initial

shittyrobot.py

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+import network
+import time
+import socket
+import select
+import neopixel
+from machine import Pin
+
+def do_connect(tries=0):
+    if tries > 3:
+        machine.reset()
+    print('Trying to connect to Wifi')
+    sta_if = network.WLAN(network.WLAN.IF_STA)
+    sta_if.active(True)
+    sta_if.disconnect()
+    attempts = 0
+    while True:
+        attempts += 1
+        print(' Scan: ', sta_if.scan())
+        sta_if.connect("39C3-open", "")
+        time.sleep(10)
+        if not sta_if.isconnected():
+            print(' Failed to connect. Sleeping 5s')
+            sta_if.disconnect()
+            time.sleep(5)
+            if attempts > 3:
+                sta_if.active(False)
+                do_connect(tries+1)
+        else:
+            print(sta_if.ifconfig())
+            return
+
+
+def setup_listener():
+    addr = socket.getaddrinfo('0.0.0.0', 1337)[0][-1]
+    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    s.bind(addr)
+    s.listen(3)
+    #s.setblocking(False)
+    return s
+
+
+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_NP = neopixel.NeoPixel(LED_DAT, 8)
+
+
+do_connect()
+s = setup_listener()
+c = []
+
+def controlloop(last_start, next_action):
+    if time.time() < last_start + 0.5:
+        return last_start
+
+    if next_action is None and time.time() > last_start + 1.000:
+        next_action = (0,0)
+    elif next_action is None:
+        return last_start
+
+    print('Starting action: ', next_action)
+    
+    if next_action[0] == 1:
+        MOTOR_A0.on()
+        MOTOR_A1.off()
+    elif next_action[0] == -1:
+        MOTOR_A0.off()
+        MOTOR_A1.on()
+    else:
+        MOTOR_A0.off()
+        MOTOR_A1.off()
+
+    if next_action[1] == 1:
+        MOTOR_B0.on()
+        MOTOR_B1.off()
+    elif next_action[1] == -1:
+        MOTOR_B0.off()
+        MOTOR_B1.on()
+    else:
+        MOTOR_B0.off()
+        MOTOR_B1.off()
+
+    # we just started new action
+    return time.time()
+
+
+def mainloop(s):
+    poller = select.poll()
+    poller.register(s, select.POLLIN)
+
+    last_action_start = 0
+    ctr = 0
+
+    next_action = None
+    while True:
+        # 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)
+        
+        # wait for up to 100ms
+        res = poller.poll(100)
+        if not res:
+            next_action = None
+            continue
+
+        for x in res:
+            print(x)
+            if x[0] == s:
+                print('Accepting connection')
+                (y, origin_sockaddr) = s.accept()
+                #y.write("\377\375\042\377\373\001Welcome!\nPress wasd to move!\n>")
+                y.write("\255\254\34Welcome!\nPress wasd to move!\n>")
+                #c.append(y)
+                print(' Registering handler')
+                poller.register(y, select.POLLIN)
+            else:
+                # some user socket
+                user_s = x[0]
+                if x[1] == select.POLLIN:
+                    a = user_s.read(1)
+                    print('Read character: ', a)
+                    if a == b'w':
+                        next_action = (1, 1)
+                    elif a == b'a':
+                        next_action = (0, 1)
+                    elif a == b'd':
+                        next_action = (1, 0)
+                    elif a == b's':
+                        next_action = (-1, -1)
+                    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()
+                
+                        
+        
+
+mainloop(s)
+
+