172 lines
4.1 KiB
Python
172 lines
4.1 KiB
Python
import network
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import time
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import socket
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import select
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import neopixel
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from machine import Pin
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def do_connect(tries=0):
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if tries > 3:
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machine.reset()
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print('Trying to connect to Wifi')
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sta_if = network.WLAN(network.WLAN.IF_STA)
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sta_if.active(True)
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sta_if.disconnect()
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attempts = 0
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while True:
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attempts += 1
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print(' Scan: ', sta_if.scan())
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sta_if.connect("39C3-open", "")
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time.sleep(10)
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if not sta_if.isconnected():
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print(' Failed to connect. Sleeping 5s')
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sta_if.disconnect()
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time.sleep(5)
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if attempts > 3:
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sta_if.active(False)
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do_connect(tries+1)
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else:
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print(sta_if.ifconfig())
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return
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def do_ap():
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ap_if = network.WLAN(network.WLAN.IF_AP)
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ap_if.active(True)
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ap_if.config(ssid='My AP123', channel=11, key='asdf1234')
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ap_if.ifconfig(('192.168.0.4', '255.255.255.0', '192.168.0.1', '8.8.8.8'))
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print(ap_if.config('ssid'))
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print(ap_if.config('channel'))
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print('AP ready.')
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def setup_listener():
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addr = socket.getaddrinfo('0.0.0.0', 1337)[0][-1]
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s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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s.bind(addr)
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s.listen(3)
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#s.setblocking(False)
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return s
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MOTOR_A0 = Pin(0, Pin.OUT, drive=Pin.DRIVE_0)
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MOTOR_A1 = Pin(1, Pin.OUT, drive=Pin.DRIVE_0)
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MOTOR_B0 = Pin(2, Pin.OUT, drive=Pin.DRIVE_0)
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MOTOR_B1 = Pin(3, Pin.OUT, drive=Pin.DRIVE_0)
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#LED_DAT = Pin(6, Pin.OUT, drive=Pin.DRIVE_3)
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#LED_NP = neopixel.NeoPixel(LED_DAT, 6, timing=1, bpp=4)
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#do_connect()
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do_ap()
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s = setup_listener()
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c = []
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debug = False
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def controlloop(last_start, next_action):
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now = time.ticks_us()
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if debug:
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print('CTRL: ', last_start, next_action)
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#if time.ticks_diff(now, time.ticks_add(last_start, 100000)) < 0:
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# if debug:
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# print(' DEADTIME -> ignore')
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# return last_start
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if next_action is None and time.ticks_diff(time.ticks_add(last_start, 601000), now) > 0:
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if debug:
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print(' ACTION TIMED OUT -> stopping')
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next_action = (0,0)
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elif next_action is None:
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return last_start
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if debug:
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print('Starting action: ', next_action)
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if next_action[0] == 1:
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MOTOR_A0.on()
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MOTOR_A1.off()
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elif next_action[0] == -1:
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MOTOR_A0.off()
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MOTOR_A1.on()
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else:
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MOTOR_A0.off()
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MOTOR_A1.off()
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if next_action[1] == 1:
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MOTOR_B0.on()
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MOTOR_B1.off()
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elif next_action[1] == -1:
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MOTOR_B0.off()
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MOTOR_B1.on()
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else:
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MOTOR_B0.off()
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MOTOR_B1.off()
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# we just started new action
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if next_action != (0,0):
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return time.ticks_us()
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else:
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return last_start
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def mainloop(l):
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print('Accepting connection')
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(y, origin_sockaddr) = s.accept()
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y.settimeout(0.1)
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y.write("\255\254\34Welcome!\nPress wasd to move!\n>")
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last_action_start = 0
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ctr = 0
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next_action = None
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last_pixel_update = 0
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#for i in range(6):
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# LED_NP[i] = (255,255,255, 255)
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#LED_NP.write()
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#time.sleep(1)
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while True:
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ctr += 1
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# run one iteration of control loop
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last_action_start = controlloop(last_action_start, next_action)
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#if time.time() > last_pixel_update + 0.5:
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# #LED_NP[ctr % 6] = (ctr*3 % 255, ctr*2 % 255, (ctr+1)*3 % 255)
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# last_pixel_update = time.time()
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# LED_NP.write()
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a = None
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try:
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a = y.read(1)
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if debug:
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print('RCV: ', a)
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y.write(a)
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except OSError:
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# timeout
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a = b'x'
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if a == b'':
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# EOF
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y.close()
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mainloop(l)
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elif a == b'w':
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next_action = (1, 1)
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elif a == b'a':
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next_action = (-1, 1)
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elif a == b'd':
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next_action = (1, -1)
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elif a == b's':
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next_action = (-1, -1)
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elif a in [b'\n', b'\r']:
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pass
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else:
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next_action = None
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mainloop(s)
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