From dc7b625ab03dd85f464c8690a97c3e425fd346c6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Lauri=20V=C3=B5sandi?= <lauri@k-space.ee>
Date: Tue, 15 Mar 2022 22:44:03 +0200
Subject: [PATCH] Initial commit

---
 .gitignore      |  1 +
 README.md       | 45 +++++++++++++++++++++++++++++++++++++++++++++
 modules/main.py | 29 +++++++++++++++++++++++++++++
 3 files changed, 75 insertions(+)
 create mode 100644 .gitignore
 create mode 100644 README.md
 create mode 100644 modules/main.py

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..378eac2
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+build
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..1471d8d
--- /dev/null
+++ b/README.md
@@ -0,0 +1,45 @@
+# Introduction
+
+This is vanilla firmware option for the
+[sumorobot platform](https://wiki.k-space.ee/en/projects/robots/sumo)
+we use at K-SPACE.
+
+The goal of this firmware option is to NOT get WiFi, Bluetooth or remote
+programming in the picture and simply let the user program sumorobot
+using favourite text editor or IDE and to upload the firmware via USB cable.
+
+
+# Preparation
+
+On Ubuntu make sure your user can access serial port.
+If necessary run following, log out and and log into your desktop session again:
+
+```
+gpasswd -a $USER dialout
+```
+
+The firmware is flashed via USB cable. No need to press buttons on the robot.
+The servo motors might interfere in some corner cases so USB connectivity is
+not particularly reliable, just try to run `esptool.py` again.
+
+
+# Bulk deployment
+
+To build self-contained firmware image for ESP32 use, eg when you need to flash
+multiple robots easily:
+
+```
+docker run --rm -v $PWD/modules:/src/ports/esp32/modules -v $PWD/build:/build harbor.k-space.ee/k-space/micropython-esp32
+```
+
+To flash the built binary:
+
+```
+esptool.py -p /dev/ttyUSB0 --chip esp32 -b 460800 write_flash -z 0x1000 firmware.bin
+```
+
+To open up serial console:
+
+```
+picocom -b115200 /dev/ttyUSB0
+```
diff --git a/modules/main.py b/modules/main.py
new file mode 100644
index 0000000..9380e29
--- /dev/null
+++ b/modules/main.py
@@ -0,0 +1,29 @@
+from utime import  sleep_ms
+from machine import Pin, PWM
+
+class ServoMotor():
+    def __init__(self, pin):
+        self.pwm = PWM(Pin(pin), freq=50, duty=0)
+        self.prev = 0
+
+    def set(self, speed):
+        if self.prev == speed:
+            # Prevent jerkiness
+            return
+        self.prev = speed
+        if speed == 0:
+            self.pwm.duty(0)
+        else:
+            self.pwm.duty(int(33 + speed * 66 / 100))
+        print(self.pwm, 33 + speed * 66 / 100)
+
+left_motor = ServoMotor(13)
+right_motor = ServoMotor(15)
+
+while True:
+    left_motor.set(100)
+    right_motor.set(0)
+    sleep_ms(500)
+    left_motor.set(0)
+    right_motor.set(100)
+    sleep_ms(500)