.drone.yml

@@ -0,0 +1,26 @@
+---
+kind: pipeline
+type: kubernetes
+name: default
+
+steps:
+- name: build
+  image: harbor.k-space.ee/k-space/micropython-esp32
+  settings:
+    mtu: 1300
+  commands:
+  - cp /drone/src/*.py /src/ports/esp32/modules/
+  - cd /src/ports/esp32
+  - bash -c "source /opt/esp/idf/export.sh && make"
+  - cp build-GENERIC/firmware.bin /drone/src/
+- name: gitea_release
+  image: plugins/gitea-release
+  settings:
+    app_key: xxx
+    base_url: https://git.k-space.ee
+    files: firmware.bin
+  when:
+    event: tag
+    
+image_pull_secrets:
+- dockerconfig

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2021 RoboKoding LTD
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

Makefile

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 # When this baud does not work, try 115200
-FLASH_BAUD := 500000
+FLASH_BAUD := 230400
 
 # Image to flash
 FLASH_IMAGE := sumofirmware.bin
@@ -9,7 +9,7 @@ FLASH_IMAGE := sumofirmware.bin
 # Try to automatically find the serialport
 SERIAL_PORT := $(shell find /dev -iname "tty*usb*")
 
-all: erase flash delay update reset
+all: erase flash delay config update reset
 
 delay:
 	sleep 3
@@ -18,7 +18,12 @@ reset:
 	esptool.py -p $(SERIAL_PORT) --after hard_reset read_mac
 
 update:
+	ampy -d 0.5 -p $(SERIAL_PORT) put hal.py
 	ampy -d 0.5 -p $(SERIAL_PORT) put main.py
+	ampy -d 0.5 -p $(SERIAL_PORT) put boot.py
+
+config:
+	ampy -d 0.5 -p $(SERIAL_PORT) put config.json
 
 erase:
 	esptool.py -p $(SERIAL_PORT) -b $(FLASH_BAUD) erase_flash

README.md

@@ -1,14 +1,22 @@
-# Special SumoRobot firmware for usage with the remote
+# sumorobot-firmware
-Uses UDP packets from remote to the robot instead of BLE or WebSocket
 
-MicroPython is ESP32 Generic
+The software that is running on the SumoRobots
 
-* https://micropython.org/download/ESP32_GENERIC/
+<img alt="Code" src="https://www.robokoding.com/assets/img/sumorobot_firmware.png" width="50%">
 
-# Usage
+# Instructions
+* Change the SERIAL_PORT in the Makefile
+* Install [Python](https://www.python.org/downloads/)
+* Install [esptool](https://github.com/espressif/esptool) (to flash MicroPython to the ESP32)
+* Install [ampy](https://github.com/adafruit/ampy) (for uploading files)
+* Download [the MicroPython binary](http://micropython.org/download#esp32) to this directory
+* Upload the MicroPython binary and the SumoRobot firmware to your ESP32 (open a terminal and type: make all)
 
-1. Get latest MicroPython and name it `sumofirmware.bin`
+# Support
-2. Run `make` to flash the firmware
+If you find our work useful, please consider donating : )  
+[![Donate using Liberapay](https://liberapay.com/assets/widgets/donate.svg)](https://liberapay.com/robokoding/donate)  
 
-The sumo robot will connect to `sumo` wifi and during DHCP request it also provides its hostname
+
-as `sumo-<ID>`. It will be later used by the Remote to do a DNS lookup from dnsmasq DNS server.
+# Credits
+* [Lauri Võsandi](https://lauri.xn--vsandi-pxa.com/)
+* [K-SPACE MTÜ](https://k-space.ee/)

boot.py

@@ -0,0 +1,34 @@
+import os
+import utime
+import machine
+
+
+# Give time to cancel this boot script
+print("Press Ctrl-C to stop new boot script...")
+utime.sleep_ms(1000)
+
+root_files = os.listdir()
+update_files = ['boot.py.new', 'main.py.new', 'hal.py.new']
+files_to_update = []
+
+# Check for FW updates and verify new FW files
+for file in update_files:
+    if file in root_files:
+        print("boot.py: starting to update:", file)
+        # Try to load the user code
+        try:
+            with open(file, 'r') as code:
+                compile(code.read(), "snippet", 'exec')
+            files_to_update.append(file)
+        except Exception as error:
+            print("boot.py:", file, "compilation failed:", error)
+            files_to_update.clear()
+            break
+
+# If valid updates replace with new FW
+for file in files_to_update:
+    os.rename(file, file.replace('.new', ''))
+
+# If updates, reboot to load new FW
+if len(files_to_update) != 0:
+    machine.reset()

config.json

@@ -0,0 +1,15 @@
+{
+	"status_led_pin": 5,
+	"battery_coeff": 2.25,
+	"sumorobot_name": "SumoRobot",
+	"firmware_timestamp": "2021.06.04 22:23",
+	"firmware_version": "1.1",
+	"left_servo_calib": [37, 73, 81, 116],
+	"right_servo_calib": [37, 73, 81, 116],
+	"sonar_threshold": 40,
+	"boot_code": "code.py",
+	"left_line_value": 1000,
+	"right_line_value": 1000,
+	"left_line_threshold": 1000,
+	"right_line_threshold": 1000
+}

hal.py

@@ -0,0 +1,282 @@
+from utime import sleep_us, sleep_ms
+from machine import Pin, PWM, ADC, time_pulse_us
+
+# LEDs
+STATUS = 0
+SONAR = 1
+LEFT_LINE = 2
+RIGHT_LINE = 3
+
+# Directions
+STOP = 0
+LEFT = 1
+RIGHT = 2
+SEARCH = 3
+FORWARD = 4
+BACKWARD = 5
+
+class Sumorobot(object):
+    # Constructor
+    def __init__(self, config = None):
+        # Config file
+        self.config = config
+
+        # Sonar distance sensor
+        self.echo = Pin(14, Pin.IN)
+        self.trigger = Pin(27, Pin.OUT)
+
+        # Servo PWM-s
+        self.pwm = {
+            LEFT: PWM(Pin(15), freq=50, duty=0),
+            RIGHT: PWM(Pin(4), freq=50, duty=0)
+        }
+
+        # LED sensor feedback
+        self.sensor_feedback = True
+        # Bottom status LED
+        self.status_led = Pin(self.config['status_led_pin'], Pin.OUT)
+        # Bottom status LED is in reverse polarity
+        self.status_led.value(1)
+        # Sensor LEDs
+        self.sonar_led = Pin(16, Pin.OUT)
+        self.left_line_led = Pin(17, Pin.OUT)
+        self.right_line_led = Pin(12, Pin.OUT)
+
+        # Battery level in %
+        self.battery_level = 0
+
+        # Battery gauge
+        self.bat_status = 4.3
+        self.move_counter = 0
+        self.adc_battery = ADC(Pin(32))
+        self.bat_charge = Pin(25, Pin.IN)
+
+        # The pullups for the phototransistors
+        Pin(19, Pin.IN, Pin.PULL_UP)
+        Pin(23, Pin.IN, Pin.PULL_UP)
+
+        # The phototransistors
+        self.last_line = LEFT
+        self.adc_line_left = ADC(Pin(34))
+        self.adc_line_right = ADC(Pin(33))
+
+        # Set reference voltage to 3.3V
+        self.adc_battery.atten(ADC.ATTN_11DB)
+        self.adc_line_left.atten(ADC.ATTN_11DB)
+        self.adc_line_right.atten(ADC.ATTN_11DB)
+
+        # To smooth out sonar sensor value
+        self.sonar_score = 0
+
+        # For terminating sleep
+        self.terminate = False
+
+        # For search mode
+        self.search = False
+        self.search_counter = 0
+
+        # Memorise previous servo speeds
+        self.prev_speed = {LEFT: 0, RIGHT: 0}
+
+    # Function to set LED states
+    def set_led(self, led, value):
+        # Turn the given LED on or off
+        if led == STATUS:
+            # Status LED is reverse polarity
+            self.status_led.value(0 if value else 1)
+        elif led == SONAR:
+            self.sonar_led.value(value)
+        elif led == LEFT_LINE:
+            self.left_line_led.value(value)
+        elif led == RIGHT_LINE:
+            self.right_line_led.value(value)
+
+    # Function to get battery level in percentage
+    def get_battery_level(self):
+        # When the SumoRobot is not moving
+        if self.prev_speed[LEFT] == 0 and self.prev_speed[RIGHT] == 0:
+            # Calculate battery voltage
+            battery_voltage = round(self.config['battery_coeff'] * (self.adc_battery.read() * 3.3 / 4096), 2)
+            # Map battery voltage to percentage
+            temp_battery_level = 0.0 + ((100.0 - 0.0) / (4.2 - 3.2)) * (battery_voltage - 3.2)
+            # When battery level changed more than 5 percent
+            if abs(self.battery_level - temp_battery_level) > 5:
+                # Update battery level
+                self.battery_level = round(temp_battery_level)
+        # Return the battery level in percentage
+        return min(100, max(0, self.battery_level))
+
+    # Function to get distance (cm) from the object in front of the SumoRobot
+    def get_sonar_value(self):
+        # Send a pulse
+        self.trigger.value(0)
+        sleep_us(5)
+        self.trigger.value(1)
+        sleep_us(10)
+        self.trigger.value(0)
+        # Wait for the pulse and calculate the distance
+        return round((time_pulse_us(self.echo, 1, 30000) / 2) / 29.1)
+
+    # Function to get boolean if there is something in front of the SumoRobot
+    def is_sonar(self):
+        # Get the sonar value
+        self.sonar_value = self.get_sonar_value()
+        # When the sonar value is small and the ping actually returned
+        if self.sonar_value < self.config['sonar_threshold'] and self.sonar_value > 0:
+            # When not maximum score
+            if self.sonar_score < 5:
+                # Increase the sonar score
+                self.sonar_score += 1
+        # When no sonar ping was returned
+        else:
+            # When not lowest score
+            if self.sonar_score > 0:
+                # Decrease the sonar score
+                self.sonar_score -= 1
+
+        # When the sensor saw something more than 2 times
+        value = True if self.sonar_score > 2 else False
+
+        # Trigger sonar LED
+        self.set_led(SONAR, value)
+
+        return value
+
+    # Function to update the config file
+    def update_config_file(self):
+        # Update the config file
+        with open('config.part', 'w') as config_file:
+            config_file.write(ujson.dumps(self.config))
+        os.rename('config.part', 'config.json')
+
+    # Function to update line calibration and write it to the config file
+    def calibrate_line_values(self):
+        # Read the line sensor values
+        self.config['left_line_value'] = self.adc_line_left.read()
+        self.config['right_line_value'] = self.adc_line_right.read()
+
+    # Function to get light inensity from the phototransistors
+    def get_line(self, line):
+        # Check if the direction is valid
+        assert line in (LEFT, RIGHT)
+
+        # Return the given line sensor value
+        if line == LEFT:
+            return self.adc_line_left.read()
+        elif line == RIGHT:
+            return self.adc_line_right.read()
+
+    def is_line(self, line):
+        # Check if the direction is valid
+        assert line in (LEFT, RIGHT)
+
+        # Define feedback LED
+        led = LEFT_LINE if line == LEFT else RIGHT_LINE
+        # Define config prefix
+        prefix = 'left' if line == LEFT else 'right'
+        # Check for line
+        value = abs(self.get_line(line) - self.config[prefix + '_line_value']) > self.config[prefix + '_line_threshold']
+        # Show LED feedback
+        self.set_led(led, value)
+        # Update last line direction if line was detected
+        self.last_line = value if value else self.last_line
+        # Return the given line sensor value
+        return value
+
+    def set_servo(self, servo, speed):
+        # Check if the direction is valid
+        assert servo in (LEFT, RIGHT)
+        # Check if the speed is valid
+        assert speed <= 100 and speed >= -100
+
+        # When the speed didn't change
+        if speed == self.prev_speed[servo]:
+            return
+
+        # Save the new speed
+        self.prev_speed[servo] = speed
+
+        # Set the given servo speed
+        if speed == 0:
+            self.pwm[servo].duty(0)
+        else:
+            # Define config prefix
+            prefix = 'left' if servo == LEFT else 'right'
+            # -100 ... 100 to min_tuning .. max_tuning
+            min_tuning = self.config[prefix + '_servo_min_tuning']
+            max_tuning = self.config[prefix + '_servo_max_tuning']
+            self.pwm[servo].duty(int((speed + 100) / 200 * (max_tuning - min_tuning) + min_tuning))
+
+    def move(self, dir):
+        # Check if the direction is valid
+        assert dir in (SEARCH, STOP, RIGHT, LEFT, BACKWARD, FORWARD)
+
+        # Go to the given direction
+        if dir == STOP:
+            self.set_servo(LEFT, 0)
+            self.set_servo(RIGHT, 0)
+        elif dir == LEFT:
+            self.set_servo(LEFT, -100)
+            self.set_servo(RIGHT, -100)
+        elif dir == RIGHT:
+            self.set_servo(LEFT, 100)
+            self.set_servo(RIGHT, 100)
+        elif dir == SEARCH:
+            # Change search mode after X seconds
+            if self.search_counter == 50:
+                self.search = not self.search
+                self.search_counter = 0
+            # When in search mode
+            if self.search:
+                self.move(FORWARD)
+            elif self.last_line == RIGHT:
+                self.move(LEFT)
+            else:
+                self.move(RIGHT)
+            # Increase search counter
+            self.search_counter += 1
+        elif dir == FORWARD:
+            self.set_servo(LEFT, 100)
+            self.set_servo(RIGHT, -100)
+        elif dir == BACKWARD:
+            self.set_servo(LEFT, -100)
+            self.set_servo(RIGHT, 100)
+
+    def update_sensor_feedback(self):
+        if self.sensor_feedback:
+            # Execute to see LED feedback for sensors
+            self.is_sonar()
+            self.is_line(LEFT)
+            self.is_line(RIGHT)
+
+    def get_sensor_scope(self):
+        # TODO: implement sensor value caching
+        return str(self.get_sonar_value()) + ',' \
+            + str(self.get_line(LEFT)) + ',' \
+            + str(self.get_line(RIGHT)) + ',' \
+            + str(self.bat_charge.value()) + ',' \
+            + str(self.get_battery_level())
+
+    def get_configuration_scope(self):
+        return str(self.config['sumorobot_name']) + ',' \
+            + str(self.config['firmware_version']) + ',' \
+            + str(self.config['left_line_value']) + ',' \
+            + str(self.config['right_line_value']) + ',' \
+            + str(self.config['left_line_threshold']) + ',' \
+            + str(self.config['right_line_threshold']) + ',' \
+            + str(self.config['sonar_threshold'])
+
+    def sleep(self, delay):
+        # Check for valid delay
+        assert delay > 0
+
+        # Split the delay into 50ms chunks
+        while delay:
+            # Check for forceful termination
+            if self.terminate:
+                # Terminate the delay
+                return
+            else:
+                sleep_ms(50)
+
+            delay -= 50

main.py

@@ -1,101 +1,186 @@
-import ubinascii
+import utime
 import _thread
-import os
+import ubluetooth
-import network
+import micropython
-from utime import sleep_ms
-from machine import Timer, Pin, PWM
 
-print("Press Ctrl-C to stop boot script...")
+from hal import *
-sleep_ms(200)
+# Loading libraries takes ca 400ms
-
-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))
 
 
+# BLE events
+_IRQ_CENTRAL_CONNECT = micropython.const(1)
+_IRQ_CENTRAL_DISCONNECT = micropython.const(2)
+_IRQ_GATTS_WRITE = micropython.const(3)
 
-import socket
+# SumoRobot functionality
-import time
+sumorobot = Sumorobot()
-from time import sleep_ms
 
-sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
+
-sock.settimeout(0.3)
+def advertise_ble_name(name):
-sock.bind(("", 44444))
+    payload = b'\x02\x01\x02' + bytes([len(name) + 1])
-while True:
+    payload += b'\x09' + name.encode()
-    try:
+    ble.gap_advertise(100, payload)
-        buf = sock.recv(20)
+
-    except OSError: # timed out
+
-        pwm_left.duty(0)
+def update_battery_level(timer):
-        pwm_right.duty(0)
+    if conn_handle is not None:
+        battery_level = sumorobot.get_battery_level()
+        ble.gatts_notify(conn_handle, battery, bytes([battery_level]))
+
+
+def sensor_feedback_thread():
+    while True:
+        # Leave time to process other threads
+        utime.sleep_ms(50)
+        # Execute to see LED feedback for sensors
+        sumorobot.update_sensor_feedback()
+
+
+def code_process_thread():
+    global prev_bat_level, python_code
+
+    while True:
+        # Leave time to process other threads
+        utime.sleep_ms(50)
+
+        # When no code to execute
+        if python_code == b'':
             continue
 
+        # Try to execute the Python code
         try:
-        value, forward, backward = buf.decode("ascii").split(":")
+            exec(compile(python_code, "snippet", 'exec'))
-    except ValueError:
+        except Exception as error:
-        continue
+            print("main.py: the python code had errors:", error)
-    forward, backward = int(forward), int(backward)
+        finally:
+            print("main.py: finized python code execution")
+            # Erase the code
+            python_code = b''
+            # Stop the robot
+            sumorobot.move(STOP)
+            # Cancel code termination
+            sumorobot.terminate = False
 
-    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)
+# The BLE handler thread
-    if abs(mapped) > 5:
+def ble_handler(event, data):
-        left -= mapped
+    global conn_handle, python_code, temp_python_code
-        right -= mapped
 
-    if left < -10:
+    if event is _IRQ_CENTRAL_CONNECT:
-        left = -10
+        conn_handle, _, _, = data
-    if left > 10:
+        # Turn ON the status LED
-        left = 10
+        sumorobot.set_led(STATUS, True)
-    if right < -10:
+        update_battery_level(None)
-        right = -10
+        advertise_ble_name(sumorobot.config['sumorobot_name'])
-    if right > 10:
+    elif event is _IRQ_CENTRAL_DISCONNECT:
-        right = 10
+        conn_handle = None
-    if abs(left) > 2:
+        # Turn OFF status LED
-        pwm_left.duty(78 + left)
+        sumorobot.set_led(STATUS, False)
+        # Advertise with name
+        advertise_ble_name(sumorobot.config['sumorobot_name'])
+    elif event is _IRQ_GATTS_WRITE:
+        # Read the command
+        cmd = ble.gatts_read(rx)
+        print(cmd)
+
+        if b'<stop>' in cmd:
+            python_code = b''
+            sumorobot.move(STOP)
+            sumorobot.terminate = True
+        elif b'<forward>' in cmd:
+            python_code = b''
+            sumorobot.move(FORWARD)
+        elif b'<backward>' in cmd:
+            python_code = b''
+            sumorobot.move(BACKWARD)
+        elif b'<left>' in cmd:
+            python_code = b''
+            sumorobot.move(LEFT)
+        elif b'<right>' in cmd:
+            python_code = b''
+            sumorobot.move(RIGHT)
+        elif b'<sensors>' in cmd:
+            ble.gatts_notify(conn_handle, tx, sumorobot.get_sensor_scope())
+        elif b'<config>' in cmd:
+            ble.gatts_notify(conn_handle, tx, sumorobot.get_configuration_scope())
+        elif b'<pwm>' in cmd:
+            servo, speed = cmd[5:].decode().split(',')
+            servo = LEFT if servo == 'LEFT' else RIGHT
+            sumorobot.pwm[servo].duty(int(speed)) 
+        elif b'<code>' in cmd:
+            temp_python_code = b'\n'
+        elif b'<code/>' in cmd:
+            python_code = temp_python_code
+            temp_python_code = b''
+        elif temp_python_code != b'':
+            temp_python_code += cmd
         else:
-        pwm_left.duty(0)
+            temp_python_code = b''
-    if abs(right) > 2:
+            print("main.py: unknown cmd=", cmd)
-        pwm_right.duty(78 + right)
+
-    else:
+
-        pwm_right.duty(0)
+conn_handle = None
-    sleep_ms(20)
+temp_python_code = b''
+python_code = b''
+
+# When boot code exists
+if sumorobot.config['boot_code'] in root_files:
+    print("main.py: trying to load", sumorobot.config['boot_code'])
+    # Try to load and compile the boot code
+    try:
+        with open(sumorobot.config['boot_code'], 'r') as file:
+            boot_code = file.read()
+            compile(boot_code, "snippet", 'exec')
+            python_code = boot_code
+    except Exception as error:
+        print("main.py:", sumorobot.config['boot_code'], "compilation failed:", error)
+
+# Start BLE
+ble = ubluetooth.BLE()
+ble.config(gap_name=sumorobot.config['sumorobot_name'])
+ble.active(True)
+
+# Register the BLE hander
+ble.irq(ble_handler)
+
+# BLE info serivce
+INFO_SERVICE_UUID = ubluetooth.UUID(0x180a)
+MODEL_CHARACTERISTIC = (ubluetooth.UUID(0x2a24), ubluetooth.FLAG_READ,)
+FIRMWARE_CHARACTERISTIC = (ubluetooth.UUID(0x2a26), ubluetooth.FLAG_READ,)
+MANUFACTURER_CHARACTERISTIC = (ubluetooth.UUID(0x2a29), ubluetooth.FLAG_READ,)
+INFO_SERVICE = (INFO_SERVICE_UUID, (MODEL_CHARACTERISTIC, FIRMWARE_CHARACTERISTIC, MANUFACTURER_CHARACTERISTIC,),)
+
+# BLE battery service
+BATTERY_SERVICE_UUID = ubluetooth.UUID(0x180f)
+BATTERY_CHARACTERISTIC = (ubluetooth.UUID(0x2a19), ubluetooth.FLAG_READ | ubluetooth.FLAG_NOTIFY,)
+BATTERY_SERVICE = (BATTERY_SERVICE_UUID, (BATTERY_CHARACTERISTIC,),)
+
+# BLE UART service
+UART_SERVICE_UUID = ubluetooth.UUID('6E400001-B5A3-F393-E0A9-E50E24DCCA9E')
+RX_CHARACTERISTIC = (ubluetooth.UUID('6E400002-B5A3-F393-E0A9-E50E24DCCA9E'), ubluetooth.FLAG_WRITE,)
+TX_CHARACTERISTIC = (ubluetooth.UUID('6E400003-B5A3-F393-E0A9-E50E24DCCA9E'), ubluetooth.FLAG_READ | ubluetooth.FLAG_NOTIFY,)
+UART_SERVICE = (UART_SERVICE_UUID, (TX_CHARACTERISTIC, RX_CHARACTERISTIC,),)
+
+# Register BLE services
+SERVICES = (INFO_SERVICE, BATTERY_SERVICE, UART_SERVICE,)
+((model, firmware, manufacturer,), (battery,), (tx, rx,),) = ble.gatts_register_services(SERVICES)
+
+# Set BLE info service values
+ble.gatts_write(model, "SumoRobot")
+ble.gatts_write(manufacturer, "RoboKoding LTD")
+ble.gatts_write(firmware, sumorobot.config['firmware_version'])
+
+# Start BLE advertising with name
+advertise_ble_name(sumorobot.config['sumorobot_name'])
+
+# Start the threads
+_thread.start_new_thread(code_process_thread, ())
+_thread.start_new_thread(sensor_feedback_thread, ())
+
+# Start BLE battery percentage update timer
+battery_timer = machine.Timer(machine.Timer.PERIODIC)
+battery_timer.init(period=3000, callback=update_battery_level)
+
+# Clean up
+import gc
+gc.collect()