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change wifis.json to config.json, add all constants

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This commit is contained in:
Silver Kuusik 2018-01-12 10:09:01 +01:00
parent f71eaf69ed
commit aed4cbbbc8
3 changed files with 51 additions and 46 deletions
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21
boot.py
View File

@ -1,4 +1,3 @@
# Just in case prevent boot loops
from hal import * from hal import *
from time import sleep from time import sleep
import socket, re, os, uwebsockets, network, binascii, ujson import socket, re, os, uwebsockets, network, binascii, ujson
@ -6,25 +5,29 @@ import socket, re, os, uwebsockets, network, binascii, ujson
print("Press Ctrl-C to stop boot script...") print("Press Ctrl-C to stop boot script...")
sleep(0.2) sleep(0.2)
# read WiFi config # read the config file
wifis = ujson.loads(open("wifis.json", "r").read()) config = ujson.loads(open("config.json", "r").read())
#print(wifis) print(config)
# Connect to WiFi # connect to WiFi
wlan = network.WLAN(network.STA_IF) wlan = network.WLAN(network.STA_IF)
# activate the WiFi interface
wlan.active(True) wlan.active(True)
# if not already connected
if not wlan.isconnected(): if not wlan.isconnected():
# scan for WiFi networks
networks = wlan.scan() networks = wlan.scan()
# go trough all scanned WiFi networks
for network in networks: for network in networks:
# extract the networks SSID
ssid = network[0].decode("utf-8") ssid = network[0].decode("utf-8")
if ssid in wifis.keys(): # check if the SSID is in the config file
if ssid in config["wifis"].keys():
print("connecting to: " + ssid) print("connecting to: " + ssid)
# start to connect to the pre-configured network
wlan.connect(ssid, wifis[ssid]) wlan.connect(ssid, wifis[ssid])
break break
#print('network config:', wlan.ifconfig())
#sleep(1)
# Clean up # Clean up
import gc import gc
gc.collect() gc.collect()

11
config.json
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@ -1,3 +1,12 @@
{ {
"": "" "battery_coeff": 2.25,
"block_highlight": true,
"left_servo_tuning": 33,
"right_servo_tuning": 33,
"ultrasonic_distance": 60,
"left_line_threshold": 1000,
"right_line_threshold": 1000,
"wifis": {
"RoboKoding": "salakala"
}
} }

65
hal.py
View File

@ -14,30 +14,15 @@ RIGHT = 2
FORWARD = 3 FORWARD = 3
BACKWARD = 4 BACKWARD = 4
# blockl highlight config = ujson.loads(open("config.json", "r").read())
BLOCK_HIGHLIGHT = True
# Battery resistor ladder ratio
BATTERY_COEFF = 2.25
# Ultrasonic sensor calibration
ULTRASONIC_OFFSET = 800
# Servo timing
MOTOR_LEFT_TUNING = 33
MOTOR_RIGHT_TUNING = 33
# Calibrate line sensors
LINE_LEFT_THRESHOLD = 1000
LINE_RIGHT_THRESHOLD = 1000
class Sumorobot(object): class Sumorobot(object):
# Ultrasonic distance sensor # ultrasonic distance sensor
echo = Pin(14, Pin.IN) echo = Pin(14, Pin.IN)
trigger = Pin(27, Pin.OUT) trigger = Pin(27, Pin.OUT)
# Motor PWM-s # Servo PWM-s
pwm_left = PWM(Pin(15), freq=50, duty=0) pwm_left = PWM(Pin(15), freq=50, duty=0)
pwm_right = PWM(Pin(4), freq=50, duty=0) pwm_right = PWM(Pin(4), freq=50, duty=0)
@ -50,10 +35,10 @@ class Sumorobot(object):
left_line_led = Pin(17, Pin.OUT) left_line_led = Pin(17, Pin.OUT)
right_line_led = Pin(12, Pin.OUT) right_line_led = Pin(12, Pin.OUT)
# Battery gauge # battery gauge
adc_battery = ADC(Pin(32)) adc_battery = ADC(Pin(32))
# Optek sensors # the phototransistors
adc_line_left = ADC(Pin(34)) adc_line_left = ADC(Pin(34))
adc_line_right = ADC(Pin(33)) adc_line_right = ADC(Pin(33))
@ -62,7 +47,7 @@ class Sumorobot(object):
adc_line_left.atten(ADC.ATTN_11DB) adc_line_left.atten(ADC.ATTN_11DB)
adc_line_right.atten(ADC.ATTN_11DB) adc_line_right.atten(ADC.ATTN_11DB)
# for highlighting blocks # for highlighting blockly blocks
highlight_block = None highlight_block = None
# for terminating sleep # for terminating sleep
@ -72,6 +57,7 @@ class Sumorobot(object):
self.highlight_block = highlight_block self.highlight_block = highlight_block
def set_led(self, led, state): def set_led(self, led, state):
# set the given LED state
if led == STATUS: if led == STATUS:
self.bottom_led.value(0 if state else 1) self.bottom_led.value(0 if state else 1)
elif led == ENEMY: elif led == ENEMY:
@ -82,7 +68,7 @@ class Sumorobot(object):
self.right_line_led.value(state) self.right_line_led.value(state)
def get_battery_voltage(self): def get_battery_voltage(self):
return round(BATTERY_COEFF * (self.adc_battery.read() * 3.3 / 4096), 2) return round(config["battery_coeff"] * (self.adc_battery.read() * 3.3 / 4096), 2)
def get_enemy_distance(self): def get_enemy_distance(self):
# send a pulse # send a pulse
@ -96,13 +82,14 @@ class Sumorobot(object):
enemy_score = 0 enemy_score = 0
def is_enemy(self, block_id = None): def is_enemy(self, block_id = None):
if block_id and BLOCK_HIGHLIGHT: # if block_id given and blockly highlight is on
if block_id and config["blockly_highlight"]:
self.highlight_block(block_id) self.highlight_block(block_id)
# get the enemy distance # get the enemy distance
self.enemy_distance = self.get_enemy_distance() self.enemy_distance = self.get_enemy_distance()
# if the enemy is close and the ping actually returned # if the enemy is close and the ping actually returned
if self.enemy_distance < 60 and self.enemy_distance > 0: if self.enemy_distance < config["ultrasonic_distance"] and self.enemy_distance > 0:
# if not maximum score # if not maximum score
if self.enemy_score < 5: if self.enemy_score < 5:
# increase the enemy score # increase the enemy score
@ -126,6 +113,7 @@ class Sumorobot(object):
# check for valid direction # check for valid direction
assert dir == LEFT or dir == RIGHT assert dir == LEFT or dir == RIGHT
# return the given line sensor value
if dir == LEFT: if dir == LEFT:
return self.adc_line_left.read() return self.adc_line_left.read()
elif dir == RIGHT: elif dir == RIGHT:
@ -135,16 +123,17 @@ class Sumorobot(object):
# check for valid direction # check for valid direction
assert dir == LEFT or dir == RIGHT assert dir == LEFT or dir == RIGHT
# if block_id given and BLOCK_HIGHLIGHT # if block_id given and blockly highlight is on
if block_id and BLOCK_HIGHLIGHT: if block_id and config["blockly_highlight"]:
self.highlight_block(block_id) self.highlight_block(block_id)
# return the given line sensor value
if dir == LEFT: if dir == LEFT:
line = abs(self.adc_line_left.read() - LINE_LEFT_THRESHOLD) > 1000 line = abs(self.adc_line_left.read() - config["left_line_threshold"]) > 1000
self.set_led(LEFT_LINE, line) self.set_led(LEFT_LINE, line)
return line return line
elif dir == RIGHT: elif dir == RIGHT:
line = abs(self.adc_line_right.read() - LINE_RIGHT_THRESHOLD) > 1000 line = abs(self.adc_line_right.read() - config["right_line_threshold"] > 1000
self.set_led(RIGHT_LINE, line) self.set_led(RIGHT_LINE, line)
return line return line
@ -166,26 +155,27 @@ class Sumorobot(object):
# record the new speed # record the new speed
self.prev_speed[dir] = speed self.prev_speed[dir] = speed
# set the given servo speed
if dir == LEFT: if dir == LEFT:
if speed == 0: if speed == 0:
self.pwm_left.duty(0) self.pwm_left.duty(0)
else: else:
self.pwm_left.duty(int(33 + MOTOR_LEFT_TUNING + speed * 33 / 100)) # -100 ... 100 to 33 .. 102 self.pwm_left.duty(int(33 + config["left_servo_tuning"] + speed * 33 / 100)) # -100 ... 100 to 33 .. 102
elif dir == RIGHT: elif dir == RIGHT:
if speed == 0: if speed == 0:
self.pwm_right.duty(0) self.pwm_right.duty(0)
else: else:
self.pwm_right.duty(int(33 + MOTOR_RIGHT_TUNING + speed * 33 / 100)) # -100 ... 100 to 33 .. 102 self.pwm_right.duty(int(33 + config["right_servo_tuning"] + speed * 33 / 100)) # -100 ... 100 to 33 .. 102
def move(self, dir, block_id = None): def move(self, dir, block_id = None):
# check for valid direction # check for valid direction
assert dir == STOP or dir == RIGHT or dir == LEFT or dir == BACKWARD or dir == FORWARD assert dir == STOP or dir == RIGHT or dir == LEFT or dir == BACKWARD or dir == FORWARD
# if block_id given and BLOCK_HIGHLIGHT # if block_id given and blockly highlight is on
if block_id and BLOCK_HIGHLIGHT: if block_id and config["blockly_highlight"]:
self.highlight_block(block_id) self.highlight_block(block_id)
# go to the given direction
if dir == STOP: if dir == STOP:
self.set_servo(LEFT, 0) self.set_servo(LEFT, 0)
self.set_servo(RIGHT, 0) self.set_servo(RIGHT, 0)
@ -206,12 +196,15 @@ class Sumorobot(object):
# check for valid delay # check for valid delay
assert delay > 0 assert delay > 0
# if block_id given and BLOCK_HIGHLIGHT # if block_id given and blockly highlight is on
if block_id and BLOCK_HIGHLIGHT: if block_id and config["blockly_highlight"]:
self.highlight_block(block_id) self.highlight_block(block_id)
# split the delay into 50ms chunks
for j in range(0, delay, 50): for j in range(0, delay, 50):
# check for forceful termination
if self.terminate: if self.terminate:
return # TODO: raise exception # terminate the delay
return
else: else:
sleep_ms(50) sleep_ms(50)