Init

Recovered code from robot 277044

.gitignore

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+# ignore code file
+code.py
+# ignore backup files
+._*
+# Mac OS stuff
+.DS_Store
+# ignore the ESP32 MicroPython binary
+esp32*.bin
+# ignore the development config file
+config-dev.json

README.md

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+# Special SumoRobot firmware for usage with the remote
+Uses UDP packets from remote to the robot instead of BLE or WebSocket

main.py

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+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("sumo","salakala")
+
+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)