwm_left.duty(78 + left)
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else:
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pwm_left.duty(0)
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if abs(right) > 2:
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pwm_right.duty(78 + right)
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else:
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pwm_right.duty(0)
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sleep_ms(20)
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