tweak

shittyrobot.py

@@ -29,6 +29,15 @@ def do_connect(tries=0):
             print(sta_if.ifconfig())
             return
 
+def do_ap():
+    ap_if = network.WLAN(network.WLAN.IF_AP)
+    ap_if.active(True)
+    ap_if.config(ssid='My AP123', channel=11, key='asdf1234')
+    ap_if.ifconfig(('192.168.0.4', '255.255.255.0', '192.168.0.1', '8.8.8.8'))
+    print(ap_if.config('ssid'))
+    print(ap_if.config('channel'))
+    print('AP ready.')
+        
 
 def setup_listener():
     addr = socket.getaddrinfo('0.0.0.0', 1337)[0][-1]
@@ -43,19 +52,23 @@ MOTOR_A0 = Pin(0, Pin.OUT, drive=Pin.DRIVE_0)
 MOTOR_A1 = Pin(1, Pin.OUT, drive=Pin.DRIVE_0)
 MOTOR_B0 = Pin(2, Pin.OUT, drive=Pin.DRIVE_0)
 MOTOR_B1 = Pin(3, Pin.OUT, drive=Pin.DRIVE_0)
-LED_DAT = Pin(5, Pin.OUT)
+LED_DAT = Pin(6, Pin.OUT, drive=Pin.DRIVE_3)
-LED_NP = neopixel.NeoPixel(LED_DAT, 8)
+LED_NP = neopixel.NeoPixel(LED_DAT, 6, timing=1, bpp=4)
 
 
-do_connect()
+#do_connect()
+do_ap()
 s = setup_listener()
 c = []
 
 def controlloop(last_start, next_action):
-    if time.time() < last_start + 0.5:
+    #print('CTRL: ', last_start, next_action)
+    if time.ticks_us() < last_start + 100000:
+        #print(' DEADTIME -> ignore')
         return last_start
 
-    if next_action is None and time.time() > last_start + 1.000:
+    if next_action is None and time.ticks_us() > last_start + 600000:
+        #print(' ACTION TIMED OUT -> stopping')
         next_action = (0,0)
     elif next_action is None:
         return last_start
@@ -83,61 +96,60 @@ def controlloop(last_start, next_action):
         MOTOR_B1.off()
 
     # we just started new action
-    return time.time()
+    return time.ticks_us()
 
 
-def mainloop(s):
+def mainloop(l):
-    poller = select.poll()
+    print('Accepting connection')
-    poller.register(s, select.POLLIN)
+    (y, origin_sockaddr) = s.accept()
+    y.settimeout(0.1)
+    y.write("\255\254\34Welcome!\nPress wasd to move!\n>")
 
     last_action_start = 0
     ctr = 0
 
     next_action = None
+
+    last_pixel_update = 0
+
+    for i in range(6):
+        LED_NP[i] = (255,255,255, 255)
+    LED_NP.write()
+    time.sleep(1)
+    
     while True:
+        ctr += 1
         # run one iteration of control loop
         last_action_start = controlloop(last_action_start, next_action)
-        LED_NP[ctr % 8] = (ctr*3 % 255, ctr*2 % 255, (ctr+1)*3 % 255)
+        if time.time() > last_pixel_update + 0.5:
-        
+            #LED_NP[ctr % 6] = (ctr*3 % 255, ctr*2 % 255, (ctr+1)*3 % 255)
-        # wait for up to 100ms
+            last_pixel_update = time.time()
-        res = poller.poll(100)
+            LED_NP.write()
-        if not res:
-            next_action = None
-            continue
 
-        for x in res:
+        a = None
-            print(x)
+        try:
-            if x[0] == s:
+            a = y.read(1)
-                print('Accepting connection')
+            print('RCV: ', a)
-                (y, origin_sockaddr) = s.accept()
+            y.write(a)
-                #y.write("\377\375\042\377\373\001Welcome!\nPress wasd to move!\n>")
+        except OSError:
-                y.write("\255\254\34Welcome!\nPress wasd to move!\n>")
+            # timeout
-                #c.append(y)
+            a = b'x'
-                print(' Registering handler')
+        if a == b'':
-                poller.register(y, select.POLLIN)
+            # EOF
-            else:
+            y.close()
-                # some user socket
+            mainloop(l)
-                user_s = x[0]
+        elif a == b'w':
-                if x[1] == select.POLLIN:
+            next_action = (1, 1)
-                    a = user_s.read(1)
+        elif a == b'a':
-                    print('Read character: ', a)
+            next_action = (0, 1)
-                    if a == b'w':
+        elif a == b'd':
-                        next_action = (1, 1)
+            next_action = (1, 0)
-                    elif a == b'a':
+        elif a == b's':
-                        next_action = (0, 1)
+            next_action = (-1, -1)
-                    elif a == b'd':
+        elif a in [b'\n', b'\r']:
-                        next_action = (1, 0)
+            pass
-                    elif a == b's':
+        else:
-                        next_action = (-1, -1)
+            next_action = None
-                    elif a == b'':
-                        print('EOF in ', x[0], ' Removing it.')
-                        poller.unregister(x[0])
-                        x[0].close()
-                elif x[1] in [select.POLLHUP, select.POLLERR]:
-                    print('Error in ', x[0], ' Removing it.')
-                    poller.unregister(x[0])
-                    #del c[x[0]]
-                    x[0].close()